# -*- coding: utf-8 -*- # *************************************************************************** # * * # * Copyright (c) 2017 sliptonic * # * * # * This program is free software; you can redistribute it and/or modify * # * it under the terms of the GNU Lesser General Public License (LGPL) * # * as published by the Free Software Foundation; either version 2 of * # * the License, or (at your option) any later version. * # * for detail see the LICENCE text file. * # * * # * This program is distributed in the hope that it will be useful, * # * but WITHOUT ANY WARRANTY; without even the implied warranty of * # * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * # * GNU Library General Public License for more details. * # * * # * You should have received a copy of the GNU Library General Public * # * License along with this program; if not, write to the Free Software * # * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * # * USA * # * * # *************************************************************************** # SCRIPT NOTES: # - Need to add "UseRotation" property to task window UI, and attach appropriate onChange event handler # - Consult FC community about wording for "UseRotation" property # - FUTURE: Relocate rotational calculations to Job setup tool, creating a Machine section # with axis & rotation toggles and associated min/max values import FreeCAD import Path import PathScripts.PathLog as PathLog import PathScripts.PathOp as PathOp import PathScripts.PathUtils as PathUtils # from PathScripts.PathUtils import waiting_effects from PySide import QtCore import math __title__ = "Base class for PathArea based operations." __author__ = "sliptonic (Brad Collette)" __url__ = "http://www.freecadweb.org" __doc__ = "Base class and properties for Path.Area based operations." __contributors__ = "mlampert [FreeCAD], russ4262 (Russell Johnson)" __createdDate__ = "2017" __scriptVersion__ = "1h testing" __lastModified__ = "2019-05-03 10:52 CST" if False: PathLog.setLevel(PathLog.Level.DEBUG, PathLog.thisModule()) PathLog.trackModule() else: PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule()) # Qt translation handling def translate(context, text, disambig=None): return QtCore.QCoreApplication.translate(context, text, disambig) class ObjectOp(PathOp.ObjectOp): '''Base class for all Path.Area based operations. Provides standard features including debugging properties AreaParams, PathParams and removalshape, all hidden. The main reason for existence is to implement the standard interface to Path.Area so subclasses only have to provide the shapes for the operations.''' # These are static while document is open, if it contains a 3D Surface Op initFinalDepth = None initOpFinalDepth = None initOpStartDepth = None docRestored = False def opFeatures(self, obj): '''opFeatures(obj) ... returns the base features supported by all Path.Area based operations. The standard feature list is OR'ed with the return value of areaOpFeatures(). Do not overwrite, implement areaOpFeatures(obj) instead.''' return PathOp.FeatureTool | PathOp.FeatureDepths | PathOp.FeatureStepDown | PathOp.FeatureHeights | PathOp.FeatureStartPoint | self.areaOpFeatures(obj) def areaOpFeatures(self, obj): '''areaOpFeatures(obj) ... overwrite to add operation specific features. Can safely be overwritten by subclasses.''' return 0 def initOperation(self, obj): '''initOperation(obj) ... sets up standard Path.Area properties and calls initAreaOp(). Do not overwrite, overwrite initAreaOp(obj) instead.''' PathLog.track() # Debugging obj.addProperty("App::PropertyString", "AreaParams", "Path") obj.setEditorMode('AreaParams', 2) # hide obj.addProperty("App::PropertyString", "PathParams", "Path") obj.setEditorMode('PathParams', 2) # hide obj.addProperty("Part::PropertyPartShape", "removalshape", "Path") obj.setEditorMode('removalshape', 2) # hide self.setupAdditionalProperties(obj) self.initAreaOp(obj) def setupAdditionalProperties(self, obj): if not hasattr(obj, 'UseRotation'): obj.addProperty("App::PropertyEnumeration", "UseRotation", "Path", QtCore.QT_TRANSLATE_NOOP("App::Property", "Use rotation to gain access to pockets/areas.")) obj.UseRotation = ['Off', 'A(x)', 'B(y)', 'A & B'] def initAreaOp(self, obj): '''initAreaOp(obj) ... overwrite if the receiver class needs initialisation. Can safely be overwritten by subclasses.''' pass def areaOpShapeForDepths(self, obj): '''areaOpShapeForDepths(obj) ... returns the shape used to make an initial calculation for the depths being used. The default implementation returns the job's Base.Shape''' job = PathUtils.findParentJob(obj) if job and job.Base: PathLog.debug("job=%s base=%s shape=%s" % (job, job.Base, job.Base.Shape)) return job.Base.Shape if job: PathLog.warning(translate("PathAreaOp", "job %s has no Base.") % job.Label) else: PathLog.warning(translate("PathAreaOp", "no job for op %s found.") % obj.Label) return None def areaOpOnChanged(self, obj, prop): '''areaOpOnChanged(obj, porp) ... overwrite to process operation specific changes to properties. Can safely be overwritten by subclasses.''' pass def opOnChanged(self, obj, prop): '''opOnChanged(obj, prop) ... base implementation of the notification framework - do not overwrite. The base implementation takes a stab at determining Heights and Depths if the operations's Base changes. Do not overwrite, overwrite areaOpOnChanged(obj, prop) instead.''' # PathLog.track(obj.Label, prop) if prop in ['AreaParams', 'PathParams', 'removalshape']: obj.setEditorMode(prop, 2) if prop == 'Base' and len(obj.Base) == 1: (base, sub) = obj.Base[0] bb = base.Shape.BoundBox # parent boundbox subobj = base.Shape.getElement(sub[0]) fbb = subobj.BoundBox # feature boundbox if hasattr(obj, 'Side'): if bb.XLength == fbb.XLength and bb.YLength == fbb.YLength: obj.Side = "Outside" else: obj.Side = "Inside" self.areaOpOnChanged(obj, prop) def opOnDocumentRestored(self, obj): for prop in ['AreaParams', 'PathParams', 'removalshape']: if hasattr(obj, prop): obj.setEditorMode(prop, 2) self.setupAdditionalProperties(obj) self.docRestored = True self.areaOpOnDocumentRestored(obj) def areaOpOnDocumentRestored(self, obj): '''areaOpOnDocumentRestored(obj) ... overwrite to fully restore receiver''' pass def opSetDefaultValues(self, obj, job): '''opSetDefaultValues(obj) ... base implementation, do not overwrite. The base implementation sets the depths and heights based on the areaOpShapeForDepths() return value. Do not overwrite, overwrite areaOpSetDefaultValues(obj, job) instead.''' PathLog.debug("opSetDefaultValues(%s, %s)" % (obj.Label, job.Label)) if PathOp.FeatureDepths & self.opFeatures(obj): try: shape = self.areaOpShapeForDepths(obj) except: shape = None maxDep = 1.0 minDep = 0.0 if obj.UseRotation == 'Off': bb = job.Stock.Shape.BoundBox maxDep = bb.ZMax minDep = bb.ZMin else: opHeights = self.opDetermineRotationRadii(obj) # return is list with tuples [(xRotRad, yRotRad, zRotRad), (clrOfst, safOfst)] (xRotRad, yRotRad, zRotRad) = opHeights[0] # (clrOfst, safOfset) = opHeights[1] maxDep = xRotRad if yRotRad > xRotRad: maxDep = yRotRad minDep = -1 * maxDep # Manage operation start and final depths if self.docRestored is True: PathLog.debug("doc restored") obj.FinalDepth.Value = obj.OpFinalDepth.Value else: PathLog.debug("new operation") obj.OpFinalDepth.Value = minDep obj.OpStartDepth.Value = maxDep if self.initOpFinalDepth is None and self.initFinalDepth is None: self.initFinalDepth = minDep self.initOpFinalDepth = minDep else: PathLog.debug("-initFinalDepth" + str(self.initFinalDepth)) PathLog.debug("-initOpFinalDepth" + str(self.initOpFinalDepth)) obj.UseRotation = 'Off' self.areaOpSetDefaultValues(obj, job) def areaOpSetDefaultValues(self, obj, job): '''areaOpSetDefaultValues(obj, job) ... overwrite to set initial values of operation specific properties. Can safely be overwritten by subclasses.''' pass def _buildPathArea(self, obj, baseobject, isHole, start, getsim): '''_buildPathArea(obj, baseobject, isHole, start, getsim) ... internal function.''' PathLog.track() area = Path.Area() area.setPlane(PathUtils.makeWorkplane(baseobject)) area.add(baseobject) areaParams = self.areaOpAreaParams(obj, isHole) heights = [i for i in self.depthparams] PathLog.debug('depths: {}'.format(heights)) area.setParams(**areaParams) obj.AreaParams = str(area.getParams()) PathLog.debug("Area with params: {}".format(area.getParams())) sections = area.makeSections(mode=0, project=self.areaOpUseProjection(obj), heights=heights) PathLog.debug("sections = %s" % sections) shapelist = [sec.getShape() for sec in sections] PathLog.debug("shapelist = %s" % shapelist) pathParams = self.areaOpPathParams(obj, isHole) pathParams['shapes'] = shapelist pathParams['feedrate'] = self.horizFeed pathParams['feedrate_v'] = self.vertFeed pathParams['verbose'] = True pathParams['resume_height'] = obj.SafeHeight.Value pathParams['retraction'] = obj.ClearanceHeight.Value pathParams['return_end'] = True # Note that emitting preambles between moves breaks some dressups and prevents path optimization on some controllers pathParams['preamble'] = False if not self.areaOpRetractTool(obj): pathParams['threshold'] = 2.001 * self.radius if self.endVector is not None: pathParams['start'] = self.endVector elif PathOp.FeatureStartPoint & self.opFeatures(obj) and obj.UseStartPoint: pathParams['start'] = obj.StartPoint obj.PathParams = str({key: value for key, value in pathParams.items() if key != 'shapes'}) PathLog.debug("Path with params: {}".format(obj.PathParams)) (pp, end_vector) = Path.fromShapes(**pathParams) PathLog.debug('pp: {}, end vector: {}'.format(pp, end_vector)) self.endVector = end_vector simobj = None if getsim: areaParams['Thicken'] = True areaParams['ToolRadius'] = self.radius - self.radius * .005 area.setParams(**areaParams) sec = area.makeSections(mode=0, project=False, heights=heights)[-1].getShape() simobj = sec.extrude(FreeCAD.Vector(0, 0, baseobject.BoundBox.ZMax)) return pp, simobj def opExecute(self, obj, getsim=False): '''opExecute(obj, getsim=False) ... implementation of Path.Area ops. determines the parameters for _buildPathArea(). Do not overwrite, implement areaOpAreaParams(obj, isHole) ... op specific area param dictionary areaOpPathParams(obj, isHole) ... op specific path param dictionary areaOpShapes(obj) ... the shape for path area to process areaOpUseProjection(obj) ... return true if operation can use projection instead.''' PathLog.track() self.endVector = None PathLog.debug("opExecute() in PathAreaOp.py") # Instantiate class variables for operation reference self.rotateFlag = False self.modelName = None self.leadIn = 2.0 # safOfset / 2.0 # Initialize depthparams finish_step = obj.FinishDepth.Value if hasattr(obj, "FinishDepth") else 0.0 self.depthparams = PathUtils.depth_params( clearance_height=obj.ClearanceHeight.Value, safe_height=obj.SafeHeight.Value, start_depth=obj.StartDepth.Value, step_down=obj.StepDown.Value, z_finish_step=finish_step, final_depth=obj.FinalDepth.Value, user_depths=None) # Recalculate operation heights for rotational operation if obj.UseRotation != 'Off': # Calculate operation heights based upon rotation radii opHeights = self.opDetermineRotationRadii(obj) # return is [(xRotRad, yRotRad, zRotRad), (clrOfst, safOfst)] (xRotRad, yRotRad, zRotRad) = opHeights[0] (clrOfst, safOfset) = opHeights[1] # self.leadIn = 0.0 #safOfset / 2.0 # Set clearnance and safe heights based upon rotation radii obj.ClearanceHeight.Value = xRotRad + clrOfst obj.SafeHeight.Value = xRotRad + safOfset if yRotRad > xRotRad: obj.ClearanceHeight.Value = yRotRad + clrOfst obj.SafeHeight.Value = yRotRad + safOfset # Set axial feed rates based upon horizontal feed rates safeCircum = 2 * math.pi * obj.SafeHeight.Value self.axialFeed = 360 / safeCircum * self.horizFeed self.axialRapid = 360 / safeCircum * self.horizRapid # Set start point if PathOp.FeatureStartPoint & self.opFeatures(obj) and obj.UseStartPoint: start = obj.StartPoint else: start = None aOS = self.areaOpShapes(obj) # list of tuples (shape, isHole, sub, angle, axis, tag) # Adjust tuples length received from other PathWB tools/operations beside PathPocketShape shapes = [] for shp in aOS: if len(shp) == 2: (fc, iH) = shp tup = fc, iH, 'notPocket', 0.0, 'X' shapes.append(tup) else: shapes.append(shp) if len(shapes) > 1: jobs = [{ 'x': s[0].BoundBox.XMax, 'y': s[0].BoundBox.YMax, 'shape': s } for s in shapes] jobs = PathUtils.sort_jobs(jobs, ['x', 'y']) shapes = [j['shape'] for j in jobs] sims = [] for (shape, isHole, sub, angle, axis) in shapes: startDep = obj.StartDepth.Value # + safOfset safeDep = obj.SafeHeight.Value clearDep = obj.ClearanceHeight.Value finalDep = obj.FinalDepth.Value # finDep finish_step = obj.FinishDepth.Value if hasattr(obj, "FinishDepth") else 0.0 self.depthparams = PathUtils.depth_params( clearance_height=clearDep, # obj.ClearanceHeight.Value safe_height=safeDep, # obj.SafeHeight.Value start_depth=startDep, step_down=obj.StepDown.Value, z_finish_step=finish_step, # obj.FinalDepth.Value final_depth=finalDep, user_depths=None) try: (pp, sim) = self._buildPathArea(obj, shape, isHole, start, getsim) ppCmds = pp.Commands if obj.UseRotation != 'Off' and self.rotateFlag is True: # Rotate model to index for cut axisOfRot = 'A' if axis == 'Y': axisOfRot = 'B' # Reverse angle temporarily to match model. Error in FreeCAD render of B axis rotations if obj.B_AxisErrorOverride is True: angle = -1 * angle # Rotate Model to correct angle ppCmds.insert(0, Path.Command('G0', {axisOfRot: angle, 'F': self.axialFeed})) # Raise cutter to safe depth and return index to starting position ppCmds.append(Path.Command('G0', {'Z': safeDep, 'F': self.vertRapid})) ppCmds.append(Path.Command('G0', {axisOfRot: 0.0, 'F': self.axialFeed})) # Save gcode commands to object command list self.commandlist.extend(ppCmds) sims.append(sim) except Exception as e: FreeCAD.Console.PrintError(e) FreeCAD.Console.PrintError("Something unexpected happened. Check project and tool config.") if self.areaOpRetractTool(obj): self.endVector = None # Raise cutter to safe height and rotate back to original orientation if self.rotateFlag is True: self.commandlist.append(Path.Command('G0', {'Z': obj.SafeHeight.Value, 'F': self.vertRapid})) self.commandlist.append(Path.Command('G0', {'A': 0.0, 'F': self.axialFeed})) self.commandlist.append(Path.Command('G0', {'B': 0.0, 'F': self.axialFeed})) FreeCAD.ActiveDocument.getObject(self.modelName).purgeTouched() PathLog.debug("obj.Name: " + str(obj.Name)) return sims def areaOpRetractTool(self, obj): '''areaOpRetractTool(obj) ... return False to keep the tool at current level between shapes. Default is True.''' return True def areaOpAreaParams(self, obj, isHole): '''areaOpAreaParams(obj, isHole) ... return operation specific area parameters in a dictionary. Note that the resulting parameters are stored in the property AreaParams. Must be overwritten by subclasses.''' pass def areaOpPathParams(self, obj, isHole): '''areaOpPathParams(obj, isHole) ... return operation specific path parameters in a dictionary. Note that the resulting parameters are stored in the property PathParams. Must be overwritten by subclasses.''' pass def areaOpShapes(self, obj): '''areaOpShapes(obj) ... return all shapes to be processed by Path.Area for this op. Must be overwritten by subclasses.''' pass def areaOpUseProjection(self, obj): '''areaOpUseProcjection(obj) ... return True if the operation can use procjection, defaults to False. Can safely be overwritten by subclasses.''' return False def opDetermineRotationRadii(self, obj): '''opDetermineRotationRadii(self, obj) Determine rotational radii for 4th-axis rotations, for clearance/safe heights ''' parentJob = PathUtils.findParentJob(obj) bb = parentJob.Stock.Shape.BoundBox xlim = 0.0 ylim = 0.0 zlim = 0.0 # Determine boundbox radius based upon xzy limits data if math.fabs(bb.ZMin) > math.fabs(bb.ZMax): zlim = bb.ZMin else: zlim = bb.ZMax if obj.UseRotation != 'B(y)': # Rotation is around X-axis, cutter moves along same axis if math.fabs(bb.YMin) > math.fabs(bb.YMax): ylim = bb.YMin else: ylim = bb.YMax if obj.UseRotation != 'A(x)': # Rotation is around Y-axis, cutter moves along same axis if math.fabs(bb.XMin) > math.fabs(bb.XMax): xlim = bb.XMin else: xlim = bb.XMax xRotRad = math.sqrt(ylim**2 + zlim**2) yRotRad = math.sqrt(xlim**2 + zlim**2) zRotRad = math.sqrt(xlim**2 + ylim**2) clrOfst = parentJob.SetupSheet.ClearanceHeightOffset.Value safOfst = parentJob.SetupSheet.ClearanceHeightOffset.Value return [(xRotRad, yRotRad, zRotRad), (clrOfst, safOfst)] def pocketRotationAnalysis(self, obj, objRef, sub, prnt): '''pocketRotationAnalysis(self, obj, objRef, sub, prnt) Determine X and Y independent rotation necessary to make normalAt = Z=1 (0,0,1) ''' rtn = False axis = 'X' orientation = 'X' angle = 500.0 zTol = 1.0E-9 rndTol = 1.0 - zTol testId = "pocketRotationAnalysis() in PathAreaOp.py" def roundRoughValues(val, zTol, rndTol): # Convert VALxe-15 numbers to zero if math.fabs(val) <= zTol: return 0.0 # Convert VAL.99999999 to next integer elif math.fabs(val % 1) > rndTol: return round(val) else: return val face = objRef.Shape.getElement(sub) norm = face.normalAt(0, 0) nX = roundRoughValues(norm.x, zTol, rndTol) nY = roundRoughValues(norm.y, zTol, rndTol) nZ = roundRoughValues(norm.z, zTol, rndTol) testId += "\n -normalAt(0,0): " + str(nX) + ", " + str(nY) + ", " + str(nZ) surf = face.Surface.Axis saX = roundRoughValues(surf.x, zTol, rndTol) saY = roundRoughValues(surf.y, zTol, rndTol) saZ = roundRoughValues(surf.z, zTol, rndTol) testId += "\n -Surface.Axis: " + str(saX) + ", " + str(saY) + ", " + str(saZ) # Determine rotation needed and current orientation if saX == 0.0: if saY == 0.0: orientation = "Z" if saZ == 1.0: angle = 0.0 elif saZ == -1.0: angle = -180.0 else: testId += "_else_X" + str(saZ) elif saY == 1.0: orientation = "Y" angle = 90.0 elif saY == -1.0: orientation = "Y" angle = -90.0 else: if saZ != 0.0: angle = math.degrees(math.atan(saY / saZ)) orientation = "Y" elif saY == 0.0: if saZ == 0.0: orientation = "X" if saX == 1.0: angle = -90.0 elif saX == -1.0: angle = 90.0 else: testId += "_else_X" + str(saX) else: orientation = "X" ratio = saX / saZ angle = math.degrees(math.atan(ratio)) if ratio < 0.0: testId += " NEG-ratio" angle -= 90 else: testId += " POS-ratio" angle = -1 * angle if saX < 0.0: angle = angle + 180.0 elif saZ == 0.0: if saY != 0.0: angle = math.degrees(math.atan(saX / saY)) orientation = "Y" if saX + nX == 0.0: angle = -1 * angle if saY + nY == 0.0: angle = -1 * angle if saZ + nZ == 0.0: angle = -1 * angle if saY == -1.0 or saY == 1.0: if nX != 0.0: angle = -1 * angle if orientation == 'Y': axis = 'X' if obj.UseRotation == 'B(y)': # Axis disabled angle = 500.0 else: axis = 'Y' if obj.UseRotation == 'A(x)': # Axis disabled angle = 500.0 if angle != 500.0 and angle != 0.0: self.rotateFlag = True rtn = True if obj.ReverseDirection is True: if angle < 180.0: angle = angle + 180.0 else: angle = angle - 180.0 testId += "\n - ... rotation triggered" else: testId += "\n - ... NO rotation triggered" testId += "\n -Suggested rotation: angle: " + str(angle) + ", axis: " + str(axis) if prnt is True: PathLog.debug("testId: " + testId) return (rtn, angle, axis)