b75cd3dd52
This PR fixes header uniformity across all Path files. It also removes all trailing whitespace.
544 lines
23 KiB
Python
544 lines
23 KiB
Python
# -*- coding: utf-8 -*-
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# ***************************************************************************
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# * Copyright (c) 2018 Kresimir Tusek <kresimir.tusek@gmail.com> *
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# * *
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# * This file is part of the FreeCAD CAx development system. *
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# * *
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# * This library is free software; you can redistribute it and/or *
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# * modify it under the terms of the GNU Library General Public *
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# * License as published by the Free Software Foundation; either *
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# * version 2 of the License, or (at your option) any later version. *
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# * *
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# * This library is distributed in the hope that it will be useful, *
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# * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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# * GNU Library General Public License for more details. *
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# * *
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# * You should have received a copy of the GNU Library General Public *
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# * License along with this library; see the file COPYING.LIB. If not, *
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# * write to the Free Software Foundation, Inc., 59 Temple Place, *
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# * Suite 330, Boston, MA 02111-1307, USA *
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# * *
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# ***************************************************************************
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# * *
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# * Additional modifications and contributions beginning 2019 *
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# * by Schildkroet. (https://github.com/Schildkroet) *
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# * *
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# ***************************************************************************
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import PathScripts.PathOp as PathOp
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import PathScripts.PathUtils as PathUtils
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import Path
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import FreeCAD
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import FreeCADGui
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from FreeCAD import Console
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import time
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import json
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import math
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import area
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from pivy import coin
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__doc__ = "Class and implementation of the Adaptive path operation."
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def convertTo2d(pathArray):
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output = []
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for path in pathArray:
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pth2 = []
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for edge in path:
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for pt in edge:
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pth2.append([pt[0],pt[1]])
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output.append(pth2)
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return output
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sceneGraph = None
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scenePathNodes = [] #for scene cleanup aftewards
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topZ = 10
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def sceneDrawPath(path, color=(0, 0, 1)):
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coPoint = coin.SoCoordinate3()
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pts = []
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for pt in path:
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pts.append([pt[0], pt[1], topZ])
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coPoint.point.setValues(0, len(pts), pts)
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ma = coin.SoBaseColor()
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ma.rgb = color
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li = coin.SoLineSet()
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li.numVertices.setValue(len(pts))
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pathNode = coin.SoSeparator()
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pathNode.addChild(coPoint)
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pathNode.addChild(ma)
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pathNode.addChild(li)
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sceneGraph.addChild(pathNode)
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scenePathNodes.append(pathNode) #for scene cleanup afterwards
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def sceneClean():
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for n in scenePathNodes:
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sceneGraph.removeChild(n)
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del scenePathNodes[:]
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def discretize(edge, flipDirection = False):
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pts = edge.discretize(Deflection = 0.0001)
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if flipDirection:
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pts.reverse()
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return pts
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def GenerateGCode(op,obj,adaptiveResults, helixDiameter):
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# pylint: disable=unused-argument
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if len(adaptiveResults) == 0 or len(adaptiveResults[0]["AdaptivePaths"]) == 0:
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return
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# minLiftDistance = op.tool.Diameter
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helixRadius = 0
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for region in adaptiveResults:
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p1 = region["HelixCenterPoint"]
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p2 = region["StartPoint"]
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r =math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1]))
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if r > helixRadius:
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helixRadius = r
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stepDown = obj.StepDown.Value
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passStartDepth=obj.StartDepth.Value
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if stepDown < 0.1 :
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stepDown = 0.1
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length = 2*math.pi * helixRadius
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if float(obj.HelixAngle) < 1:
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obj.HelixAngle = 1
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helixAngleRad = math.pi * float(obj.HelixAngle) / 180.0
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depthPerOneCircle = length * math.tan(helixAngleRad)
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#print("Helix circle depth: {}".format(depthPerOneCircle))
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stepUp = obj.LiftDistance.Value
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if stepUp < 0:
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stepUp = 0
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finish_step = obj.FinishDepth.Value if hasattr(obj, "FinishDepth") else 0.0
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if finish_step > stepDown:
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finish_step = stepDown
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depth_params = PathUtils.depth_params(
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clearance_height=obj.ClearanceHeight.Value,
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safe_height=obj.SafeHeight.Value,
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start_depth=obj.StartDepth.Value,
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step_down=stepDown,
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z_finish_step=finish_step,
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final_depth=obj.FinalDepth.Value,
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user_depths=None)
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# ml: this is dangerous because it'll hide all unused variables hence forward
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# however, I don't know what lx and ly signify so I'll leave them for now
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# pylint: disable=unused-variable
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lx = adaptiveResults[0]["HelixCenterPoint"][0]
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ly = adaptiveResults[0]["HelixCenterPoint"][1]
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lz = passStartDepth
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step = 0
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for passEndDepth in depth_params.data:
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step = step + 1
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for region in adaptiveResults:
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startAngle = math.atan2(region["StartPoint"][1] - region["HelixCenterPoint"][1], region["StartPoint"][0] - region["HelixCenterPoint"][0])
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lx = region["HelixCenterPoint"][0]
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ly = region["HelixCenterPoint"][1]
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passDepth = (passStartDepth - passEndDepth)
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p1 = region["HelixCenterPoint"]
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p2 = region["StartPoint"]
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helixRadius = math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1]))
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# helix ramp
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if helixRadius > 0.001:
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r = helixRadius - 0.01
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maxfi = passDepth / depthPerOneCircle * 2 * math.pi
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fi = 0
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offsetFi = -maxfi + startAngle-math.pi/16
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helixStart = [region["HelixCenterPoint"][0] + r * math.cos(offsetFi), region["HelixCenterPoint"][1] + r * math.sin(offsetFi)]
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op.commandlist.append(Path.Command("(Helix to depth: %f)"%passEndDepth))
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if obj.UseHelixArcs == False:
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# rapid move to start point
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op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.ClearanceHeight.Value}))
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# rapid move to safe height
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op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.SafeHeight.Value}))
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# move to start depth
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op.commandlist.append(Path.Command("G1", {"X": helixStart[0], "Y": helixStart[1], "Z": passStartDepth, "F": op.vertFeed}))
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while fi < maxfi:
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x = region["HelixCenterPoint"][0] + r * math.cos(fi+offsetFi)
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y = region["HelixCenterPoint"][1] + r * math.sin(fi+offsetFi)
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z = passStartDepth - fi / maxfi * (passStartDepth - passEndDepth)
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op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "Z":z, "F": op.vertFeed}))
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lx = x
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ly = y
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fi=fi+math.pi/16
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# one more circle at target depth to make sure center is cleared
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maxfi = maxfi + 2*math.pi
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while fi < maxfi:
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x = region["HelixCenterPoint"][0] + r * math.cos(fi+offsetFi)
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y = region["HelixCenterPoint"][1] + r * math.sin(fi+offsetFi)
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z = passEndDepth
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op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "Z":z, "F": op.horizFeed}))
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lx = x
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ly = y
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fi = fi + math.pi/16
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else:
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helixStart = [region["HelixCenterPoint"][0] + r, region["HelixCenterPoint"][1]]
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# rapid move to start point
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op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.ClearanceHeight.Value}))
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# rapid move to safe height
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op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.SafeHeight.Value}))
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# move to start depth
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op.commandlist.append(Path.Command("G1", {"X": helixStart[0], "Y": helixStart[1], "Z": passStartDepth, "F": op.vertFeed}))
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x = region["HelixCenterPoint"][0] + r
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y = region["HelixCenterPoint"][1]
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curDep = passStartDepth
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while curDep > (passEndDepth + depthPerOneCircle):
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op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": curDep - (depthPerOneCircle/2), "I": -r, "F": op.horizFeed}))
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op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": curDep - depthPerOneCircle, "I": r, "F": op.horizFeed}))
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curDep = curDep - depthPerOneCircle
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lastStep = curDep - passEndDepth
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if lastStep > (depthPerOneCircle/2):
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op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": curDep - (lastStep/2), "I": -r, "F": op.horizFeed}))
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op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": passEndDepth, "I": r, "F": op.horizFeed}))
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else:
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op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": passEndDepth, "I": -r, "F": op.horizFeed}))
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op.commandlist.append(Path.Command("G1", {"X": x, "Y": y, "Z": passEndDepth, "F": op.vertFeed}))
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# one more circle at target depth to make sure center is cleared
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op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": passEndDepth, "I": -r, "F": op.horizFeed}))
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op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": passEndDepth, "I": r, "F": op.horizFeed}))
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lx = x
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ly = y
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else: # no helix entry
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# rapid move to clearance height
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op.commandlist.append(Path.Command("G0", {"X": region["StartPoint"][0], "Y": region["StartPoint"][1], "Z": obj.ClearanceHeight.Value}))
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# straight plunge to target depth
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op.commandlist.append(Path.Command("G1", {"X":region["StartPoint"][0], "Y": region["StartPoint"][1], "Z": passEndDepth,"F": op.vertFeed}))
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lz = passEndDepth
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z = obj.ClearanceHeight.Value
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op.commandlist.append(Path.Command("(Adaptive - depth: %f)"%passEndDepth))
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# add adaptive paths
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for pth in region["AdaptivePaths"]:
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motionType = pth[0] #[0] contains motion type
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for pt in pth[1]: #[1] contains list of points
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x = pt[0]
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y = pt[1]
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# dist = math.sqrt((x-lx)*(x-lx) + (y-ly)*(y-ly))
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if motionType == area.AdaptiveMotionType.Cutting:
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z = passEndDepth
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if z != lz:
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op.commandlist.append(Path.Command("G1", { "Z":z,"F": op.vertFeed}))
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op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "F": op.horizFeed}))
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elif motionType == area.AdaptiveMotionType.LinkClear:
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z = passEndDepth + stepUp
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if z != lz:
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op.commandlist.append(Path.Command("G0", { "Z":z}))
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op.commandlist.append(Path.Command("G0", { "X": x, "Y":y}))
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elif motionType == area.AdaptiveMotionType.LinkNotClear:
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z = obj.ClearanceHeight.Value
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if z != lz:
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op.commandlist.append(Path.Command("G0", { "Z":z}))
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op.commandlist.append(Path.Command("G0", { "X": x, "Y":y}))
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# elif motionType == area.AdaptiveMotionType.LinkClearAtPrevPass:
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# if lx!=x or ly!=y:
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# op.commandlist.append(Path.Command("G0", { "X": lx, "Y":ly, "Z":passStartDepth+stepUp}))
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# op.commandlist.append(Path.Command("G0", { "X": x, "Y":y, "Z":passStartDepth+stepUp}))
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lx = x
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ly = y
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lz = z
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# return to safe height in this Z pass
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z = obj.ClearanceHeight.Value
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if z != lz:
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op.commandlist.append(Path.Command("G0", { "Z":z}))
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lz = z
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passStartDepth = passEndDepth
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# return to safe height in this Z pass
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z = obj.ClearanceHeight.Value
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if z != lz:
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op.commandlist.append(Path.Command("G0", { "Z":z}))
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lz = z
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z = obj.ClearanceHeight.Value
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if z != lz:
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op.commandlist.append(Path.Command("G0", { "Z":z}))
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lz = z
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def Execute(op,obj):
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# pylint: disable=global-statement
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global sceneGraph
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global topZ
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sceneGraph = FreeCADGui.ActiveDocument.ActiveView.getSceneGraph()
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Console.PrintMessage("*** Adaptive toolpath processing started...\n")
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#hide old toolpaths during recalculation
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obj.Path = Path.Path("(Calculating...)")
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#store old visibility state
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job = op.getJob(obj)
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oldObjVisibility = obj.ViewObject.Visibility
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oldJobVisibility = job.ViewObject.Visibility
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obj.ViewObject.Visibility = False
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job.ViewObject.Visibility = False
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FreeCADGui.updateGui()
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try:
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helixDiameter = obj.HelixDiameterLimit.Value
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topZ = op.stock.Shape.BoundBox.ZMax
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obj.Stopped = False
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obj.StopProcessing = False
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if obj.Tolerance < 0.001:
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obj.Tolerance = 0.001
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pathArray = []
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for base, subs in obj.Base:
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for sub in subs:
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shape = base.Shape.getElement(sub)
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for edge in shape.Edges:
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pathArray.append([discretize(edge)])
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#pathArray=connectEdges(edges)
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path2d = convertTo2d(pathArray)
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stockPaths = []
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if op.stock.StockType == "CreateCylinder":
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stockPaths.append([discretize(op.stock.Shape.Edges[0])])
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else:
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stockBB = op.stock.Shape.BoundBox
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v=[]
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v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMin,0))
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v.append(FreeCAD.Vector(stockBB.XMax,stockBB.YMin,0))
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v.append(FreeCAD.Vector(stockBB.XMax,stockBB.YMax,0))
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v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMax,0))
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v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMin,0))
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stockPaths.append([v])
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stockPath2d = convertTo2d(stockPaths)
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opType = area.AdaptiveOperationType.ClearingInside
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if obj.OperationType == "Clearing":
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if obj.Side == "Outside":
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opType = area.AdaptiveOperationType.ClearingOutside
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else:
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opType = area.AdaptiveOperationType.ClearingInside
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else: # profiling
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if obj.Side == "Outside":
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opType = area.AdaptiveOperationType.ProfilingOutside
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else:
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opType = area.AdaptiveOperationType.ProfilingInside
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keepToolDownRatio = 3.0
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if hasattr(obj, 'KeepToolDownRatio'):
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keepToolDownRatio = float(obj.KeepToolDownRatio)
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# put here all properties that influence calculation of adaptive base paths,
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inputStateObject = {
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"tool": float(op.tool.Diameter),
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"tolerance": float(obj.Tolerance),
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"geometry" : path2d,
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"stockGeometry": stockPath2d,
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"stepover" : float(obj.StepOver),
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"effectiveHelixDiameter": float(helixDiameter),
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"operationType": obj.OperationType,
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"side": obj.Side,
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"forceInsideOut" : obj.ForceInsideOut,
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"keepToolDownRatio": keepToolDownRatio,
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"stockToLeave": float(obj.StockToLeave)
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}
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inputStateChanged = False
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adaptiveResults = None
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if obj.AdaptiveOutputState != None and obj.AdaptiveOutputState != "":
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adaptiveResults = obj.AdaptiveOutputState
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if json.dumps(obj.AdaptiveInputState) != json.dumps(inputStateObject):
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inputStateChanged = True
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adaptiveResults = None
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# progress callback fn, if return true it will stop processing
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def progressFn(tpaths):
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for path in tpaths: #path[0] contains the MotionType, #path[1] contains list of points
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if path[0] == area.AdaptiveMotionType.Cutting:
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sceneDrawPath(path[1],(0,0,1))
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else:
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sceneDrawPath(path[1],(1,0,1))
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FreeCADGui.updateGui()
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return obj.StopProcessing
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start = time.time()
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if inputStateChanged or adaptiveResults is None:
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a2d = area.Adaptive2d()
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a2d.stepOverFactor = 0.01*obj.StepOver
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a2d.toolDiameter = float(op.tool.Diameter)
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a2d.helixRampDiameter = helixDiameter
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a2d.keepToolDownDistRatio = keepToolDownRatio
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a2d.stockToLeave =float(obj.StockToLeave)
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a2d.tolerance = float(obj.Tolerance)
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a2d.forceInsideOut = obj.ForceInsideOut
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a2d.opType = opType
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# EXECUTE
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results = a2d.Execute(stockPath2d,path2d,progressFn)
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# need to convert results to python object to be JSON serializable
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adaptiveResults = []
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for result in results:
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adaptiveResults.append({
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"HelixCenterPoint": result.HelixCenterPoint,
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"StartPoint": result.StartPoint,
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"AdaptivePaths": result.AdaptivePaths,
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"ReturnMotionType": result.ReturnMotionType })
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# GENERATE
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GenerateGCode(op,obj,adaptiveResults,helixDiameter)
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if not obj.StopProcessing:
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Console.PrintMessage("*** Done. Elapsed time: %f sec\n\n" %(time.time()-start))
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obj.AdaptiveOutputState = adaptiveResults
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obj.AdaptiveInputState=inputStateObject
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else:
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Console.PrintMessage("*** Processing cancelled (after: %f sec).\n\n" %(time.time()-start))
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finally:
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obj.ViewObject.Visibility = oldObjVisibility
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job.ViewObject.Visibility = oldJobVisibility
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sceneClean()
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class PathAdaptive(PathOp.ObjectOp):
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def opFeatures(self, obj):
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'''opFeatures(obj) ... returns the OR'ed list of features used and supported by the operation.
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The default implementation returns "FeatureTool | FeatureDepths | FeatureHeights | FeatureStartPoint"
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Should be overwritten by subclasses.'''
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return PathOp.FeatureTool | PathOp.FeatureBaseEdges | PathOp.FeatureDepths | PathOp.FeatureFinishDepth | PathOp.FeatureStepDown | PathOp.FeatureHeights | PathOp.FeatureBaseGeometry | PathOp.FeatureCoolant
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def initOperation(self, obj):
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'''initOperation(obj) ... implement to create additional properties.
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Should be overwritten by subclasses.'''
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obj.addProperty("App::PropertyEnumeration", "Side", "Adaptive", "Side of selected faces that tool should cut")
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obj.Side = ['Outside', 'Inside'] # side of profile that cutter is on in relation to direction of profile
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obj.addProperty("App::PropertyEnumeration", "OperationType", "Adaptive", "Type of adaptive operation")
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obj.OperationType = ['Clearing', 'Profiling'] # side of profile that cutter is on in relation to direction of profile
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obj.addProperty("App::PropertyFloat", "Tolerance", "Adaptive", "Influences accuracy and performance")
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obj.addProperty("App::PropertyPercent", "StepOver", "Adaptive", "Percent of cutter diameter to step over on each pass")
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obj.addProperty("App::PropertyDistance", "LiftDistance", "Adaptive", "Lift distance for rapid moves")
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obj.addProperty("App::PropertyDistance", "KeepToolDownRatio", "Adaptive", "Max length of keep tool down path compared to direct distance between points")
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obj.addProperty("App::PropertyDistance", "StockToLeave", "Adaptive", "How much stock to leave (i.e. for finishing operation)")
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# obj.addProperty("App::PropertyBool", "ProcessHoles", "Adaptive","Process holes as well as the face outline")
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obj.addProperty("App::PropertyBool", "ForceInsideOut", "Adaptive","Force plunging into material inside and clearing towards the edges")
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obj.addProperty("App::PropertyBool", "Stopped",
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"Adaptive", "Stop processing")
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obj.setEditorMode('Stopped', 2) #hide this property
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obj.addProperty("App::PropertyBool", "StopProcessing",
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"Adaptive", "Stop processing")
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obj.setEditorMode('StopProcessing', 2) # hide this property
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obj.addProperty("App::PropertyBool", "UseHelixArcs", "Adaptive","Use Arcs (G2) for helix ramp")
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obj.addProperty("App::PropertyPythonObject", "AdaptiveInputState",
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"Adaptive", "Internal input state")
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obj.addProperty("App::PropertyPythonObject", "AdaptiveOutputState",
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"Adaptive", "Internal output state")
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obj.setEditorMode('AdaptiveInputState', 2) #hide this property
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obj.setEditorMode('AdaptiveOutputState', 2) #hide this property
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obj.addProperty("App::PropertyAngle", "HelixAngle", "Adaptive", "Helix ramp entry angle (degrees)")
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obj.addProperty("App::PropertyLength", "HelixDiameterLimit", "Adaptive", "Limit helix entry diameter, if limit larger than tool diameter or 0, tool diameter is used")
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def opSetDefaultValues(self, obj, job):
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obj.Side="Inside"
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obj.OperationType = "Clearing"
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obj.Tolerance = 0.1
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obj.StepOver = 20
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obj.LiftDistance=0
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# obj.ProcessHoles = True
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obj.ForceInsideOut = False
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obj.Stopped = False
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obj.StopProcessing = False
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obj.HelixAngle = 5
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obj.HelixDiameterLimit = 0.0
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obj.AdaptiveInputState =""
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obj.AdaptiveOutputState = ""
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obj.StockToLeave = 0
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obj.KeepToolDownRatio = 3.0
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obj.UseHelixArcs = False
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def opExecute(self, obj):
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'''opExecute(obj) ... called whenever the receiver needs to be recalculated.
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See documentation of execute() for a list of base functionality provided.
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Should be overwritten by subclasses.'''
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Execute(self,obj)
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def Create(name, obj = None):
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'''Create(name) ... Creates and returns a Adaptive operation.'''
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if obj is None:
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obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", name)
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obj.Proxy = PathAdaptive(obj,name)
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return obj
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