src/Mod/CAM/App/AppPathPy.cpp

// SPDX-License-Identifier: LGPL-2.1-or-later
/***************************************************************************
 *   Copyright (c) 2014 Yorik van Havre <yorik@uncreated.net>              *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  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 library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

#include <BRep_Tool.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <gp_Circ.hxx>
#include <gp_Dir.hxx>
#include <gp_Pnt.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Shape.hxx>
#include <TopoDS_Vertex.hxx>
#include <TopExp_Explorer.hxx>


#include <App/Application.h>
#include <App/Document.h>
#include <App/DocumentObjectPy.h>
#include <Base/Console.h>
#include <Base/FileInfo.h>
#include <Base/Interpreter.h>
#include <Base/PyWrapParseTupleAndKeywords.h>
#include <Base/Stream.h>
#include <Base/VectorPy.h>
#include <Mod/Part/App/OCCError.h>
#include <Mod/Part/App/TopoShapePy.h>

#include "Area.h"
#include "PathPy.h"
#include "FeaturePath.h"


#define PATH_CATCH \
    catch (Standard_Failure & e) \
    { \
        std::string str; \
        Standard_CString msg = e.GetMessageString(); \
        str += typeid(e).name(); \
        str += " "; \
        if (msg) { \
            str += msg; \
        } \
        else { \
            str += "No OCCT Exception Message"; \
        } \
        Base::Console().error(str.c_str()); \
        PyErr_SetString(Part::PartExceptionOCCError, str.c_str()); \
    } \
    catch (Base::Exception & e) \
    { \
        std::string str; \
        str += "FreeCAD exception thrown ("; \
        str += e.what(); \
        str += ")"; \
        e.reportException(); \
        PyErr_SetString(Base::PyExc_FC_GeneralError, str.c_str()); \
    } \
    catch (std::exception & e) \
    { \
        std::string str; \
        str += "STL exception thrown ("; \
        str += e.what(); \
        str += ")"; \
        Base::Console().error(str.c_str()); \
        PyErr_SetString(Base::PyExc_FC_GeneralError, str.c_str()); \
    } \
    catch (const char* e) \
    { \
        PyErr_SetString(Base::PyExc_FC_GeneralError, e); \
    } \
    throw Py::Exception();

namespace PathApp
{
class VoronoiModule: public Py::ExtensionModule<VoronoiModule>
{
public:
    VoronoiModule()
        : Py::ExtensionModule<VoronoiModule>("Voronoi")
    {
        initialize("Working with Voronoi diagrams and data structures");
    }
    ~VoronoiModule() override
    {}
};

class Module: public Py::ExtensionModule<Module>
{
    VoronoiModule voronoi;

public:
    Module()
        : Py::ExtensionModule<Module>("PathApp")
    {
        add_varargs_method(
            "write",
            &Module::write,
            "write(object,filename): Exports a given path object to a GCode file"
        );
        add_varargs_method(
            "read",
            &Module::read,
            "read(filename,[document]): Imports a GCode file into the given document"
        );
        add_varargs_method(
            "show",
            &Module::show,
            "show(path,[string]): Add the path to the active document or create one "
            "if no document exists"
        );
        add_varargs_method(
            "fromShape",
            &Module::fromShape,
            "fromShape(Shape): Returns a Path object from a Part Shape (deprecated "
            "- use fromShapes() instead)"
        );
        add_keyword_method(
            "fromShapes",
            &Module::fromShapes,
            "fromShapes(shapes, start=Vector(), return_end=False" PARAM_PY_ARGS_DOC(
                ARG,
                AREA_PARAMS_PATH
            ) ")\n"
              "\nReturns a Path object from a list of shapes\n"
              "\n* shapes: input list of shapes.\n"
              "\n* start (Vector()): feed start position, and also serves as a "
              "hint of path entry.\n"
              "\n* return_end (False): if True, returns tuple (path, "
              "endPosition).\n" PARAM_PY_DOC(ARG, AREA_PARAMS_PATH)
        );
        add_keyword_method(
            "sortWires",
            &Module::sortWires,
            "sortWires(shapes, start=Vector(), " PARAM_PY_ARGS_DOC(ARG, AREA_PARAMS_ARC_PLANE)
                PARAM_PY_ARGS_DOC(
                    ARG,
                    AREA_PARAMS_SORT
                ) ")\n"
                  "\nReturns (wires,end), where 'wires' is sorted across Z "
                  "value and with optimized travel distance,\n"
                  "and 'end' is the ending position of the whole wires. If "
                  "arc_plane==1, it returns (wires,end,arc_plane),\n"
                  "where arc_plane is the found plane if any, or unchanged.\n"
                  "\n* shapes: input shape list\n"
                  "\n* start (Vector()): optional start "
                  "position.\n" PARAM_PY_DOC(ARG, AREA_PARAMS_ARC_PLANE)
                      PARAM_PY_DOC(ARG, AREA_PARAMS_SORT)
        );
        initialize("This module is the Path module.");  // register with Python

        PyModule_AddObject(m_module, "Voronoi", voronoi.module().ptr());
    }

    ~Module() override
    {}

private:
    Py::Object write(const Py::Tuple& args)
    {
        char* Name;
        PyObject* pObj;
        if (!PyArg_ParseTuple(args.ptr(), "Oet", &pObj, "utf-8", &Name)) {
            throw Py::Exception();
        }
        std::string EncodedName = std::string(Name);
        PyMem_Free(Name);
        Base::FileInfo file(EncodedName.c_str());

        if (PyObject_TypeCheck(pObj, &(App::DocumentObjectPy::Type))) {
            App::DocumentObject* obj
                = static_cast<App::DocumentObjectPy*>(pObj)->getDocumentObjectPtr();
            if (obj->isDerivedFrom<Path::Feature>()) {
                const Path::Toolpath& path = static_cast<Path::Feature*>(obj)->Path.getValue();
                std::string gcode = path.toGCode();
                Base::ofstream ofile(file);
                ofile << gcode;
                ofile.close();
            }
            else {
                throw Py::RuntimeError("The given file is not a path");
            }
        }

        return Py::None();
    }


    Py::Object read(const Py::Tuple& args)
    {
        char* Name;
        const char* DocName = nullptr;
        if (!PyArg_ParseTuple(args.ptr(), "et|s", "utf-8", &Name, &DocName)) {
            throw Py::Exception();
        }
        std::string EncodedName = std::string(Name);
        PyMem_Free(Name);

        Base::FileInfo file(EncodedName.c_str());
        if (!file.exists()) {
            throw Py::RuntimeError("File doesn't exist");
        }

        App::Document* pcDoc;
        if (DocName) {
            pcDoc = App::GetApplication().getDocument(DocName);
        }
        else {
            pcDoc = App::GetApplication().getActiveDocument();
        }
        if (!pcDoc) {
            pcDoc = App::GetApplication().newDocument(DocName);
        }

        try {
            // read the gcode file
            Base::ifstream filestr(file);
            std::stringstream buffer;
            buffer << filestr.rdbuf();
            std::string gcode = buffer.str();
            Path::Toolpath path;
            path.setFromGCode(gcode);
            auto* object = pcDoc->addObject<Path::Feature>(file.fileNamePure().c_str());
            object->Path.setValue(path);
            pcDoc->recompute();
        }
        catch (const Base::Exception& e) {
            throw Py::RuntimeError(e.what());
        }

        return Py::None();
    }


    Py::Object show(const Py::Tuple& args)
    {
        PyObject* pcObj;
        const char* name = "Path";
        if (!PyArg_ParseTuple(args.ptr(), "O!|s", &(Path::PathPy::Type), &pcObj, &name)) {
            throw Py::Exception();
        }

        try {
            App::Document* pcDoc = App::GetApplication().getActiveDocument();
            if (!pcDoc) {
                pcDoc = App::GetApplication().newDocument();
            }
            auto* pPath = static_cast<Path::PathPy*>(pcObj);
            auto* pcFeature = pcDoc->addObject<Path::Feature>(name);
            Path::Toolpath* pa = pPath->getToolpathPtr();
            if (!pa) {
                throw Py::Exception(PyExc_ReferenceError, "object doesn't reference a valid path");
            }

            // copy the data
            pcFeature->Path.setValue(*pa);
        }
        catch (const Base::Exception& e) {
            throw Py::RuntimeError(e.what());
        }

        return Py::None();
    }


    Py::Object fromShape(const Py::Tuple& args)
    {
        PyObject* pcObj;
        if (!PyArg_ParseTuple(args.ptr(), "O", &pcObj)) {
            throw Py::Exception();
        }
        TopoDS_Shape shape;
        try {
            if (PyObject_TypeCheck(pcObj, &(Part::TopoShapePy::Type))) {
                shape = static_cast<Part::TopoShapePy*>(pcObj)->getTopoShapePtr()->getShape();
            }
            else {
                throw Py::TypeError("the given object is not a shape");
            }
            if (!shape.IsNull()) {
                if (shape.ShapeType() == TopAbs_WIRE) {
                    Path::Toolpath result;
                    bool first = true;
                    Base::Placement last;

                    TopExp_Explorer ExpEdges(shape, TopAbs_EDGE);
                    while (ExpEdges.More()) {
                        const TopoDS_Edge& edge = TopoDS::Edge(ExpEdges.Current());
                        TopExp_Explorer ExpVerts(edge, TopAbs_VERTEX);
                        bool vfirst = true;
                        while (ExpVerts.More()) {
                            const TopoDS_Vertex& vert = TopoDS::Vertex(ExpVerts.Current());
                            gp_Pnt pnt = BRep_Tool::Pnt(vert);
                            Base::Placement tpl;
                            tpl.setPosition(Base::Vector3d(pnt.X(), pnt.Y(), pnt.Z()));
                            if (first) {
                                // add first point as a G0 move
                                Path::Command cmd;
                                std::ostringstream ctxt;
                                ctxt << "G0 X" << tpl.getPosition().x << " Y" << tpl.getPosition().y
                                     << " Z" << tpl.getPosition().z;
                                cmd.setFromGCode(ctxt.str());
                                result.addCommand(cmd);
                                first = false;
                                vfirst = false;
                            }
                            else {
                                if (vfirst) {
                                    vfirst = false;
                                }
                                else {
                                    Path::Command cmd;
                                    cmd.setFromPlacement(tpl);

                                    // write arc data if needed
                                    BRepAdaptor_Curve adapt(edge);
                                    if (adapt.GetType() == GeomAbs_Circle) {
                                        gp_Circ circ = adapt.Circle();
                                        gp_Pnt c = circ.Location();
                                        bool clockwise = false;
                                        gp_Dir n = circ.Axis().Direction();
                                        if (n.Z() < 0) {
                                            clockwise = true;
                                        }
                                        Base::Vector3d center = Base::Vector3d(c.X(), c.Y(), c.Z());
                                        // center coords must be relative to last point
                                        center -= last.getPosition();
                                        cmd.setCenter(center, clockwise);
                                    }
                                    result.addCommand(cmd);
                                }
                            }
                            ExpVerts.Next();
                            last = tpl;
                        }
                        ExpEdges.Next();
                    }
                    return Py::asObject(new Path::PathPy(new Path::Toolpath(result)));
                }
                else {
                    throw Py::TypeError("the given shape must be a wire");
                }
            }
            else {
                throw Py::TypeError("the given shape is empty");
            }
        }
        catch (const Base::Exception& e) {
            throw Py::RuntimeError(e.what());
        }
    }

    Py::Object fromShapes(const Py::Tuple& args, const Py::Dict& kwds)
    {
        PARAM_PY_DECLARE_INIT(PARAM_FARG, AREA_PARAMS_PATH)
        PyObject* pShapes = nullptr;
        PyObject* start = nullptr;
        PyObject* return_end = Py_False;
        static const std::array<const char*, 22> kwd_list {
            "shapes",
            "start",
            "return_end",
            PARAM_FIELD_STRINGS(ARG, AREA_PARAMS_PATH),
            nullptr
        };
        if (!Base::Wrapped_ParseTupleAndKeywords(
                args.ptr(),
                kwds.ptr(),
                "O|O!O!" PARAM_PY_KWDS(AREA_PARAMS_PATH),
                kwd_list,
                &pShapes,
                &(Base::VectorPy::Type),
                &start,
                &PyBool_Type,
                &return_end,
                PARAM_REF(PARAM_FARG, AREA_PARAMS_PATH)
            )) {
            throw Py::Exception();
        }

        std::list<TopoDS_Shape> shapes;
        if (PyObject_TypeCheck(pShapes, &(Part::TopoShapePy::Type))) {
            shapes.push_back(static_cast<Part::TopoShapePy*>(pShapes)->getTopoShapePtr()->getShape());
        }
        else if (PyObject_TypeCheck(pShapes, &(PyList_Type))
                 || PyObject_TypeCheck(pShapes, &(PyTuple_Type))) {
            Py::Sequence shapeSeq(pShapes);
            for (Py::Sequence::iterator it = shapeSeq.begin(); it != shapeSeq.end(); ++it) {
                PyObject* item = (*it).ptr();
                if (!PyObject_TypeCheck(item, &(Part::TopoShapePy::Type))) {
                    PyErr_SetString(PyExc_TypeError, "non-shape object in sequence");
                    throw Py::Exception();
                }
                shapes.push_back(static_cast<Part::TopoShapePy*>(item)->getTopoShapePtr()->getShape());
            }
        }

        gp_Pnt pstart;
        if (start) {
            Base::Vector3d vec = static_cast<Base::VectorPy*>(start)->value();
            pstart.SetCoord(vec.x, vec.y, vec.z);
        }

        try {
            gp_Pnt pend;
            std::unique_ptr<Path::Toolpath> path(new Path::Toolpath);
            Path::Area::toPath(
                *path,
                shapes,
                start ? &pstart : nullptr,
                &pend,
                PARAM_PY_FIELDS(PARAM_FARG, AREA_PARAMS_PATH)
            );
            if (!Base::asBoolean(return_end)) {
                return Py::asObject(new Path::PathPy(path.release()));
            }
            Py::Tuple tuple(2);
            tuple.setItem(0, Py::asObject(new Path::PathPy(path.release())));
            tuple.setItem(
                1,
                Py::asObject(new Base::VectorPy(Base::Vector3d(pend.X(), pend.Y(), pend.Z())))
            );
            return tuple;
        }
        PATH_CATCH
    }

    Py::Object sortWires(const Py::Tuple& args, const Py::Dict& kwds)
    {
        PARAM_PY_DECLARE_INIT(PARAM_FARG, AREA_PARAMS_ARC_PLANE)
        PARAM_PY_DECLARE_INIT(PARAM_FARG, AREA_PARAMS_SORT)
        PyObject* pShapes = nullptr;
        PyObject* start = nullptr;
        static const std::array<const char*, 12> kwd_list {
            "shapes",
            "start",
            PARAM_FIELD_STRINGS(ARG, AREA_PARAMS_ARC_PLANE),
            PARAM_FIELD_STRINGS(ARG, AREA_PARAMS_SORT),
            nullptr
        };
        if (!Base::Wrapped_ParseTupleAndKeywords(
                args.ptr(),
                kwds.ptr(),
                "O|O!" PARAM_PY_KWDS(AREA_PARAMS_ARC_PLANE) PARAM_PY_KWDS(AREA_PARAMS_SORT),
                kwd_list,
                &pShapes,
                &(Base::VectorPy::Type),
                &start,
                PARAM_REF(PARAM_FARG, AREA_PARAMS_ARC_PLANE),
                PARAM_REF(PARAM_FARG, AREA_PARAMS_SORT)
            )) {
            throw Py::Exception();
        }

        std::list<TopoDS_Shape> shapes;
        if (PyObject_TypeCheck(pShapes, &(Part::TopoShapePy::Type))) {
            shapes.push_back(static_cast<Part::TopoShapePy*>(pShapes)->getTopoShapePtr()->getShape());
        }
        else if (PyObject_TypeCheck(pShapes, &(PyList_Type))
                 || PyObject_TypeCheck(pShapes, &(PyTuple_Type))) {
            Py::Sequence shapeSeq(pShapes);
            for (Py::Sequence::iterator it = shapeSeq.begin(); it != shapeSeq.end(); ++it) {
                PyObject* item = (*it).ptr();
                if (!PyObject_TypeCheck(item, &(Part::TopoShapePy::Type))) {
                    PyErr_SetString(PyExc_TypeError, "non-shape object in sequence");
                    throw Py::Exception();
                }
                shapes.push_back(static_cast<Part::TopoShapePy*>(item)->getTopoShapePtr()->getShape());
            }
        }

        gp_Pnt pstart, pend;
        if (start) {
            Base::Vector3d vec = static_cast<Base::VectorPy*>(start)->value();
            pstart.SetCoord(vec.x, vec.y, vec.z);
        }

        try {
            bool need_arc_plane = arc_plane == Path::Area::ArcPlaneAuto;
            std::list<TopoDS_Shape> wires = Path::Area::sortWires(
                shapes,
                start != nullptr,
                &pstart,
                &pend,
                nullptr,
                &arc_plane,
                PARAM_PY_FIELDS(PARAM_FARG, AREA_PARAMS_SORT)
            );
            Py::List list;
            for (auto& wire : wires) {
                list.append(Part::shape2pyshape(TopoDS::Wire(wire)));
            }

            Py::Tuple ret(need_arc_plane ? 3 : 2);
            ret.setItem(0, list);
            ret.setItem(
                1,
                Py::asObject(new Base::VectorPy(Base::Vector3d(pend.X(), pend.Y(), pend.Z())))
            );
            if (need_arc_plane) {
                ret.setItem(2, Py::Long(arc_plane));
            }

            return ret;
        }
        PATH_CATCH
    }
};

PyObject* initModule()
{
    return Base::Interpreter().addModule(new Module);
}

}  // namespace PathApp