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shapebot4deck.py
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shapebot4deck.py
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import boardcad.gui.jdk.BoardCAD
import boardcam.cutters.STLCutter
import boardcam.BoardMachine
import cadcore.NurbsPoint
from javax.swing import *
import math
###########################################################################
# Generate the g-code as a parallel task
machine=boardcam.BoardMachine()
machine.read_machine_data()
width_steps=machine.deckCuts
length_steps=50
filename=machine.deckFileName
zmax=machine.zMaxHeight
feedrate=machine.speed
feedrate_stringer=machine.stringerSpeed
feedrate_outline=machine.outlineSpeed
axis4_rail_start=machine.deckRailAngle
axis4_rail_stop=machine.bottomRailAngle
deck_cuts=machine.bottomCuts
rail_cuts=machine.bottomRailCuts
supportEnd=machine.endSupportPosition
supportEndX=supportEnd[0]
supportEndY=supportEnd[1]
supportEndZ=supportEnd[2]
cutter=boardcam.cutters.STLCutter()
cutter_name=machine.toolName
cutter.init(cutter_name)
axis4_offset_z=machine.axis4_offset.z
offsetRotation=machine.axis4_offsetRotation
cutter.setRotationCenter(0.0, 0.0, axis4_offset_z);
cutter.scale(machine.toolScaleX,machine.toolScaleY,machine.toolScaleZ);
stringerOffsetZ=[10, 5, 0]
stringerCutoff=machine.stringerCutoff
outlineOffsetZ=[20, 0, -30]
outlineOffsetY=machine.outlineOffset
# get a copy of the deck surface from BoardCAD
boardhandler=boardcad.gui.jdk.BoardCAD.getInstance().getBoardHandler()
board=boardhandler.getActiveBoard();
deck=board.getDeck()
# find parameter value for outline
max_width = 0.0
t=deck.getMinT()
p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
while (max_width - math.fabs(p.z) <= 0):
t=t+0.01
p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
if (math.fabs(p.z) > max_width):
max_width = math.fabs(p.z)
t_outline=t
# find parameter value for rail
t=deck.getMinT()
angle=180
while (angle>axis4_rail_start):
t=t+0.01
p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
n=deck.getNormal((deck.getMaxS()-deck.getMinS())/2, t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
t_rail=t
#Find uniform distances for t and their angles
wval=[]
tval=[]
aval=[]
t=t_rail
n=deck.getNormal((deck.getMaxS()-deck.getMinS())/2, t)
p=cutter.calcOffset(p,n)
max_width = math.fabs(p.z)+.1
i=p.z
step=p.z/deck_cuts
while i>0.001:
wval.append(p.z-i)
i=i-step
print wval
print '\nmax width = %0.3f\n' % max_width
for w in wval:
while (max_width - math.fabs(p.z) <= math.fabs(w)):
t=t+0.01
p=deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
n=deck.getNormal((deck.getMaxS()-deck.getMinS())/2, t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
aval.append(angle)
tval.append(t)
print tval, aval
# add rail angles
rval=[]
for i in range(rail_cuts):
rval.append(axis4_rail_stop-i*1.0/(rail_cuts-1)*(axis4_rail_stop-axis4_rail_start))
print rval
# Setup progress bar info...
# calculate tool path stringer
stringer_cut=[]
step=0.25
t=(deck.getMaxT()-deck.getMinT())/2
s=deck.getMaxS()
cutter.setRotation(0.0)
p=deck.getPoint(s,t)
#n=deck.getNormal(t,s)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(1,0,0))
stringer_cut.append(cadcore.NurbsPoint(p.x,-p.z,p.y, 0.0))
while (s>deck.getMinS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
stringer_cut.append(cadcore.NurbsPoint(p.x,-p.z,p.y, 0.0))
s=s-step
s=deck.getMinS()
p=deck.getPoint(s,t)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(-1,0,0))
stringer_cut.append(cadcore.NurbsPoint(p.x,-p.z,p.y, 0.0))
# calculate tool path outline
outline_cut=[]
step=0.25
t=t_outline
s=deck.getMinS()
cutter.setRotation(0.0)
while (s<deck.getMaxS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
outline_cut.append(cadcore.NurbsPoint(p.x,-p.z,p.y, 0.0))
s=s+step
# calculate tool path deck
deck_right=[]
deck_left=[]
step=0.25
s=deck.getMinS()
while aval:
a=aval.pop()
print a
cutter.setRotation(a)
while (s<deck.getMaxS()):
t=t_rail
angle=180
while (angle>a):
t=t+0.01
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
cutter.setRotation(angle)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
deck_right.append(cadcore.NurbsPoint(p.x,-p.z,p.y, angle))
deck_left.append(cadcore.NurbsPoint(p.x,p.z,p.y, -angle))
s=s+step
a=aval.pop()
print a
cutter.setRotation(a)
while (s>deck.getMinS()):
t=t_rail
angle=180
while (angle>a):
t=t+0.01
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
cutter.setRotation(angle)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
deck_right.append(cadcore.NurbsPoint(p.x,-p.z,p.y, angle))
deck_left.append(cadcore.NurbsPoint(p.x,p.z,p.y, -angle))
s=s-step
# calculate tool path rail
rail_right=[]
rail_left=[]
step=0.25
s=deck.getMinS()
cutter.setRotationCenter(0.0, 0.0, axis4_offset_z-20)
while rval:
a=rval.pop()
print a
cutter.setRotation(a-90)
while (s<deck.getMaxS()):
t=deck.getMinT()
angle=180
while (angle>a):
t=t+0.01
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
cutter.setRotation(angle-90)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
rail_right.append(cadcore.NurbsPoint(p.x,-p.z,p.y-20, angle-90))
rail_left.append(cadcore.NurbsPoint(p.x,p.z,p.y-20, -angle+90))
s=s+step
a=rval.pop()
print a
cutter.setRotation(a-90)
while (s>deck.getMinS()):
t=deck.getMinT()
angle=180
while (angle>a):
t=t+0.01
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
angle=math.fabs(180.0/math.pi*math.atan2(n.z, n.y))
cutter.setRotation(angle-90)
p=cutter.calcOffset(cadcore.NurbsPoint(p.x,p.y,p.z),cadcore.NurbsPoint(n.x,n.y,n.z))
rail_right.append(cadcore.NurbsPoint(p.x,-p.z,p.y-20, angle-90))
rail_left.append(cadcore.NurbsPoint(p.x,p.z,p.y-20, -angle+90))
s=s-step
# write g-code
f=open(filename, 'w')
zsafe='g0 z%d\n' %(zmax)
f.write('(cutting stringer)\n')
for offsetZ in stringerOffsetZ:
f.write(zsafe)
p=stringer_cut[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY, p.w+offsetRotation))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ+offsetZ-stringerCutoff, p.w+offsetRotation, feedrate_stringer))
for p in stringer_cut:
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate_stringer))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ+offsetZ-stringerCutoff, p.w+offsetRotation, feedrate_stringer))
for offsetZ in outlineOffsetZ:
f.write('(cutting outline right)\n')
f.write(zsafe)
p=outline_cut[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY-outlineOffsetY-200, p.w+offsetRotation))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY-outlineOffsetY-200, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate))
mycount=0
for p in outline_cut:
mycount=mycount+1
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY-outlineOffsetY, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate_outline))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY-outlineOffsetY-200, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate))
f.write('(cutting outline left)\n')
f.write(zsafe)
p=outline_cut[mycount-1]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, -p.y+supportEndY+outlineOffsetY+200, p.w+offsetRotation))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, -p.y+supportEndY+outlineOffsetY+200, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate))
for i in range(mycount):
p=outline_cut[mycount-i-1]
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, -p.y+supportEndY+outlineOffsetY, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate))
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, -p.y+supportEndY+outlineOffsetY+200, p.z+supportEndZ+offsetZ, p.w+offsetRotation, feedrate))
f.write(zsafe)
f.write('(cutting deck right)\n');
p=deck_right[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY, p.w+offsetRotation))
for p in deck_right:
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ, p.w+offsetRotation, feedrate))
f.write(zsafe)
f.write('(cutting rail right)\n');
p=rail_right[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY, p.w+offsetRotation))
for p in rail_right:
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ, p.w+offsetRotation, feedrate))
f.write(zsafe)
f.write('(cutting deck left)\n');
p=deck_left[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY, p.w+offsetRotation))
for p in deck_left:
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ, p.w+offsetRotation, feedrate))
f.write(zsafe)
f.write('(cutting rail left)\n');
p=rail_left[0]
f.write('g0 x%.3f y%.3f a%.3f\n' % (p.x+supportEndX, p.y+supportEndY, p.w+offsetRotation))
for p in rail_left:
f.write('g1 x%.3f y%.3f z%.3f a%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndY, p.z+supportEndZ, p.w+offsetRotation, feedrate))
f.write(zsafe)
f.write("M2");
f.close()
JOptionPane.showMessageDialog(None, "Finished g-code generation")