path: root/trunk/reprap/miscellaneous/python-beanshell-scripts/skeinforge_tools/craft_plugins/fillet.py

"""
This page is in the table of contents.
Fillet rounds the corners slightly in a variety of ways.  This is to reduce corner blobbing and sudden extruder acceleration.

The fillet manual page is at:
http://www.bitsfrombytes.com/wiki/index.php?title=Skeinforge_Fillet

==Operation==
The default 'Activate Fillet' checkbox is off.  When it is on, the functions described below will work, when it is off, the functions will not be called.

==Settings==
===Fillet Procedure Choice===
Default is 'Bevel''.

====Arc Point====
When selected, the corners will be filleted with an arc using the gcode point form.

====Arc Radius====
When selected, the corners will be filleted with an arc using the gcode radius form.

====Arc Segment====
When selected, the corners will be filleted with an arc composed of several segments.

====Bevel====
When selected, the corners will be beveled.

===Corner Feed Rate over Operating Feed Rate===
Default is one.

Defines the ratio of the feed rate in corners over the operating feed rate.  With a high value the extruder will move quickly in corners, accelerating quickly and leaving a thin extrusion.  With a low value, the extruder will move slowly in corners, accelerating gently and leaving a thick extrusion.

===Fillet Radius over Perimeter Width===
Default is 0.35.

Defines the width of the fillet.

===Reversal Slowdown over Perimeter Width===
Default is 0.5.

Defines how far before a path reversal the extruder will slow down.  Some tools, like nozzle wipe, double back the path of the extruder and this option will add a slowdown point in that path so there won't be a sudden jerk at the end of the path.  If the value is less than 0.1 a slowdown will not be added.

===Use Intermediate Feed Rate in Corners===
Default is on.

When selected, the feed rate entering the corner will be the average of the old feed rate and the new feed rate.

==Examples==
The following examples fillet the file Screw Holder Bottom.stl.  The examples are run in a terminal in the folder which contains Screw Holder Bottom.stl and fillet.py.


> python fillet.py
This brings up the fillet dialog.


> python fillet.py Screw Holder Bottom.stl
The fillet tool is parsing the file:
Screw Holder Bottom.stl
..
The fillet tool has created the file:
.. Screw Holder Bottom_fillet.gcode


> python
Python 2.5.1 (r251:54863, Sep 22 2007, 01:43:31)
[GCC 4.2.1 (SUSE Linux)] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import fillet
>>> fillet.main()
This brings up the fillet dialog.


>>> fillet.writeOutput( 'Screw Holder Bottom.stl' )
The fillet tool is parsing the file:
Screw Holder Bottom.stl
..
The fillet tool has created the file:
.. Screw Holder Bottom_fillet.gcode

"""

from __future__ import absolute_import
#Init has to be imported first because it has code to workaround the python bug where relative imports don't work if the module is imported as a main module.
import __init__

from skeinforge_tools import profile
from skeinforge_tools.meta_plugins import polyfile
from skeinforge_tools.skeinforge_utilities import consecution
from skeinforge_tools.skeinforge_utilities import euclidean
from skeinforge_tools.skeinforge_utilities import gcodec
from skeinforge_tools.skeinforge_utilities import interpret
from skeinforge_tools.skeinforge_utilities import settings
from skeinforge_tools.skeinforge_utilities.vector3 import Vector3
import math
import sys


__author__ = "Enrique Perez (perez_enrique@yahoo.com)"
__date__ = "$Date: 2008/21/04 $"
__license__ = "GPL 3.0"


def getCraftedText( fileName, text, filletRepository = None ):
	"Fillet a gcode linear move file or text."
	return getCraftedTextFromText( gcodec.getTextIfEmpty( fileName, text ), filletRepository )

def getCraftedTextFromText( gcodeText, filletRepository = None ):
	"Fillet a gcode linear move text."
	if gcodec.isProcedureDoneOrFileIsEmpty( gcodeText, 'fillet' ):
		return gcodeText
	if filletRepository == None:
		filletRepository = settings.getReadRepository( FilletRepository() )
	if not filletRepository.activateFillet.value:
		return gcodeText
	if filletRepository.arcPoint.value:
		return ArcPointSkein().getCraftedGcode( filletRepository, gcodeText )
	elif filletRepository.arcRadius.value:
		return ArcRadiusSkein().getCraftedGcode( filletRepository, gcodeText )
	elif filletRepository.arcSegment.value:
		return ArcSegmentSkein().getCraftedGcode( filletRepository, gcodeText )
	elif filletRepository.bevel.value:
		return BevelSkein().getCraftedGcode( filletRepository, gcodeText )
	return gcodeText

def getNewRepository():
	"Get the repository constructor."
	return FilletRepository()

def writeOutput( fileName = '' ):
	"Fillet a gcode linear move file. Depending on the settings, either arcPoint, arcRadius, arcSegment, bevel or do nothing."
	fileName = interpret.getFirstTranslatorFileNameUnmodified( fileName )
	if fileName != '':
		consecution.writeChainTextWithNounMessage( fileName, 'fillet' )


class BevelSkein:
	"A class to bevel a skein of extrusions."
	def __init__( self ):
		self.distanceFeedRate = gcodec.DistanceFeedRate()
		self.extruderActive = False
		self.feedRateMinute = 960.0
		self.filletRadius = 0.2
		self.lineIndex = 0
		self.lines = None
		self.oldFeedRateMinute = None
		self.oldLocation = None
		self.shouldAddLine = True

	def addLinearMovePoint( self, feedRateMinute, point ):
		"Add a gcode linear move, feedRate and newline to the output."
		self.distanceFeedRate.addLine( self.distanceFeedRate.getLinearGcodeMovementWithFeedRate( feedRateMinute, point.dropAxis( 2 ), point.z ) )

	def getCornerFeedRate( self ):
		"Get the corner feed rate, which may be based on the intermediate feed rate."
		feedRateMinute = self.feedRateMinute
		if self.filletRepository.useIntermediateFeedRateInCorners.value:
			if self.oldFeedRateMinute != None:
				feedRateMinute = 0.5 * ( self.oldFeedRateMinute + self.feedRateMinute )
		return feedRateMinute * self.cornerFeedRateOverOperatingFeedRate

	def getCraftedGcode( self, filletRepository, gcodeText ):
		"Parse gcode text and store the bevel gcode."
		self.cornerFeedRateOverOperatingFeedRate = filletRepository.cornerFeedRateOverOperatingFeedRate.value
		self.lines = gcodec.getTextLines( gcodeText )
		self.filletRepository = filletRepository
		self.parseInitialization( filletRepository )
		for self.lineIndex in xrange( self.lineIndex, len( self.lines ) ):
			line = self.lines[ self.lineIndex ]
			self.parseLine( line )
		return self.distanceFeedRate.output.getvalue()

	def getExtruderOffReversalPoint( self, afterSegment, afterSegmentComplex, beforeSegment, beforeSegmentComplex, location ):
		"If the extruder is off and the path is reversing, add intermediate slow points."
		if self.filletRepository.reversalSlowdownDistanceOverPerimeterWidth.value < 0.1:
			return None
		if self.extruderActive:
			return None
		reversalBufferSlowdownDistance = self.reversalSlowdownDistance * 2.0
		afterSegmentComplexLength = abs( afterSegmentComplex )
		if afterSegmentComplexLength < reversalBufferSlowdownDistance:
			return None
		beforeSegmentComplexLength = abs( beforeSegmentComplex )
		if beforeSegmentComplexLength < reversalBufferSlowdownDistance:
			return None
		afterSegmentComplexNormalized = afterSegmentComplex / afterSegmentComplexLength
		beforeSegmentComplexNormalized = beforeSegmentComplex / beforeSegmentComplexLength
		if euclidean.getDotProduct( afterSegmentComplexNormalized, beforeSegmentComplexNormalized ) < 0.95:
			return None
		slowdownFeedRate = self.feedRateMinute * 0.5
		self.shouldAddLine = False
		beforePoint = euclidean.getPointPlusSegmentWithLength( self.reversalSlowdownDistance * abs( beforeSegment ) / beforeSegmentComplexLength, location, beforeSegment )
		self.addLinearMovePoint( self.feedRateMinute, beforePoint )
		self.addLinearMovePoint( slowdownFeedRate, location )
		afterPoint = euclidean.getPointPlusSegmentWithLength( self.reversalSlowdownDistance * abs( afterSegment ) / afterSegmentComplexLength, location, afterSegment )
		self.addLinearMovePoint( slowdownFeedRate, afterPoint )
		return afterPoint

	def getNextLocation( self ):
		"Get the next linear move.  Return none is none is found."
		for afterIndex in xrange( self.lineIndex + 1, len( self.lines ) ):
			line = self.lines[ afterIndex ]
			splitLine = gcodec.getSplitLineBeforeBracketSemicolon( line )
			if gcodec.getFirstWord( splitLine ) == 'G1':
				nextLocation = gcodec.getLocationFromSplitLine( self.oldLocation, splitLine )
				return nextLocation
		return None

	def linearMove( self, splitLine ):
		"Bevel a linear move."
		location = gcodec.getLocationFromSplitLine( self.oldLocation, splitLine )
		self.feedRateMinute = gcodec.getFeedRateMinute( self.feedRateMinute, splitLine )
		if self.oldLocation != None:
			nextLocation = self.getNextLocation()
			if nextLocation != None:
				location = self.splitPointGetAfter( location, nextLocation )
		self.oldLocation = location
		self.oldFeedRateMinute = self.feedRateMinute

	def parseInitialization( self, filletRepository ):
		"Parse gcode initialization and store the parameters."
		for self.lineIndex in xrange( len( self.lines ) ):
			line = self.lines[ self.lineIndex ]
			splitLine = gcodec.getSplitLineBeforeBracketSemicolon( line )
			firstWord = gcodec.getFirstWord( splitLine )
			self.distanceFeedRate.parseSplitLine( firstWord, splitLine )
			if firstWord == '(</extruderInitialization>)':
				self.distanceFeedRate.addLine( '(<procedureDone> fillet </procedureDone>)' )
				return
			elif firstWord == '(<perimeterWidth>':
				perimeterWidth = abs( float( splitLine[ 1 ] ) )
				self.curveSection = 0.7 * perimeterWidth
				self.filletRadius = perimeterWidth * filletRepository.filletRadiusOverPerimeterWidth.value
				self.minimumRadius = 0.1 * perimeterWidth
				self.reversalSlowdownDistance = perimeterWidth * filletRepository.reversalSlowdownDistanceOverPerimeterWidth.value
			self.distanceFeedRate.addLine( line )

	def parseLine( self, line ):
		"Parse a gcode line and add it to the bevel gcode."
		self.shouldAddLine = True
		splitLine = gcodec.getSplitLineBeforeBracketSemicolon( line )
		if len( splitLine ) < 1:
			return
		firstWord = splitLine[ 0 ]
		if firstWord == 'G1':
			self.linearMove( splitLine )
		elif firstWord == 'M101':
			self.extruderActive = True
		elif firstWord == 'M103':
			self.extruderActive = False
		if self.shouldAddLine:
			self.distanceFeedRate.addLine( line )

	def splitPointGetAfter( self, location, nextLocation ):
		"Bevel a point and return the end of the bevel.   should get complex for radius"
		if self.filletRadius < 2.0 * self.minimumRadius:
			return location
		afterSegment = nextLocation - location
		afterSegmentComplex = afterSegment.dropAxis( 2 )
		afterSegmentComplexLength = abs( afterSegmentComplex )
		thirdAfterSegmentLength = 0.333 * afterSegmentComplexLength
		if thirdAfterSegmentLength < self.minimumRadius:
			return location
		beforeSegment = self.oldLocation - location
		beforeSegmentComplex = beforeSegment.dropAxis( 2 )
		beforeSegmentComplexLength = abs( beforeSegmentComplex )
		thirdBeforeSegmentLength = 0.333 * beforeSegmentComplexLength
		if thirdBeforeSegmentLength < self.minimumRadius:
			return location
		extruderOffReversalPoint = self.getExtruderOffReversalPoint( afterSegment, afterSegmentComplex, beforeSegment, beforeSegmentComplex, location )
		if extruderOffReversalPoint != None:
			return extruderOffReversalPoint
		bevelRadius = min( thirdAfterSegmentLength, self.filletRadius )
		bevelRadius = min( thirdBeforeSegmentLength, bevelRadius )
		self.shouldAddLine = False
		beforePoint = euclidean.getPointPlusSegmentWithLength( bevelRadius * abs( beforeSegment ) / beforeSegmentComplexLength, location, beforeSegment )
		self.addLinearMovePoint( self.feedRateMinute, beforePoint )
		afterPoint = euclidean.getPointPlusSegmentWithLength( bevelRadius * abs( afterSegment ) / afterSegmentComplexLength, location, afterSegment )
		self.addLinearMovePoint( self.getCornerFeedRate(), afterPoint )
		return afterPoint


class ArcSegmentSkein( BevelSkein ):
	"A class to arc segment a skein of extrusions."
	def addArc( self, afterCenterDifferenceAngle, afterPoint, beforeCenterSegment, beforePoint, center ):
		"Add arc segments to the filleted skein."
		absoluteDifferenceAngle = abs( afterCenterDifferenceAngle )
#		steps = int( math.ceil( absoluteDifferenceAngle * 1.5 ) )
		steps = int( math.ceil( min( absoluteDifferenceAngle * 1.5, absoluteDifferenceAngle * abs( beforeCenterSegment ) / self.curveSection ) ) )
		stepPlaneAngle = euclidean.getUnitPolar( afterCenterDifferenceAngle / steps, 1.0 )
		for step in xrange( 1, steps ):
			beforeCenterSegment = euclidean.getRoundZAxisByPlaneAngle( stepPlaneAngle, beforeCenterSegment )
			arcPoint = center + beforeCenterSegment
			self.addLinearMovePoint( self.getCornerFeedRate(), arcPoint )
		self.addLinearMovePoint( self.getCornerFeedRate(), afterPoint )

	def splitPointGetAfter( self, location, nextLocation ):
		"Fillet a point into arc segments and return the end of the last segment."
		if self.filletRadius < 2.0 * self.minimumRadius:
			return location
		afterSegment = nextLocation - location
		afterSegmentComplex = afterSegment.dropAxis( 2 )
		thirdAfterSegmentLength = 0.333 * abs( afterSegmentComplex )
		if thirdAfterSegmentLength < self.minimumRadius:
			return location
		beforeSegment = self.oldLocation - location
		beforeSegmentComplex = beforeSegment.dropAxis( 2 )
		thirdBeforeSegmentLength = 0.333 * abs( beforeSegmentComplex )
		if thirdBeforeSegmentLength < self.minimumRadius:
			return location
		extruderOffReversalPoint = self.getExtruderOffReversalPoint( afterSegment, afterSegmentComplex, beforeSegment, beforeSegmentComplex, location )
		if extruderOffReversalPoint != None:
			return extruderOffReversalPoint
		bevelRadius = min( thirdAfterSegmentLength, self.filletRadius )
		bevelRadius = min( thirdBeforeSegmentLength, bevelRadius )
		self.shouldAddLine = False
		beforePoint = euclidean.getPointPlusSegmentWithLength( bevelRadius * abs( beforeSegment ) / abs( beforeSegmentComplex ), location, beforeSegment )
		self.addLinearMovePoint( self.feedRateMinute, beforePoint )
		afterPoint = euclidean.getPointPlusSegmentWithLength( bevelRadius * abs( afterSegment ) / abs( afterSegmentComplex ), location, afterSegment )
		afterPointComplex = afterPoint.dropAxis( 2 )
		beforePointComplex = beforePoint.dropAxis( 2 )
		locationComplex = location.dropAxis( 2 )
		midPoint = 0.5 * ( afterPoint + beforePoint )
		midPointComplex = midPoint.dropAxis( 2 )
		midPointMinusLocationComplex = midPointComplex - locationComplex
		midPointLocationLength = abs( midPointMinusLocationComplex )
		if midPointLocationLength < 0.01 * self.filletRadius:
			self.addLinearMovePoint( self.getCornerFeedRate(), afterPoint )
			return afterPoint
		midPointAfterPointLength = abs( midPointComplex - afterPointComplex )
		midPointCenterLength = midPointAfterPointLength * midPointAfterPointLength / midPointLocationLength
		radius = math.sqrt( midPointCenterLength * midPointCenterLength + midPointAfterPointLength * midPointAfterPointLength )
		centerComplex = midPointComplex + midPointMinusLocationComplex * midPointCenterLength / midPointLocationLength
		center = Vector3( centerComplex.real, centerComplex.imag, midPoint.z )
		afterCenterComplex = afterPointComplex - centerComplex
		beforeMinusCenterCenterComplex = beforePointComplex - centerComplex
		beforeCenter = beforePoint - center
		beforeCenterComplex = beforeCenter.dropAxis( 2 )
		subtractComplexMirror = complex( beforeCenterComplex.real , - beforeCenterComplex.imag )
		differenceComplex = subtractComplexMirror * afterCenterComplex
		differenceAngle = math.atan2( differenceComplex.imag, differenceComplex.real )
		self.addArc( differenceAngle, afterPoint, beforeCenter, beforePoint, center )
		return afterPoint


class ArcPointSkein( ArcSegmentSkein ):
	"A class to arc point a skein of extrusions."
	def addArc( self, afterCenterDifferenceAngle, afterPoint, beforeCenterSegment, beforePoint, center ):
		"Add an arc point to the filleted skein."
		if afterCenterDifferenceAngle == 0.0:
			return
		afterPointMinusBefore = afterPoint - beforePoint
		centerMinusBefore = center - beforePoint
		firstWord = 'G3'
		if afterCenterDifferenceAngle < 0.0:
			firstWord = 'G2'
		centerMinusBeforeComplex = centerMinusBefore.dropAxis( 2 )
		if abs( centerMinusBeforeComplex ) <= 0.0:
			return
		deltaZ = abs( afterPointMinusBefore.z )
		radius = abs( centerMinusBefore )
		arcDistanceZ = complex( abs( afterCenterDifferenceAngle ) * radius, afterPointMinusBefore.z )
		distance = abs( arcDistanceZ )
		if distance <= 0.0:
			return
		line = self.distanceFeedRate.getFirstWordMovement( firstWord, afterPointMinusBefore ) + self.getRelativeCenter( centerMinusBeforeComplex )
		cornerFeedRate = self.getCornerFeedRate()
		if cornerFeedRate != None:
			line += ' F' + self.distanceFeedRate.getRounded( self.distanceFeedRate.getZLimitedFeedRate( deltaZ, distance, cornerFeedRate ) )
		self.distanceFeedRate.addLine( line )

	def getRelativeCenter( self, centerMinusBeforeComplex ):
		"Get the relative center."
		return ' I%s J%s' % ( self.distanceFeedRate.getRounded( centerMinusBeforeComplex.real ), self.distanceFeedRate.getRounded( centerMinusBeforeComplex.imag ) )


class ArcRadiusSkein( ArcPointSkein ):
	"A class to arc radius a skein of extrusions."
	def getRelativeCenter( self, centerMinusBeforeComplex ):
		"Get the relative center."
		radius = abs( centerMinusBeforeComplex )
		return ' R' + ( self.distanceFeedRate.getRounded( radius ) )


class FilletRepository:
	"A class to handle the fillet settings."
	def __init__( self ):
		"Set the default settings, execute title & settings fileName."
		settings.addListsToRepository( 'skeinforge_tools.craft_plugins.fillet.html', '', self )
		self.fileNameInput = settings.FileNameInput().getFromFileName( interpret.getGNUTranslatorGcodeFileTypeTuples(), 'Open File to be Filleted', self, '' )
		self.openWikiManualHelpPage = settings.HelpPage().getOpenFromAbsolute( 'http://www.bitsfrombytes.com/wiki/index.php?title=Skeinforge_Fillet' )
		self.activateFillet = settings.BooleanSetting().getFromValue( 'Activate Fillet', self, False )
		self.filletProcedureChoiceLabel = settings.LabelDisplay().getFromName( 'Fillet Procedure Choice: ', self )
		filletLatentStringVar = settings.LatentStringVar()
		self.arcPoint = settings.Radio().getFromRadio( filletLatentStringVar, 'Arc Point', self, False )
		self.arcRadius = settings.Radio().getFromRadio( filletLatentStringVar, 'Arc Radius', self, False )
		self.arcSegment = settings.Radio().getFromRadio( filletLatentStringVar, 'Arc Segment', self, False )
		self.bevel = settings.Radio().getFromRadio( filletLatentStringVar, 'Bevel', self, True )
		self.cornerFeedRateOverOperatingFeedRate = settings.FloatSpin().getFromValue( 0.8, 'Corner Feed Rate over Operating Feed Rate (ratio):', self, 1.2, 1.0 )
		self.filletRadiusOverPerimeterWidth = settings.FloatSpin().getFromValue( 0.25, 'Fillet Radius over Perimeter Width (ratio):', self, 0.65, 0.35 )
		self.reversalSlowdownDistanceOverPerimeterWidth = settings.FloatSpin().getFromValue( 0.3, 'Reversal Slowdown Distance over Perimeter Width (ratio):', self, 0.7, 0.5 )
		self.useIntermediateFeedRateInCorners = settings.BooleanSetting().getFromValue( 'Use Intermediate Feed Rate in Corners', self, True )
		self.executeTitle = 'Fillet'

	def execute( self ):
		"Fillet button has been clicked."
		fileNames = polyfile.getFileOrDirectoryTypesUnmodifiedGcode( self.fileNameInput.value, interpret.getImportPluginFileNames(), self.fileNameInput.wasCancelled )
		for fileName in fileNames:
			writeOutput( fileName )


def main():
	"Display the fillet dialog."
	if len( sys.argv ) > 1:
		writeOutput( ' '.join( sys.argv[ 1 : ] ) )
	else:
		settings.startMainLoopFromConstructor( getNewRepository() )

if __name__ == "__main__":
	main()