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Fixed problem with buffered shapes will generate single isolated line…
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…s but there is no retract (#2378)
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@breiler
breiler authored Dec 6, 2023
1 parent 9c7eb3e commit b4c4efa
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Showing 5 changed files with 888 additions and 112 deletions.
99 changes: 4 additions & 95 deletions ...gner/src/main/java/com/willwinder/ugs/nbp/designer/io/gcode/toolpaths/PocketToolPath.java
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Expand Up @@ -20,28 +20,20 @@ This file is part of Universal Gcode Sender (UGS).

import com.willwinder.ugs.nbp.designer.entities.cuttable.Cuttable;
import com.willwinder.ugs.nbp.designer.io.gcode.path.GcodePath;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.addGeometriesToCoordinatesList;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.bufferAndCollectGeometries;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.convertAreaToGeometry;
import com.willwinder.universalgcodesender.model.PartialPosition;
import org.locationtech.jts.geom.Coordinate;
import org.locationtech.jts.geom.Geometry;
import org.locationtech.jts.geom.LineString;
import org.locationtech.jts.geom.LinearRing;
import org.locationtech.jts.geom.Polygon;
import org.locationtech.jts.simplify.DouglasPeuckerSimplifier;

import java.awt.geom.Area;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;

import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.convertAreaToGeometry;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.geometryToCoordinates;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.toPartialPosition;

/**
* @author Joacim Breiler
*/
public class PocketToolPath extends AbstractToolPath {
public static final double DISTANCE_TOLERANCE = 0.1;
private final Cuttable source;

/**
Expand All @@ -58,7 +50,7 @@ public PocketToolPath(Cuttable source) {
public GcodePath toGcodePath() {
Geometry geometryCollection = convertAreaToGeometry(new Area(source.getShape()), getGeometryFactory());
Geometry shell = geometryCollection.buffer(-getToolDiameter() / 2d);
List<Geometry> geometries = bufferAndCollectGeometries(geometryCollection);
List<Geometry> geometries = bufferAndCollectGeometries(geometryCollection, getToolDiameter(), stepOver);

List<List<PartialPosition>> coordinateList = new ArrayList<>();
double currentDepth = getStartDepth() - getDepthPerPass();
Expand All @@ -74,89 +66,6 @@ public GcodePath toGcodePath() {
return toGcodePath(coordinateList);
}

private void addGeometriesToCoordinatesList(Geometry shell, List<Geometry> geometries, List<List<PartialPosition>> coordinateList, double currentDepth) {
Geometry previousGeometry = null;
List<PartialPosition> geometryLine = new ArrayList<>();
for (int x = 0; x < geometries.size(); x++) {
Geometry geometry = geometries.get(x);

if (x > 0) {
PartialPosition fromPosition = ToolPathUtils.toPartialPosition(previousGeometry.getCoordinates()[0], currentDepth);
int newStartIndex = ToolPathUtils.findNearestCoordinateIndex(geometry.getCoordinates(), new Coordinate(fromPosition.getX(), fromPosition.getY(), fromPosition.getZ()));

if (geometry instanceof LinearRing) {
geometry = rotateCoordinates((LinearRing) geometry, newStartIndex);
}

Coordinate firstCoordinate = geometry.getCoordinates()[0];
PartialPosition nextPosition = toPartialPosition(firstCoordinate, currentDepth);

LineString lineString = ToolPathUtils.createLineString(fromPosition, nextPosition);
if (shell.crosses(lineString)) {
coordinateList.add(geometryLine);
geometryLine = new ArrayList<>();
}
}

geometryLine.addAll(geometryToCoordinates(geometry, currentDepth));
previousGeometry = geometry;
}

if (!geometryLine.isEmpty()) {
coordinateList.add(geometryLine);
}
}

private LinearRing rotateCoordinates(LinearRing nextGeometry, int newStartIndex) {
Coordinate[] geomCoordinates = nextGeometry.getCoordinates();
Coordinate[] newCoordinates = new Coordinate[geomCoordinates.length];
int newIndex = 0;
for (int coordIndex = newStartIndex; coordIndex < newCoordinates.length; coordIndex++) {
newCoordinates[newIndex] = geomCoordinates[coordIndex];
newIndex++;
}

for (int coordIndex = 1; coordIndex < newStartIndex; coordIndex++) {
newCoordinates[newIndex] = geomCoordinates[coordIndex];
newIndex++;
}

newCoordinates[newCoordinates.length - 1] = geomCoordinates[newStartIndex];
nextGeometry = ToolPathUtils.createLinearRing(newCoordinates);
return nextGeometry;
}

private List<Geometry> bufferAndCollectGeometries(Geometry geometry) {
double buffer = getToolDiameter() / 2d;
List<Geometry> geometries = bufferAndCollectGeometries(geometry, buffer);
geometries.sort(new GeometrySizeComparator());
return geometries;
}

private List<Geometry> bufferAndCollectGeometries(Geometry geometry, double buffer) {
Geometry bufferedGeometry = geometry.buffer(-buffer);
if (bufferedGeometry.getNumGeometries() <= 0 || bufferedGeometry.isEmpty()) {
return Collections.emptyList();
}

List<Geometry> result = new ArrayList<>();
for (int i = 0; i < bufferedGeometry.getNumGeometries(); i++) {
Geometry geom = bufferedGeometry.getGeometryN(i);
result.addAll(bufferAndCollectGeometries(geom, getToolDiameter() * stepOver));

if (geom instanceof Polygon) {
Polygon polygon = (Polygon) geom;
result.add(DouglasPeuckerSimplifier.simplify(polygon.getExteriorRing(), DISTANCE_TOLERANCE));
for (int j = 0; j < polygon.getNumInteriorRing(); j++) {
result.add(DouglasPeuckerSimplifier.simplify(polygon.getInteriorRingN(j), DISTANCE_TOLERANCE));
}
} else {
result.add(DouglasPeuckerSimplifier.simplify(geom, DISTANCE_TOLERANCE));
}
}

return result;
}

public void setStepOver(double stepOver) {
this.stepOver = Math.min(Math.max(0.01, Math.abs(stepOver)), 1.0);
Expand Down
109 changes: 99 additions & 10 deletions ...igner/src/main/java/com/willwinder/ugs/nbp/designer/io/gcode/toolpaths/ToolPathUtils.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,17 +33,19 @@ This file is part of Universal Gcode Sender (UGS).
import org.locationtech.jts.geom.Polygon;
import org.locationtech.jts.geom.PrecisionModel;
import org.locationtech.jts.operation.polygonize.Polygonizer;
import org.locationtech.jts.simplify.DouglasPeuckerSimplifier;

import java.awt.*;
import java.awt.Shape;
import java.awt.geom.Area;
import java.awt.geom.PathIterator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.Objects;
import java.util.stream.Collectors;

public class ToolPathUtils {
public static final double DISTANCE_TOLERANCE = 0.1;

public static final double FLATNESS_PRECISION = 0.1d;

Expand All @@ -68,10 +70,10 @@ public static void recursivlyCollectGeometries(Geometry geometry, List<Geometry>
for (int i = 0; i < geometry.getNumGeometries(); i++) {
recursivlyCollectGeometries(geometry.getGeometryN(i), result);
}
} else if (geometry instanceof Polygon) {
result.add(((Polygon) geometry).getExteriorRing());
for (int i = 0; i < ((Polygon) geometry).getNumInteriorRing(); i++) {
result.add(((Polygon) geometry).getInteriorRingN(i));
} else if (geometry instanceof Polygon polygon) {
result.add((polygon).getExteriorRing());
for (int i = 0; i < (polygon).getNumInteriorRing(); i++) {
result.add((polygon).getInteriorRingN(i));
}
} else {
result.add(geometry);
Expand All @@ -82,7 +84,7 @@ public static List<PartialPosition> geometryToCoordinates(Geometry geometry) {
Coordinate[] coordinates = geometry.getCoordinates();
return Arrays.stream(coordinates)
.map(c -> new PartialPosition(c.getX(), c.getY(), c.getZ(), UnitUtils.Units.MM))
.collect(Collectors.toList());
.toList();
}

public static List<List<PartialPosition>> geometriesToCoordinates(List<Geometry> geometries, double depth) {
Expand All @@ -91,7 +93,7 @@ public static List<List<PartialPosition>> geometriesToCoordinates(List<Geometry>
List<PartialPosition> bufferedCoordinates = geometryToCoordinates(geometry)
.stream()
.map(c -> new PartialPosition(c.getX(), c.getY(), -depth, UnitUtils.Units.MM))
.collect(Collectors.toList());
.toList();

if (bufferedCoordinates.isEmpty() || bufferedCoordinates.size() <= 1) {
return null;
Expand All @@ -100,14 +102,14 @@ public static List<List<PartialPosition>> geometriesToCoordinates(List<Geometry>
return bufferedCoordinates;
})
.filter(Objects::nonNull)
.collect(Collectors.toList());
.toList();
}

public static List<PartialPosition> geometryToCoordinates(Geometry geometry, double depth) {
org.locationtech.jts.geom.Coordinate[] coordinates = geometry.getCoordinates();
return Arrays.stream(coordinates)
.map(c -> toPartialPosition(c, depth))
.collect(Collectors.toList());
.toList();
}

public static Geometry convertAreaToGeometry(final Area area, final GeometryFactory factory) {
Expand Down Expand Up @@ -212,4 +214,91 @@ public static ToolPathStats getToolPathStats(GcodePath gcodePath) {

return new ToolPathStats(totalFeedLength, totalRapidLength);
}

public static List<Geometry> bufferAndCollectGeometries(Geometry geometry, double toolDiameter, double stepOver) {
double buffer = toolDiameter / 2d;
List<Geometry> geometries = ToolPathUtils.bufferAndCollectGeometries(geometry, buffer, toolDiameter, stepOver);
geometries.sort(new GeometrySizeComparator());
return geometries;
}

public static List<Geometry> bufferAndCollectGeometries(Geometry geometry, double buffer, double toolDiameter, double stepOver) {
Geometry bufferedGeometry = geometry.buffer(-buffer);
if (bufferedGeometry.getNumGeometries() <= 0 || bufferedGeometry.isEmpty()) {
return Collections.emptyList();
}

List<Geometry> result = new ArrayList<>();
for (int i = 0; i < bufferedGeometry.getNumGeometries(); i++) {
Geometry geom = bufferedGeometry.getGeometryN(i);
result.addAll(bufferAndCollectGeometries(geom, toolDiameter * stepOver, toolDiameter, stepOver));

if (geom instanceof Polygon polygon) {
result.add(DouglasPeuckerSimplifier.simplify(polygon.getExteriorRing(), DISTANCE_TOLERANCE));
for (int j = 0; j < polygon.getNumInteriorRing(); j++) {
result.add(DouglasPeuckerSimplifier.simplify(polygon.getInteriorRingN(j), DISTANCE_TOLERANCE));
}
} else {
result.add(DouglasPeuckerSimplifier.simplify(geom, DISTANCE_TOLERANCE));
}
}

return result;
}

public static LinearRing rotateCoordinates(LinearRing nextGeometry, int newStartIndex) {
Coordinate[] geomCoordinates = nextGeometry.getCoordinates();
Coordinate[] newCoordinates = new Coordinate[geomCoordinates.length];
int newIndex = 0;
for (int coordIndex = newStartIndex; coordIndex < newCoordinates.length; coordIndex++) {
newCoordinates[newIndex] = geomCoordinates[coordIndex];
newIndex++;
}

for (int coordIndex = 1; coordIndex < newStartIndex; coordIndex++) {
newCoordinates[newIndex] = geomCoordinates[coordIndex];
newIndex++;
}

newCoordinates[newCoordinates.length - 1] = geomCoordinates[newStartIndex];
nextGeometry = ToolPathUtils.createLinearRing(newCoordinates);
return nextGeometry;
}

public static void addGeometriesToCoordinatesList(Geometry shell, List<Geometry> geometries, List<List<PartialPosition>> coordinateList, double currentDepth) {
Geometry previousGeometry = null;
List<PartialPosition> geometryLine = new ArrayList<>();
for (int x = 0; x < geometries.size(); x++) {
Geometry geometry = geometries.get(x);

if (x > 0) {
PartialPosition fromPosition = ToolPathUtils.toPartialPosition(getLastPosition(previousGeometry), currentDepth);
int newStartIndex = ToolPathUtils.findNearestCoordinateIndex(geometry.getCoordinates(), new Coordinate(fromPosition.getX(), fromPosition.getY(), fromPosition.getZ()));

if (geometry instanceof LinearRing linearRing) {
geometry = rotateCoordinates(linearRing, newStartIndex);
}

Coordinate firstCoordinate = geometry.getCoordinates()[0];
PartialPosition nextPosition = toPartialPosition(firstCoordinate, currentDepth);

LineString lineString = ToolPathUtils.createLineString(fromPosition, nextPosition);
if (shell.crosses(lineString) || geometry.getClass().equals(LineString.class)) {
coordinateList.add(geometryLine);
geometryLine = new ArrayList<>();
}
}

geometryLine.addAll(geometryToCoordinates(geometry, currentDepth));
previousGeometry = geometry;
}

if (!geometryLine.isEmpty()) {
coordinateList.add(geometryLine);
}
}

private static Coordinate getLastPosition(Geometry geometry) {
return geometry.getCoordinates()[geometry.getCoordinates().length - 1];
}
}
12 changes: 5 additions & 7 deletions .../src/test/java/com/willwinder/ugs/nbp/designer/io/gcode/toolpaths/PocketToolPathTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,14 +11,12 @@
import com.willwinder.ugs.nbp.designer.model.Size;
import com.willwinder.universalgcodesender.model.Axis;
import com.willwinder.universalgcodesender.model.PartialPosition;
import org.junit.Test;

import java.util.List;
import java.util.stream.Collectors;

import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Test;

import java.util.List;

public class PocketToolPathTest {

Expand Down Expand Up @@ -66,7 +64,7 @@ public void pocketShouldNotExceedTheGeometry() {

List<Segment> drillOperations = segmentList.stream()
.filter(segment -> segment.type == SegmentType.POINT)
.collect(Collectors.toList());
.toList();
assertEquals("There should be a number of drill operations when making a pocket", Math.abs((targetDepth - depthPerPass) / depthPerPass), drillOperations.size(), 0.1);

PartialPosition point = drillOperations.get(drillOperations.size() - 1).getPoint();
Expand Down Expand Up @@ -118,7 +116,7 @@ public void pocketOnRectangleWithHole() {

List<Segment> drillOperations = segmentList.stream()
.filter(segment -> segment.type == SegmentType.POINT)
.collect(Collectors.toList());
.toList();
assertEquals("There should be a number of drill operations when making a pocket", Math.abs((targetDepth - depthPerPass) / depthPerPass), drillOperations.size(), 0.1);

PartialPosition point = drillOperations.get(drillOperations.size() - 1).getPoint();
Expand Down
40 changes: 40 additions & 0 deletions ...r/src/test/java/com/willwinder/ugs/nbp/designer/io/gcode/toolpaths/ToolPathUtilsTest.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,40 @@
package com.willwinder.ugs.nbp.designer.io.gcode.toolpaths;

import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.addGeometriesToCoordinatesList;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.bufferAndCollectGeometries;
import static com.willwinder.ugs.nbp.designer.io.gcode.toolpaths.ToolPathUtils.convertAreaToGeometry;
import com.willwinder.ugs.nbp.designer.io.ugsd.UgsDesignReader;
import com.willwinder.ugs.nbp.designer.model.Design;
import com.willwinder.universalgcodesender.model.PartialPosition;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import org.locationtech.jts.geom.Geometry;
import org.locationtech.jts.geom.GeometryFactory;

import java.awt.geom.Area;
import java.util.ArrayList;
import java.util.List;

public class ToolPathUtilsTest {

/**
* When using a tool diameter that is larger than parts of the shape the buffer may result in smaller lines.
* Make sure that the spindle is moved up between these line passes
*/
@Test
public void addGeometriesToCoordinatesList_shouldHandleLineStringAsSeparateGeometries() {
UgsDesignReader reader = new UgsDesignReader();
Design design = reader.read(PocketToolPathTest.class.getResourceAsStream("/x.ugsd")).orElseThrow(RuntimeException::new);

double toolDiameter = 1.2;

Geometry geometryCollection = convertAreaToGeometry(new Area(design.getEntities().get(0).getShape()), new GeometryFactory());
Geometry shell = geometryCollection.buffer(-toolDiameter / 2d);
List<Geometry> geometries = bufferAndCollectGeometries(geometryCollection, toolDiameter, 1);
assertEquals(4, geometries.size());

List<List<PartialPosition>> coordinateList = new ArrayList<>();
addGeometriesToCoordinatesList(shell, geometries, coordinateList, 0);
assertEquals(3, coordinateList.size());
}
}
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