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/***************************************************************************
* Copyright (c) 2019 sliptonic <shopinthewoods@gmail.com> *
* *
* 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 *
* *
***************************************************************************/
#include <vector>
#include <App/Application.h>
#include <Base/Parameter.h>
#include <Base/Tools.h>
#include "PathSegmentWalker.h"
#define ARC_MIN_SEGMENTS 20.0 // minimum # segments to interpolate an arc
namespace Path
{
Base::Vector3d compensateRotation(
const Base::Vector3d& pt,
const Base::Rotation& rot,
const Base::Vector3d& center
)
{
Base::Vector3d ptRotated;
rot.multVec(pt - center, ptRotated);
return ptRotated + center;
}
Base::Rotation yawPitchRoll(double a, double b, double c)
{
Base::Rotation rot;
rot.setYawPitchRoll(-c, -b, -a);
return rot;
}
PathSegmentVisitor::~PathSegmentVisitor()
{}
void PathSegmentVisitor::setup(const Base::Vector3d& last)
{
(void)last;
}
void PathSegmentVisitor::g0(
int id,
const Base::Vector3d& last,
const Base::Vector3d& next,
const std::deque<Base::Vector3d>& pts
)
{
(void)id;
(void)last;
(void)next;
(void)pts;
}
void PathSegmentVisitor::g1(
int id,
const Base::Vector3d& last,
const Base::Vector3d& next,
const std::deque<Base::Vector3d>& pts
)
{
(void)id;
(void)last;
(void)next;
(void)pts;
}
void PathSegmentVisitor::g23(
int id,
const Base::Vector3d& last,
const Base::Vector3d& next,
const std::deque<Base::Vector3d>& pts,
const Base::Vector3d& center
)
{
(void)id;
(void)last;
(void)next;
(void)pts;
(void)center;
}
void PathSegmentVisitor::g8x(
int id,
const Base::Vector3d& last,
const Base::Vector3d& next,
const std::deque<Base::Vector3d>& pts,
const std::deque<Base::Vector3d>& p,
const std::deque<Base::Vector3d>& q
)
{
(void)id;
(void)last;
(void)next;
(void)pts;
(void)p;
(void)q;
}
void PathSegmentVisitor::g38(int id, const Base::Vector3d& last, const Base::Vector3d& next)
{
(void)id;
(void)last;
(void)next;
}
PathSegmentWalker::PathSegmentWalker(const Toolpath& tp_)
: tp(tp_)
, retract_mode(98) // Default to G98 (retract to initial Z)
{}
void PathSegmentWalker::walk(PathSegmentVisitor& cb, const Base::Vector3d& startPosition)
{
if (tp.getSize() == 0) {
return;
}
ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath(
"User parameter:BaseApp/Preferences/Mod/Part"
);
float deviation = hGrp->GetFloat("MeshDeviation", 0.2);
Base::Vector3d rotCenter = tp.getCenter();
Base::Vector3d last(startPosition);
Base::Rotation lrot;
double A = 0.0;
double B = 0.0;
double C = 0.0;
bool absolute = true;
bool absolutecenter = false;
// for mapping the coordinates to XY plane
double Base::Vector3d::* pz = &Base::Vector3d::z;
cb.setup(last);
for (unsigned int i = 0; i < tp.getSize(); i++) {
std::deque<Base::Vector3d> points;
const Path::Command& cmd = tp.getCommand(i);
const std::string& name = cmd.Name;
Base::Vector3d next = cmd.getPlacement().getPosition();
double a = A;
double b = B;
double c = C;
if (!absolute) {
next = last + next;
}
if (!cmd.has("X")) {
next.x = last.x;
}
if (!cmd.has("Y")) {
next.y = last.y;
}
if (!cmd.has("Z")) {
next.z = last.z;
}
if (cmd.has("A")) {
a = cmd.getValue("A");
}
if (cmd.has("B")) {
b = cmd.getValue("B");
}
if (cmd.has("C")) {
c = cmd.getValue("C");
}
Base::Rotation nrot = yawPitchRoll(a, b, c);
Base::Vector3d rnext = compensateRotation(next, nrot, rotCenter);
if ((name == "G0") || (name == "G00") || (name == "G1") || (name == "G01")) {
// straight line
if (nrot != lrot) {
double amax = std::max(
fmod(fabs(a - A), 360),
std::max(fmod(fabs(b - B), 360), fmod(fabs(c - C), 360))
);
double angle = Base::toRadians(amax);
int segments = std::max(ARC_MIN_SEGMENTS, 3.0 / (deviation / angle));
double da = (a - A) / segments;
double db = (b - B) / segments;
double dc = (c - C) / segments;
Base::Vector3d dnext = (next - last) / segments;
for (int j = 1; j < segments; j++) {
Base::Vector3d inter = last + dnext * j;
Base::Rotation rot = yawPitchRoll(A + da * j, B + db * j, C + dc * j);
Base::Vector3d rinter = compensateRotation(inter, rot, rotCenter);
points.push_back(rinter);
}
}
if ("G0" == name || "G00" == name) {
cb.g0(i, last, rnext, points);
}
else {
cb.g1(i, last, rnext, points);
}
last = next;
A = a;
B = b;
C = c;
lrot = nrot;
}
else if ((name == "G2") || (name == "G02") || (name == "G3") || (name == "G03")) {
// arc
Base::Vector3d norm;
Base::Vector3d center;
if ((name == "G2") || (name == "G02")) {
norm.*pz = -1.0;
}
else {
norm.*pz = 1.0;
}
if (absolutecenter) {
center = cmd.getCenter();
}
else {
center = (last + cmd.getCenter());
}
Base::Vector3d next0(next);
next0.*pz = 0.0;
Base::Vector3d last0(last);
last0.*pz = 0.0;
Base::Vector3d center0(center);
center0.*pz = 0.0;
// double radius = (last - center).Length();
double angle = (next0 - center0).GetAngle(last0 - center0);
// GetAngle will always return the minor angle. Switch if needed
Base::Vector3d anorm = (last0 - center0) % (next0 - center0);
if (anorm.*pz < 0) {
if (name == "G3" || name == "G03") {
angle = std::numbers::pi * 2 - angle;
}
}
else if (anorm.*pz > 0) {
if (name == "G2" || name == "G02") {
angle = std::numbers::pi * 2 - angle;
}
}
else if (angle == 0) {
angle = std::numbers::pi * 2;
}
double amax = std::max(
fmod(fabs(a - A), 360),
std::max(fmod(fabs(b - B), 360), fmod(fabs(c - C), 360))
);
int segments = std::max(
ARC_MIN_SEGMENTS,
3.0 / (deviation / std::max(angle, amax))
); // we use a rather simple rule here, provisorily
double dZ = (next.*pz - last.*pz) / segments; // How far each segment will helix in Z
double dangle = angle / segments;
double da = (a - A) / segments;
double db = (b - B) / segments;
double dc = (c - C) / segments;
for (int j = 1; j < segments; j++) {
Base::Vector3d inter;
Base::Rotation rot(norm, dangle * j);
rot.multVec((last0 - center0), inter);
inter.*pz = last.*pz + dZ * j; // Enable displaying helices
Base::Rotation arot = yawPitchRoll(A + da * j, B + db * j, C + dc * j);
Base::Vector3d rinter = compensateRotation(center0 + inter, arot, rotCenter);
points.push_back(rinter);
}
cb.g23(i, last, rnext, points, center);
last = next;
A = a;
B = b;
C = c;
lrot = nrot;
}
else if (name == "G90") {
// absolute mode
absolute = true;
}
else if (name == "G91") {
// relative mode
absolute = false;
}
else if (name == "G90.1") {
// absolute mode
absolutecenter = true;
}
else if (name == "G91.1") {
// relative mode
absolutecenter = false;
}
else if ((name == "G73") || (name == "G74") || (name == "G81") || (name == "G82")
|| (name == "G83") || (name == "G84") || (name == "G85") || (name == "G86")
|| (name == "G89")) {
// drill,tap,bore
// Check for RetractMode annotation (G98 or G99)
if (cmd.hasAnnotation("RetractMode")) {
std::string mode = cmd.getAnnotationString("RetractMode");
if (mode == "G99") {
retract_mode = 99;
}
else if (mode == "G98") {
retract_mode = 98;
}
}
double r = 0;
if (cmd.has("R")) {
r = cmd.getValue("R");
}
std::deque<Base::Vector3d> plist;
std::deque<Base::Vector3d> qlist;
Base::Vector3d p1(next);
p1.*pz = last.*pz;
if (nrot != lrot) {
double amax = std::max(
fmod(fabs(a - A), 360),
std::max(fmod(fabs(b - B), 360), fmod(fabs(c - C), 360))
);
double angle = Base::toRadians(amax);
int segments = std::max(ARC_MIN_SEGMENTS, 3.0 / (deviation / angle));
double da = (a - A) / segments;
double db = (b - B) / segments;
double dc = (c - C) / segments;
Base::Vector3d dnext = (p1 - last) / segments;
for (int j = 1; j < segments; j++) {
Base::Vector3d inter = last + dnext * j;
Base::Rotation rot = yawPitchRoll(A + da * j, B + db * j, C + dc * j);
Base::Vector3d rinter = compensateRotation(inter, rot, rotCenter);
points.push_back(rinter);
}
}
Base::Vector3d p1r = compensateRotation(p1, nrot, rotCenter);
Base::Vector3d p2(next);
p2.*pz = r;
Base::Vector3d p2r = compensateRotation(p2, nrot, rotCenter);
double q;
if (cmd.has("Q")) {
q = cmd.getValue("Q");
if (q > 0) {
Base::Vector3d temp(next);
for (temp.*pz = r; temp.*pz > next.*pz; temp.*pz -= q) {
Base::Vector3d pr = compensateRotation(temp, nrot, rotCenter);
qlist.push_back(pr);
}
}
}
Base::Vector3d p3(next);
if (retract_mode == 99) { // G81,G83 need to account for G99 and retract to R only
p3.*pz = p2.*pz;
}
else {
p3.*pz = last.*pz;
}
Base::Vector3d p3r = compensateRotation(p3, nrot, rotCenter);
plist.push_back(p1r);
plist.push_back(p2r);
plist.push_back(p3r);
cb.g8x(i, last, next, points, plist, qlist);
last = p3;
A = a;
B = b;
C = c;
lrot = nrot;
}
else if ((name == "G38.2") || (name == "G38.3") || (name == "G38.4") || (name == "G38.5")) {
// Straight probe
cb.g38(i, last, next);
last = next;
}
else if (name == "G17") {
pz = &Base::Vector3d::z;
}
else if (name == "G18") {
pz = &Base::Vector3d::y;
}
else if (name == "G19") {
pz = &Base::Vector3d::x;
}
else if (name == "G98") {
retract_mode = 98;
}
else if (name == "G99") {
retract_mode = 99;
}
}
}
} // namespace Path
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