-
Notifications
You must be signed in to change notification settings - Fork 0
/
processes.py
224 lines (163 loc) · 8.06 KB
/
processes.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
import burin.process
import burin.types
import numpy as np
import math
def axes_dict(d):
return ' '.join((v + str(x) for v,x in d.items()))
class SimpleProcess(burin.process.BaseProcess):
""" Combines all layers into one step, and plots them unchanged """
def modify_geometry(self,_,geo):
return geo
def speeds(self,unit_name):
return {'travel' : 10000, 'plot' : 2000, 'clearance' : 100}
def heights(self,unit_name):
return {'clearance' : {'Z' : 15}, 'travel' : {'V' : 4, 'Z' : 10}, 'plot' : {'V' : 5.5}}
def prelude(self,unit_name, starting_position):
speeds = self.speeds(unit_name)
heights = self.heights(unit_name)
yield "; Retract to a safe clearance plane, pick up the tool, and rapid to the start"
yield f"G0 {axes_dict(heights['clearance'])} F{speeds['clearance']}"
yield "G28 V0"
yield "T3"
yield f"G0 X{starting_position[0]} Y{starting_position[1]} F{speeds['travel']}"
yield f"G0 {axes_dict(heights['travel'])} F{speeds['clearance']}"
yield "; Begin plotting!"
def postlude(self,unit_name):
speeds = self.speeds(unit_name)
heights = self.heights(unit_name)
yield "; Retract to a safe clearance plane, home the pen, and drop the tool off"
yield f"G0 {axes_dict(heights['clearance'])} F{speeds['clearance']}"
yield "G28 V0"
yield "T-1"
def generate_code(self, unit_name, segments):
speeds = self.speeds(unit_name)
up_height, down_height = self.heights(unit_name)['travel']['V'], self.heights(unit_name)['plot']['V']
plot, travel = speeds['plot'], speeds['travel']
if len(segments) == 0:
return
yield from self.prelude(unit_name, segments[0][0].endpoints()[0])
for segment in segments:
start = segment[0].endpoints()[0]
yield f"G0 X{start[0]} Y{start[1]} F{travel}"
yield f"G0 V{down_height} F4000"
for i, seg in enumerate(segment):
if isinstance(seg, burin.types.Polyline):
n = 1 if i == 0 else 0
for x,y in seg.coords[n:]:
yield f"G1 X{x} Y{y} F{plot}"
elif isinstance(seg, burin.types.Arc):
start, end = seg.endpoints()
I,J = seg.center - start
if i != 0:
yield f"G1 X{start[0]} Y{start[1]} F{plot}"
yield f"G{2 if seg.clockwise else 3} X{end[0]} Y{end[1]} I{I} J{J} F{plot}"
else:
yield ";Point!"
yield f"G0 V{up_height} F4000"
yield from self.postlude(unit_name)
class Multilayer(SimpleProcess):
def conversion_parameters(self):
ret = super().conversion_parameters()
ret['resolution'] = 0.1
return ret
def get_transform(self, unit):
sub = self.parameters[unit]
ct,st = 1,0
if 'theta' in sub:
theta = float(sub['theta'])
ct,st = math.cos(theta), math.sin(theta)
x,y = float(sub['x']),float(sub['y'])
return np.array([[ct,0 - st,x],[st,ct,y]])
def layers_to_units(self, layers):
""" Shuffle things around - create a unit for every layer, add the fiducial layer to the first unit,
and add all of the parameters required for cross-layer alignment. """
if 'Fiducials' not in layers:
print("No layer for fiducial markers")
return None
layers = list(x for x in reversed(layers) if x != 'Fiducials')
acc = [{"name": layers[0], "subunits" : [("fiducials", ['Fiducials']),('_', [layers[0]])], "parameters" : ['x','y']}]
for i, l in enumerate(layers[1:]):
record = {"name": l, "subunits" : [('_', [l])], "parameters" : ['x','y','theta']}
if i == 0:
record['parameters'] += ['delta_x','delta_y']
acc.append(record)
return acc
def draw_fiducial_at(self, origin, scale = 0.5):
i,j = np.array([1,0]), np.array([0,1])
long_stroke = burin.types.Polyline(np.array([origin - (1 + 0.5 * scale) * i,
origin - 0.5 * scale * i,
origin + 0.5 * scale * i]))
short_stroke = burin.types.Polyline(np.array([origin + (1 + 0.5 * scale) * i,
origin + 0.5 * scale * j,
origin]))
long_stroke.backlash = True
short_stroke.backlash = True
return [long_stroke, short_stroke]
def modify_geometry(self, name, geo):
unit, subunit = name
if subunit == 'fiducials':
if len(geo) != 3 or any(not isinstance(x, burin.types.Point) for x in geo):
print("Fiducial layer must consist of exactly three points")
exit()
ret, points = [],[]
for p in geo:
points.append(p.coords.tolist())
ret += self.draw_fiducial_at(p.coords)
self.parameters[unit]['fiducial_coords'] = points
geo = ret
t = self.get_transform(unit)
for g in geo:
g.transform(t)
return geo
def geometry_parameters(self, unit_name):
unit,sub = unit_name
p = super().geometry_parameters(unit_name)
if sub == 'fiducials':
# We don't want to merge small line segments, and because of the backlash
# compensation, we can't reverse them either
p['merge'] = False
p['reverse'] = False
return p
def generate_code(self, unit_name, segments):
speeds = self.speeds(unit_name)
up_height, down_height = self.heights(unit_name)['travel']['V'], self.heights(unit_name)['plot']['V']
plot, travel = speeds['plot'], speeds['travel']
if len(segments) == 0:
return
first, last = self.subunit_position(unit_name)
if first:
yield from self.prelude(unit_name, segments[0][0].endpoints()[0])
yield f"; Starting subunit {unit_name[1]}"
for segment in segments:
start = segment[0].endpoints()[0]
yield f"G0 X{start[0]} Y{start[1]} F{travel}"
for i, seg in enumerate(segment):
if isinstance(seg, burin.types.Polyline):
if 'backlash' in seg.__dict__ and seg.backlash:
yield f"G0 V{up_height} F4000" # Regardless of previous state...
first, second = seg.coords[0], seg.coords[1]
yield f"G1 X{first[0]} Y{first[1]} F{travel}"
yield f"G1 X{second[0]} Y{second[1]} F{travel}"
yield f"G0 V{down_height} F4000"
for x,y in seg.coords[2:]:
yield f"G1 X{x} Y{y} F{plot}"
else:
if i == 0:
yield f"G0 V{down_height} F4000"
n = 1 if i == 0 else 0
for x,y in seg.coords[n:]:
yield f"G1 X{x} Y{y} F{plot}"
elif isinstance(seg, burin.types.Arc):
start, end = seg.endpoints()
I,J = seg.center - start
if i != 0:
yield f"G1 X{start[0]} Y{start[1]} F{plot}"
else:
yield f"G0 V{down_height} F4000"
yield f"G{2 if seg.clockwise else 3} X{end[0]} Y{end[1]} I{I} J{J} F{plot}"
else:
yield ";Point!"
yield f"G0 V{down_height} F4000"
yield f"G0 V{up_height} F4000"
if last:
yield from self.postlude(unit_name)