implement rotation
fix crop issues
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parent
27b5a9d8a5
commit
1a48b80734
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@ -4,6 +4,7 @@ import argparse
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import os
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import re
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import sys
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import math
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from decimal import Decimal as d
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AXIS = "XYZ"
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@ -55,8 +56,12 @@ class GCodeFilter(object):
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yield handler.get_line(None, None)
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else:
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for pos in positions:
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changed_axes = self.target_pos.get_changed_axes(pos)
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yield handler.get_line(pos, changed_axes)
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if callable(pos):
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pos, line = pos()
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yield line
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else:
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changed_axes = self.target_pos.get_changed_axes(pos)
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yield handler.get_line(pos, changed_axes)
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self.target_pos.update(pos)
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else:
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# no coordinate given
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@ -152,6 +157,25 @@ class ShiftFilter(GCodeFilter):
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yield self.pos
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class MatrixFilter(GCodeFilter):
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def __init__(self, *args, **kwargs):
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self.matrix = kwargs.pop("matrix", tuple([0] * len(AXIS)))
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super(MatrixFilter, self).__init__(*args, **kwargs)
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def _multiply_with_matrix(self, pos):
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rows = []
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for row in self.matrix:
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rows.append(sum([(p * r).quantize(p) for p, r in zip(pos, row)]))
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return tuple(rows)
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def transform_position(self):
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if self.is_inside(self.pos):
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yield self._multiply_with_matrix(self.pos)
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else:
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yield self.pos
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class DensifyFilter(GCodeFilter):
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def __init__(self, *args, **kwargs):
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@ -224,6 +248,7 @@ class CropFilter(GCodeFilter):
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def transform_position(self):
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stack = self.source_pos.stack
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target_stack = self.target_pos.stack
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is_inside = self.is_inside(stack[0])
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was_inside = (len(stack) < 2) or self.is_inside(stack[1])
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result = None
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@ -232,7 +257,21 @@ class CropFilter(GCodeFilter):
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yield stack[0]
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elif not is_inside and not was_inside:
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# outside -> outside
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pass
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# only apply relative upward moves (safety height)
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z_index = AXIS.lower().index("z")
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diff = [(now - prev) for now, prev in zip(stack[0], stack[1])]
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for index, value in enumerate(diff):
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if index == z_index:
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if value <= 0:
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break
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elif value != 0:
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break
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else:
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# this looks like an upward move
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if target_stack[0][z_index] <= stack[0][z_index]:
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new_target = list(target_stack[0])
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new_target[z_index] = stack[0][z_index]
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yield tuple(new_target)
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else:
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# outside -> inside OR inside -> outside
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if len(stack) >= 2:
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@ -241,7 +280,14 @@ class CropFilter(GCodeFilter):
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border_pos = tuple([value.quantize(template)
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for value, template in zip(border_pos, stack[0])])
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# the border position is always the first step
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yield border_pos
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if is_inside:
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# outside -> inside
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line = "G0 %s" % " ".join([axis.upper() + str(value)
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for axis, value in zip(AXIS, border_pos)])
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yield lambda: (border_pos, line + os.linesep)
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else:
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# inside -> outside
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yield border_pos
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# omit the current position if we are outside
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if is_inside:
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yield stack[0]
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@ -262,7 +308,26 @@ class CropFilter(GCodeFilter):
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depth_limit=depth_limit-1)
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def get_rotate_matrix(axis, angle):
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rot = [d(0)] * 3
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rot[AXIS.lower().index(axis.lower())] = d(1)
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# clockwise angle
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angle_pi = -angle * d(math.pi / 180.0)
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sin = d(math.sin(angle_pi))
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cos = d(math.cos(angle_pi))
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return ((cos + rot[0] * rot[0] * (1 - cos),
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rot[0] * rot[1] * (1-cos) - rot[2] * sin,
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rot[0] * rot[2] * (1-cos) + rot[1] * sin),
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(rot[1] * rot[0] *(1 - cos) + rot[2] * sin,
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cos + rot[1] * rot[1] * (1 - cos),
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rot[1] * rot[2] * (1 - cos) - rot[0] * sin),
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(rot[2] * rot[0] * (1 - cos) - rot[1] * sin,
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rot[2] * rot[1] * (1 - cos) + rot[0] * sin,
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cos + rot[2] * rot[2] * (1 - cos)))
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if __name__ == "__main__":
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axes_choices = tuple(AXIS.lower() + AXIS.upper())
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parser = argparse.ArgumentParser(description="Shift parts of gcode")
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parser.add_argument('--minx', dest="minx", type=d)
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parser.add_argument('--maxx', dest="maxx", type=d)
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@ -273,9 +338,10 @@ if __name__ == "__main__":
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parser.add_argument('--shiftx', dest="shiftx", type=d, default=d(0))
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parser.add_argument('--shifty', dest="shifty", type=d, default=d(0))
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parser.add_argument('--shiftz', dest="shiftz", type=d, default=d(0))
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parser.add_argument('--rotatex', dest="rotatex", type=d, default=d(0))
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parser.add_argument('--rotatey', dest="rotatey", type=d, default=d(0))
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parser.add_argument('--rotatez', dest="rotatez", type=d, default=d(0))
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parser.add_argument('--rotate-axis', dest="rotate_axis",
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choices=axes_choices, default=AXIS[0])
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parser.add_argument('--rotate-angle', dest="rotate_angle", type=d,
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default=d(90))
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parser.add_argument('--densify-dir', dest="densify_dir",
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choices=("x", "y", "z"), default="x")
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parser.add_argument('--densify-loops', dest="densify_loops", type=int,
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@ -295,8 +361,8 @@ if __name__ == "__main__":
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elif options.action == "crop":
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gcode_filter = CropFilter(low, high)
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elif options.action == "rotate":
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rotate = (options.rotatex, options.rotatey, options.rotatez)
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gcode_filter = RotateFilter(low, high, rotate=rotate)
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matrix = get_rotate_matrix(options.rotate_axis, options.rotate_angle)
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gcode_filter = MatrixFilter(low, high, matrix=matrix)
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elif options.action == "densify":
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gcode_filter = DensifyFilter(low, high, densify_dir=options.densify_dir,
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densify_loops=options.densify_loops,
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