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# ***************************************************************************
# * Copyright (c) 2022 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 *
# * *
# ***************************************************************************
import FreeCAD
import Path
import math
__title__ = "PathLanguage - classes for an internal language/representation for Path"
__author__ = "sliptonic (Brad Collette)"
__url__ = "https://www.freecad.org"
__doc__ = "Functions to extract and convert between Path.Command and Part.Edge and utility functions to reason about them."
CmdMoveStraight = Path.Geom.CmdMoveStraight + Path.Geom.CmdMoveRapid
class Instruction(object):
"""An Instruction is a pure python replacement of Path.Command which also tracks its begin position."""
def __init__(self, begin, cmd, param=None):
self.begin = begin
if isinstance(cmd, Path.Command):
self.cmd = Path.Name
self.param = Path.Parameters
else:
self.cmd = cmd
if param is None:
self.param = {}
else:
self.param = param
def anglesOfTangents(self):
return (0, 0)
def setPositionBegin(self, begin):
self.begin = begin
def positionBegin(self):
"""positionBegin() ... returns a Vector of the begin position"""
return self.begin
def positionEnd(self):
"""positionEnd() ... returns a Vector of the end position"""
return FreeCAD.Vector(self.x(self.begin.x), self.y(self.begin.y), self.z(self.begin.z))
def pathLength(self):
"""pathLength() ... returns the length in mm"""
return 0
def isMove(self):
return False
def isRapid(self):
return False
def isPlunge(self):
"""isPlunge() ... return true if this moves is vertical"""
if self.isMove():
if (
Path.Geom.isRoughly(self.begin.x, self.x(self.begin.x))
and Path.Geom.isRoughly(self.begin.y, self.y(self.begin.y))
and not Path.Geom.isRoughly(self.begin.z, self.z(self.begin.z))
):
return True
return False
def leadsInto(self, instr):
"""leadsInto(instr) ... return true if instr is a continuation of self"""
return Path.Geom.pointsCoincide(self.positionEnd(), instr.positionBegin())
def x(self, default=0):
return self.param.get("X", default)
def y(self, default=0):
return self.param.get("Y", default)
def z(self, default=0):
return self.param.get("Z", default)
def i(self, default=0):
return self.param.get("I", default)
def j(self, default=0):
return self.param.get("J", default)
def k(self, default=0):
return self.param.get("K", default)
def xyBegin(self):
"""xyBegin() ... internal convenience function"""
return FreeCAD.Vector(self.begin.x, self.begin.y, 0)
def xyEnd(self):
"""xyEnd() ... internal convenience function"""
return FreeCAD.Vector(self.x(self.begin.x), self.y(self.begin.y), 0)
def __repr__(self):
return f"{self.cmd}{self.param}"
def str(self, digits=2):
if digits == 0:
s = [f"{k}: {int(v)}" for k, v in self.param.items()]
else:
fmt = f"{{}}: {{:.{digits}}}"
s = [fmt.format(k, v) for k, v in self.param.items()]
return f"{self.cmd}{{{', '.join(s)}}}"
class MoveStraight(Instruction):
def anglesOfTangents(self):
"""anglesOfTangents() ... return a tuple with the tangent angles at begin and end position"""
begin = self.xyBegin()
end = self.xyEnd()
if end == begin:
return (0, 0)
a = Path.Geom.getAngle(end - begin)
return (a, a)
def isMove(self):
return True
def isStraight(self):
return True
def isArc(self):
return False
def isRapid(self):
return self.cmd in Path.Geom.CmdMoveRapid
def pathLength(self):
return (self.positionEnd() - self.positionBegin()).Length
class MoveArc(Instruction):
def anglesOfTangents(self):
"""anglesOfTangents() ... return a tuple with the tangent angles at begin and end position"""
begin = self.xyBegin()
end = self.xyEnd()
center = self.xyCenter()
# calculate angle of the hypotenuse at begin and end
s0 = Path.Geom.getAngle(begin - center)
s1 = Path.Geom.getAngle(end - center)
# the tangents are perpendicular to the hypotenuse with the sign determined by the
# direction of the arc
return (
Path.Geom.normalizeAngle(s0 + self.arcDirection()),
Path.Geom.normalizeAngle(s1 + self.arcDirection()),
)
def isMove(self):
return True
def isArc(self):
return True
def isStraight(self):
return False
def isCW(self):
return self.arcDirection() < 0
def isCCW(self):
return self.arcDirection() > 0
def arcAngle(self):
"""arcAngle() ... return the angle of the arc opening"""
begin = self.xyBegin()
end = self.xyEnd()
center = self.xyCenter()
s0 = Path.Geom.getAngle(begin - center)
s1 = Path.Geom.getAngle(end - center)
if self.isCW():
while s0 < s1:
s0 = s0 + 2 * math.pi
return s0 - s1
# CCW
while s1 < s0:
s1 = s1 + 2 * math.pi
return s1 - s0
def arcRadius(self):
"""arcRadius() ... return the radius"""
return (self.xyBegin() - self.xyCenter()).Length
def pathLength(self):
return self.arcAngle() * self.arcRadius()
def xyCenter(self):
return FreeCAD.Vector(self.begin.x + self.i(), self.begin.y + self.j(), 0)
class MoveArcCW(MoveArc):
def arcDirection(self):
return -math.pi / 2
class MoveArcCCW(MoveArc):
def arcDirection(self):
return math.pi / 2
class Maneuver(object):
"""A series of instructions and moves"""
def __init__(self, begin=None, instr=None):
self.instr = instr if instr else []
self.setPositionBegin(begin if begin else FreeCAD.Vector(0, 0, 0))
def setPositionBegin(self, begin):
self.begin = begin
for i in self.instr:
i.setPositionBegin(begin)
begin = i.positionEnd()
def positionBegin(self):
return self.begin
def getMoves(self):
return [instr for instr in self.instr if instr.isMove()]
def addInstruction(self, instr):
self.instr.append(instr)
def addInstructions(self, coll):
self.instr.extend(coll)
def toPath(self):
return Path.Path([instruction_to_command(instr) for instr in self.instr])
def __repr__(self):
if self.instr:
return "\n".join([str(i) for i in self.instr])
return ""
@classmethod
def InstructionFromCommand(cls, cmd, begin=None):
if not begin:
begin = FreeCAD.Vector(0, 0, 0)
if cmd.Name in CmdMoveStraight:
return MoveStraight(begin, cmd.Name, cmd.Parameters)
if cmd.Name in Path.Geom.CmdMoveCW:
return MoveArcCW(begin, cmd.Name, cmd.Parameters)
if cmd.Name in Path.Geom.CmdMoveCCW:
return MoveArcCCW(begin, cmd.Name, cmd.Parameters)
return Instruction(begin, cmd.Name, cmd.Parameters)
@classmethod
def FromPath(cls, path, begin=None):
maneuver = Maneuver(begin)
instr = []
begin = maneuver.positionBegin()
for cmd in path.Commands:
i = cls.InstructionFromCommand(cmd, begin)
instr.append(i)
begin = i.positionEnd()
maneuver.instr = instr
return maneuver
@classmethod
def FromGCode(cls, gcode, begin=None):
return cls.FromPath(Path.Path(gcode), begin)
def instruction_to_command(instr):
return Path.Command(instr.cmd, instr.param)
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