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Apr 4, 2019 . 1 changed file with 77 additions and 53 deletions.There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -50,78 +50,80 @@ def export(objectslist, filename, argstring): print("the given object is not a path") return gcode = postprocess(obj.Path.Commands) # Debugging info dia = PostUtils.GCodeEditorDialog() dia.editor.setText(gcode) result = dia.exec_() gfile = open(filename, "w") gfile.write(gcode) gfile.close() return result def linearize_arc(start, end, center, normal, clockwise): result = "; {} arc from {} to {}\n; around center point {}\n".format( "Clockwise" if clockwise else "Counter-clockwise", start, end, center) radius = (center - start).Length # Center everything at the origin for the following steps start0 = start - center end0 = end - center EPSILON = 1e-7 if (start0 + end0).Length < EPSILON: # 180 degree angle mid0 = normal.cross(start0) elif (start0 - end0).Length < EPSILON: # 360 degree angle mid0 = -start0 else: # "Normal" angle mid0 = radius*(start0 + end0).normalize() # Check if mid-point is clockwise or counter-clockwise from the start. mid_clockwise = normal.dot(start0.cross(mid0)) # If it doesn't match the requested direction, choose the point on # the other side of the circle. if clockwise != mid_clockwise: mid0 = -mid0 mid = center + mid0 arc = Part.ArcOfCircle(start, mid, end) steps = 64 # TODO: make number of steps configurable points = arc.discretize(steps) c = [] for p in points: c.append("G1 X{} Y{} Z{}\n".format(p.x, p.y, p.z)) return result + "".join(c) + "\n" def postprocess(commands): output = "; Generated by FreeCAD Easel post-processor.\n" output += "G21 ; Metric units\n" # FreeCAD internal values are always metric. # Currently supported internal commands: # G0, G1, G2, G3 (Movement) # G17, G18, G19 (Plane selection for G2/G3 arcs) # G81, G82, G83 (Drilling) # G90, G91 (Absolute/relative coordinates) # Carvey starts at (20mm, 20mm, 20mm) after smart-clamp calibration. # TODO: Check if this is different for the other easel-supported machines. # TODO: Turn `state` into a FreeCAD.Vector ? state = {'X': 20., 'Y': 20., 'Z': 20.} normal = FreeCAD.Vector(0, 0, 1) for cmd in commands: if cmd.Name[0] == "(": @@ -137,32 +139,44 @@ def postprocess(commands): state['Y'] = float(cmd.Parameters['Y']) if 'Z' in argnames: state['Z'] = float(cmd.Parameters['Z']) # We could make generated file sizes slightly smaller by omitting # unchanged coordinates, but so far we haven't hit a size limit in # Easel. output += "{} X{} Y{} Z{}\n".format(cmd.Name, state['X'], state['Y'], state['Z']) elif cmd.Name == "G2" or cmd.Name == "G3": # We are guaranteed that the arc described by these commands always # lies in one of the three coordinate planes, and that the correct # plane has already been set through the G17/G18/G19 commands. # For arcs that are not aligned to a plane, FreeCAD will linearize # them internally and generate a sequence of G1 movements itself. argnames = cmd.Parameters.keys() if 'A' in argnames or 'B' in argnames or 'C' in argnames: raise RuntimeError("A,B,C rotational axes currently not supported.") # Update final position start = FreeCAD.Vector(state['X'], state['Y'], state['Z']) end = FreeCAD.Vector(state['X'], state['Y'], state['Z']) center = FreeCAD.Vector(state['X'], state['Y'], state['Z']) if 'X' in argnames: end.x = float(cmd.Parameters['X']) if 'Y' in argnames: end.y = float(cmd.Parameters['Y']) if 'Z' in argnames: end.z = float(cmd.Parameters['Z']) if 'I' in argnames: center.x += float(cmd.Parameters['I']) if 'J' in argnames: center.y += float(cmd.Parameters['J']) if 'K' in argnames: center.z += float(cmd.Parameters['K']) clockwise = cmd.Name == "G2" output += linearize_arc(start, end, center, normal, clockwise) state = end_position elif cmd.Name == "G81" or cmd.Name == "G82" or cmd.Name == "G83": @@ -171,6 +185,16 @@ def postprocess(commands): output += "G90 ; Absolute coordinate mode\n" elif cmd.Name == "G91": raise RuntimeError("Relative coordinate mode (G91) currently not supported.") elif cmd.Name == "G17": # Use the xy-plane for arc movements. normal = FreeCAD.Vector(0, 0, 1) elif cmd.Name == "G18": # Use the zx-plane for arc movements. normal = FreeCAD.Vector(0, 1, 0) elif cmd.Name == "G19": # Use the yz-plane for arc movements. normal = FreeCAD.Vector(1, 0, 0) else: # TODO: Maybe just output unknown commands unchanged? raise RuntimeError("Unexpected internal G-Code command {}".format(cmd.Name)) return output -
Apr 4, 2019 . 1 changed file with 109 additions and 14 deletions.There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -34,13 +34,9 @@ import datetime import FreeCAD import Part import PathScripts.PostUtils as PostUtils def export(objectslist, filename, argstring): @@ -52,6 +48,7 @@ def export(objectslist, filename, argstring): obj = objectslist[0] if not hasattr(obj, "Path"): print("the given object is not a path") return # The `Path.toGCode()` function returns a string formatted in the FreeCAD # internal GCode dialect @@ -62,20 +59,118 @@ def export(objectslist, filename, argstring): dia.editor.setText(easel_gcode) result = dia.exec_() gfile = open(filename, "w") gfile.write(easel_gcode) gfile.close() return result def linearize_arc(start_dict, end_dict, center_dict, clockwise): result = "; {} arc from {} to {}\n; around center point {}\n".format( "Clockwise" if clockwise else "Counter-clockwise", start_dict, end_dict, center_dict) start = FreeCAD.Vector(start_dict['X'], start_dict['Y'], start_dict['Z']) end = FreeCAD.Vector(end_dict['X'], end_dict['Y'], end_dict['Z']) center = FreeCAD.Vector(center_dict['X'], center_dict['Y'], center_dict['Z']) if clockwise: start, end = end, start radius = (center - start).Length normal = (center - start).cross(center - end) # Special case: If the circle is under-specified (i.e. 180 or 360 degree angles), # we construct the normal # This ensures we're getting the z-axis as normal when start and center lie in the same z-plane. # This will break for circles on the xz or yz planes, but these don't make physical sense on a CNC mill. # TODO: Warn if we hit this condition. if (normal.Length == 0.): to_center = center - start reference = FreeCAD.Vector(to_center.y, -to_center.x, to_center.z) normal = to_center.cross(reference) normal.normalize() # TODO: Looks like we need to switch to the 3-point form to # reliably handle semi-circles and such. circle = Part.Circle(center, normal, radius) p0 = circle.parameter(start) p1 = circle.parameter(end) arc = Part.ArcOfCircle(circle, p0, p1) steps = 64 # TODO: make number of steps configurable points = arc.discretize(steps) c = [] for p in points: c.append("G1 X{} Y{} Z{}\n".format(p.x, p.y, p.z)) if clockwise: c.reverse() return result + "".join(c) + "\n" # `gcode`: [FreeCAD...Command] def postprocess(commands): output = "; Generated by FreeCAD Easel post-processor.\n" output += "G21 ; Metric units\n" # FreeCAD internal values are always metric. # Currently supported internal commands: # G0, G1, G2, G3 (movement commands) # G81, G82, G83 (drilling commands) # G90, G91 (absolute/relative coordinates) # Carvey starts at (20mm, 20mm, 20mm) after smart-clamp calibration. # TODO: Check if this is different for the other easel-supported machines. state = {'X': 20., 'Y': 20., 'Z': 20.} for cmd in commands: if cmd.Name[0] == "(": output += "; " + cmd.Name + "\n" elif cmd.Name == "G0" or cmd.Name == "G1": argnames = cmd.Parameters.keys() if 'A' in argnames or 'B' in argnames or 'C' in argnames: raise RuntimeError("A,B,C rotational axes currently not supported.") if 'X' in argnames: state['X'] = float(cmd.Parameters['X']) if 'Y' in argnames: state['Y'] = float(cmd.Parameters['Y']) if 'Z' in argnames: state['Z'] = float(cmd.Parameters['Z']) # TODO: Is it important to omit duplicate coordinates? output += "{} X{} Y{} Z{}\n".format(cmd.Name, state['X'], state['Y'], state['Z']) elif cmd.Name == "G2" or cmd.Name == "G3": argnames = cmd.Parameters.keys() if 'A' in argnames or 'B' in argnames or 'C' in argnames: raise RuntimeError("A,B,C rotational axes currently not supported.") center_x = state['X'] + cmd.Parameters['I'] center_y = state['Y'] + cmd.Parameters['J'] center_z = state['Z'] if 'K' in argnames: # 'K' is optional center_z = state['Z'] + cmd.Parameters['K'] # Update final position start_position = dict(state) end_position = dict(state) if 'X' in argnames: end_position['X'] = float(cmd.Parameters['X']) if 'Y' in argnames: end_position['Y'] = float(cmd.Parameters['Y']) if 'Z' in argnames: end_position['Z'] = float(cmd.Parameters['Z']) clockwise = cmd.Name == "G2" center = {'X': center_x, 'Y': center_y, 'Z': center_z} output += linearize_arc(start_position, end_position, center, clockwise) state = end_position elif cmd.Name == "G81" or cmd.Name == "G82" or cmd.Name == "G83": raise RuntimeError("Drilling commands (G8x) currently not supported.") elif cmd.Name == "G90": output += "G90 ; Absolute coordinate mode\n" elif cmd.Name == "G91": raise RuntimeError("Relative coordinate mode (G91) currently not supported.") return output -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -0,0 +1,82 @@ # *************************************************************************** # * (c) Benno Evers (bennoe@apache.org) 2019 * # * * # * This file is part of the FreeCAD CAx development system. * # * * # * This program is free software; you can redistribute it and/or modify * # * it under the terms of the GNU Lesser General Public License (LGPL) * # * as published by the Free Software Foundation; either version 2 of * # * the License, or (at your option) any later version. * # * for detail see the LICENCE text file. * # * * # * FreeCAD is distributed in the hope that it will be useful, * # * but WITHOUT ANY WARRANTY; without even the implied warranty of * # * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * # * GNU Lesser General Public License for more details. * # * * # * You should have received a copy of the GNU Library General Public * # * License along with FreeCAD; if not, write to the Free Software * # * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * # * USA * # * * # ***************************************************************************/ from __future__ import print_function TOOLTIP=''' This is a post-processor for the Easel WebUI which can control various models of CNC mills, i.e. Carvey, X-Carve and ShapeOko 1/2. Note that it has only been tested with the Carvey. Its main task is to linearize any arcs, since Easel only supports linear movements. ''' import datetime # TODO(bevers): Stuff below was in the original example code, but I don't # see why it is needed. # # to distinguish python built-in open function from the one declared below #if open.__module__ in ['__builtin__','io']: # pythonopen = open def export(objectslist, filename, argstring): "Called when freecad exports a list of objects" # TODO(bevers): Support multiple paths by concatenating them together. if len(objectslist) > 1: print("This script is unable to write more than one Path object") return obj = objectslist[0] if not hasattr(obj, "Path"): print("the given object is not a path") # The `Path.toGCode()` function returns a string formatted in the FreeCAD # internal GCode dialect #freecad_gcode = obj.Path.toGCode() easel_gcode = postprocess(obj.Path.Commands) dia = PostUtils.GCodeEditorDialog() dia.editor.setText(easel_gcode) result = dia.exec_() #gfile = open(filename, "w") #gfile.write(easel_gcode) #gfile.close() return result # `gcode`: [string] def postprocess(commands): output = "" for cmd in commands: output += str(print(cmd.Name)) + "\n" output += str(dir(cmd)) + "\n" return output print(__name__ + " gcode postprocessor loaded.")