grid-apps-cmms/src/mode/laser/driver.js

/** Copyright Stewart Allen <sa@grid.space> -- All Rights Reserved */

"use strict";

(function() {

    if (!self.kiri.driver) self.kiri.driver = { };
    if (self.kiri.driver.LASER) return;

    const KIRI = self.kiri,
        BASE = self.base,
        UTIL = BASE.util,
        POLY = BASE.polygons,
        FDM = KIRI.driver.FDM,
        CAM = KIRI.driver.CAM,
        LASER = KIRI.driver.LASER = {
            init,
            slice,
            prepare,
            export: exportLaser,
            exportGCode,
            exportSVG,
            exportDXF
        },
        SLICER = KIRI.slicer,
        newPoint = BASE.newPoint;

    function init(kiri, api) {
        api.event.on("settings.saved", (settings) => {
            let UI = kiri.api.ui;
            UI.knife.marker.style.display = UI.knifeOn.checked ? '' : 'none';
        });
    }

    /**
     * DRIVER SLICE CONTRACT
     *
     * @param {Object} settings
     * @param {Widget} Widget
     * @param {Function} onupdate (called with % complete and optional message)
     * @param {Function} ondone (called when complete with an array of Slice objects)
     */
    function slice(settings, widget, onupdate, ondone) {
        let proc = settings.process;
        let offset = proc.laserOffset;

        if (proc.laserSliceHeight < 0) {
            return ondone("invalid slice height");
        }

        SLICER.sliceWidget(widget, {
            single: proc.laserSliceSingle,
            height: proc.laserSliceHeight,
            minHeight: proc.laserSliceHeight === 0 ? proc.laserSliceHeightMin : 0
        }, function(slices) {
            widget.slices = slices;
            slices.forEach(function(slice, index) {
                let tops = slice.tops.map(t => t.poly);
                let offsets = slice.offset = offset ?
                    POLY.offset(tops, offset, {z: slice.z, miter: 2 / offset}) : tops;
                slice.output().setLayer("layer", { line: 0x888800 }).addPolys(tops);
                slice.output().setLayer("cut").addPolys(offsets);
                onupdate(0.80 + (index/slices.length) * 0.20);
            });
            ondone();
        }, function(update) {
            onupdate(0.0 + update * 0.80)
        });
    };

    function sliceEmitObjects(print, slice, groups, simple) {
        let start = newPoint(0,0,0);
        let process = print.settings.process;
        let grouped = process.outputLaserGroup;
        let group = [];
        let zcolor = print.settings.process.outputLaserZColor;

        group.thick = slice.thick;

        function laserOut(poly, group) {
            if (!poly) {
                return;
            }
            if (Array.isArray(poly)) {
                poly.forEach(function(pi) {
                    laserOut(pi, group);
                });
            } else {
                let pathOpt = zcolor ? {extrude: slice.z, rate: slice.z} : {extrude: 1};
                if (simple) pathOpt.simple = true;
                if (poly.open) pathOpt.open = true;
                print.polyPrintPath(poly, start, group, pathOpt);
            }
        }

        let offset = slice.offset;
        let inner = offset.map(poly => poly.inner || []).flat();

        laserOut(offset, group);
        laserOut(inner, group);

        if (!grouped) {
            groups.push(group);
            group = [];
            group.thick = slice.thick;
        }

        if (grouped) {
            groups.push(group);
        }
    };

    /**
     * DRIVER PRINT CONTRACT
     *
     * @param {Object} print state object
     * @param {Function} update incremental callback
     */
    function prepare(widgets, settings, update) {
        let device = settings.device,
            process = settings.process,
            print = self.worker.print = KIRI.newPrint(settings, widgets),
            knifeOn = process.knifeOn,
            knifeDepth = process.outputKnifeDepth,
            knifePasses = process.outputKnifePasses,
            knifeTipOff = process.outputKnifeTip,
            output = print.output = [],
            totalSlices = 0,
            slices = 0;

        function arc(center, s1, s2, out) {
            let a1 = s1.angle;
            let a2 = s2.angle;
            let diff = s1.angleDiff(s2,true);
            let step = 5;
            let ticks = Math.abs(Math.floor(diff / step));
            let dir = Math.sign(diff);
            let off = (diff % step) / 2;
            if (off == 0) {
                ticks++;
            } else {
                out.push( center.projectOnSlope(s1, knifeTipOff) );
            }
            while (ticks-- > 0) {
                out.push( center.projectOnSlope(BASE.newSlopeFromAngle(a1 + off), knifeTipOff) );
                a1 += step * dir;
            }
            out.push( center.projectOnSlope(s2, knifeTipOff) );
        }

        // start to the "left" of the first point
        function addKnifeRadii(poly) {
            poly.setClockwise();
            let oldpts = poly.points.slice();
            // find leftpoint and make that the first point
            let start = oldpts[0];
            let startI = 0;
            for (let i=1; i<oldpts.length; i++) {
                let pt = oldpts[i];
                if (pt.x < start.x || pt.y > start.y) {
                    start = pt;
                    startI = i;
                }
            }
            if (startI > 0) {
                oldpts = oldpts.slice(startI,oldpts.length).appendAll(oldpts.slice(0,startI));
            }

            let lastpt = oldpts[0].clone().move({x:-knifeTipOff,y:0,z:0});
            let lastsl = lastpt.slopeTo(oldpts[0]).toUnit();
            let newpts = [ lastpt, lastpt = oldpts[0] ];
            let tmp;
            for (let i=1; i<oldpts.length + 1; i++) {
                let nextpt = oldpts[i % oldpts.length];
                let nextsl = lastpt.slopeTo(nextpt).toUnit();
                if (lastsl.angleDiff(nextsl) >= 10) {
                    if (lastpt.distTo2D(nextpt) >= knifeTipOff) {
                        arc(lastpt, lastsl, nextsl, newpts);
                    } else {
                        // todo handle short segments
                        // newpts.push(lastpt.projectOnSlope(lastsl, knifeTipOff) );
                        // newpts.push( lastpt.projectOnSlope(nextsl, knifeTipOff) );
                    }
                }
                newpts.push(nextpt);
                lastsl = nextsl;
                lastpt = nextpt;
            }
            newpts.push( tmp = lastpt.projectOnSlope(lastsl, knifeTipOff) );
            newpts.push( tmp.clone().move({x:knifeTipOff, y:0, z: 0}) );
            poly.open = true;
            poly.points = newpts;
            poly.length = newpts.length;
        }

        // find max layers (for updates)
        widgets.forEach(function(widget) {
            totalSlices += widget.slices.length;
        });

        // emit objects from each slice into output array
        widgets.forEach(function(widget) {
            // slice stack merging
            if (process.outputLaserMerged) {
                let merged = [];
                widget.slices.forEach(function(slice) {
                    let polys = [];
                    slice.offsets.clone(true).forEach(p => p.flattenTo(polys));
                    polys.forEach(p => {
                        let match = false;
                        for (let i=0; i<merged.length; i++) {
                            let mp = merged[i];
                            if (p.isEquivalent(mp)) {
                                // increase weight
                                match = true;
                                mp.depth++;
                            }
                        }
                        if (!match) {
                            p.depth = 1;
                            merged.push(p);
                        }
                    });
                    update((slices++ / totalSlices) * 0.5, "prepare");
                });
                let start = newPoint(0,0,0);
                let gather = [];
                merged.forEach(poly => {
                    print.polyPrintPath(poly, start, gather, {
                        extrude: poly.depth,
                        rate: poly.depth * 10
                    });
                });
                output.push(gather);
            } else {
                if (knifeOn) {
                    widget.slices.forEach(slice => {
                        slice.offset.forEach(poly => {
                            addKnifeRadii(poly);
                            if (poly.inner) poly.inner.forEach(ip => {
                                addKnifeRadii(ip);
                            });
                        });
                    });
                }
                widget.slices.forEach(function(slice) {
                    sliceEmitObjects(print, slice, output, knifeOn);
                    update((slices++ / totalSlices) * 0.5, "prepare");
                });
            }
        });

        // compute tile width / height
        output.forEach(function(layerout) {
            let min = {w:Infinity, h:Infinity}, max = {w:-Infinity, h:-Infinity}, p;
            layerout.forEach(function(out) {
                p = out.point;
                out.point = p.clone(); // b/c first/last point are often shared
                min.w = Math.min(min.w, p.x);
                max.w = Math.max(max.w, p.x);
                min.h = Math.min(min.h, p.y);
                max.h = Math.max(max.h, p.y);
            });
            layerout.w = max.w - min.w;
            layerout.h = max.h - min.h;
            // shift objects to top/left of w/h bounds
            layerout.forEach(function(out) {
                p = out.point;
                p.x -= min.w;
                p.y -= min.h;
            });
        });

        // do object layout packing
        let i, m, e,
            MOTO = self.moto,
            dw = device.bedWidth / 2,
            dh = device.bedDepth / 2,
            sort = !process.outputLaserLayer,
            // sort objects by size when not using laser layer ordering
            c = sort ? output.sort(MOTO.Sort) : output,
            p = new MOTO.Pack(dw, dh, process.outputTileSpacing).fit(c, !sort);

        // test different ratios until packed
        while (!p.packed) {
            dw *= 1.1;
            dh *= 1.1;
            p = new MOTO.Pack(dw, dh, process.outputTileSpacing).fit(c ,!sort);
        }

        for (i = 0; i < c.length; i++) {
            m = c[i];
            m.fit.x += m.w + p.pad;
            m.fit.y += m.h + p.pad;
            m.forEach(function(o, i) {
                // because first point emitted twice (begin/end)
                e = o.point;
                e.x += p.max.w / 2 - m.fit.x;
                e.y += p.max.h / 2 - m.fit.y;
                // e.z = 0;
            });
        }

        return print.render = FDM.prepareRender(output, (progress, layer) => {
            update(0.5 + progress * 0.5, "render", layer);
        }, { thin: true, z: 0, action: "cut", moves: process.knifeOn });
    };

    function exportLaser(print, online, ondone) {
        ondone(print.output);
    }

    /**
     *
     */
    function exportElements(settings, output, onpre, onpoly, onpost, onpoint, onlayer) {
        let process = settings.process,
            zcolor = process.outputLaserZColor,
            last,
            point,
            poly = [],
            min = {x:0, y:0},
            max = {x:0, y:0};

        output.forEach(function(layer) {
            layer.forEach(function(out) {
                point = out.point;
                if (process.outputInvertX) point.x = -point.x;
                if (process.outputInvertY) point.y = -point.y;
                min.x = Math.min(min.x, point.x);
                max.x = Math.max(max.x, point.x);
                min.y = Math.min(min.y, point.y);
                max.y = Math.max(max.y, point.y);
            });
        });

        if (!process.outputOriginCenter) {
            // normalize against origin lower left
            output.forEach(function(layer) {
                layer.forEach(function(out) {
                    point = out.point;
                    point.x -= min.x;
                    point.y -= min.y;
                });
            });
            max.x = max.x - min.x;
            max.y = max.y - min.y;
            min.x = 0;
            min.y = 0;
        } else {
            // normalize against center of build area
            let w = settings.device.bedWidth;
            let h = settings.device.bedDepth;
            output.forEach(function(layer) {
                layer.forEach(function(out) {
                    point = out.point;
                    point.x += w/2;
                    point.y += h/2;
                });
            });
            max.x = w;
            max.y = h;
            min.x = 0;
            min.y = 0;
        }

        onpre(min, max, process.outputLaserPower, process.outputLaserSpeed);

        output.forEach(function(layer, index) {
            let thick = 0;
            let color = 0;
            layer.forEach(function(out, li) {
                thick = out.thick;
                point = out.point;
                if (onlayer) {
                    onlayer(index, point.z, out.thick, output.length);
                }
                if (out.emit) {
                    color = out.emit;
                    if (last && poly.length === 0) {
                        poly.push(onpoint(last));
                    }
                    poly.push(onpoint(point));
                } else if (poly.length > 0) {
                    onpoly(poly, color, thick);
                    poly = [];
                }
                last = point;
            });
            if (poly.length > 0) {
                onpoly(poly, color, thick);
                poly = [];
            }
        });

        onpost();
    };

    /**
     *
     */
    function exportGCode(settings, data) {
        let lines = [], dx = 0, dy = 0, z = 0, feedrate;
        let dev = settings.device;
        let proc = settings.process;
        let space = dev.gcodeSpace ? ' ' : '';
        let power = 255;
        let laser_on = dev.gcodeLaserOn || [];
        let laser_off = dev.gcodeLaserOff || [];
        let knifeOn = proc.knifeOn;
        let knifeDepth = proc.outputKnifeDepth;
        let passes = knifeOn ? proc.outputKnifePasses : 1;

        exportElements(
            settings,
            data,
            function(min, max, power, speed) {
                let width = (max.x - min.x),
                    height = (max.y - min.y);

                dx = min.x;
                dy = min.y;
                feedrate = `${space}F${speed}`;
                power = (256 * (power / 100)).toFixed(3);

                (dev.gcodePre || []).forEach(line => {
                    lines.push(line);
                });
            },
            function(poly, color, thick) {
                if (knifeOn) {
                    lines.push(`; start new poly id=${poly.id} len=${poly.length}`);
                }
                for (let i=1; i<passes + 1; i++) {
                    poly.forEach(function(point, index) {
                        if (index === 0) {
                            if (knifeOn) {
                                // lift
                                lines.appendAll(['; drag-knife lift', `G0${space}Z5`]);
                            }
                            lines.push(`G0${space}${point}`);
                            if (knifeOn) {
                                // drop
                                lines.appendAll(['; drag-knife down', `G0${space}Z${-i * knifeDepth}`]);
                            }
                        } else if (index === 1) {
                            laser_on.forEach(line => {
                                line = line.replace('{power}', power);
                                line = line.replace('{color}', color);
                                line = line.replace('{thick}', thick);
                                line = line.replace('{z}', z);
                                lines.push(line);
                            });
                            lines.push(`G1${space}${point}${feedrate}`);
                        } else {
                            lines.push(`G1${space}${point}`);
                        }
                    });
                    laser_off.forEach(line => {
                        lines.push(line);
                    });
                }
                if (knifeOn) {
                    lines.appendAll([`G0${space}Z5`]);
                }
            },
            function() {
                (dev.gcodePost || []).forEach(line => {
                    lines.push(line);
                });
            },
            function(point) {
                z = point.z;
                return `X${(point.x - dx).toFixed(3)}${space}Y${(point.y - dy).toFixed(3)}`;
            },
            function(layer, z, thick, layers) {
                // ununsed
            }
        );

        return lines.join('\n');
    };

    /**
     *
     */
    function exportSVG(settings, data, cut_color) {
        let zcolor = settings.process.outputLaserZColor ? 1 : 0;
        let lines = [], dx = 0, dy = 0, my, z = 0;
        let colors = [
            "black",
            "purple",
            "blue",
            "red",
            "orange",
            "yellow",
            "green",
            "brown",
            "gray"
        ];

        exportElements(
            settings,
            data,
            function(min, max) {
                let width = (max.x - min.x),
                    height = (max.y - min.y);
                dx = min.x;
                dy = min.y;
                my = max.y;
                lines.push('<?xml version="1.0" standalone="no"?>');
                lines.push('<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">');
                lines.push(`<svg width="${width}mm" height="${height}mm" viewBox="0 0 ${width} ${height}" xmlns="http://www.w3.org/2000/svg" version="1.1">`);
            },
            function(poly, color, thick) {
                let cout = zcolor || colors[((color-1) % colors.length)];
                let def = ["polyline"];
                if (z !== undefined) def.push(`z="${z}"`);
                if (thick !== undefined) def.push(`h="${thick}"`);
                lines.push(`<${def.join(' ')} points="${poly.join(' ')}" fill="none" stroke="${cout}" stroke-width="0.1mm" />`);
            },
            function() {
                lines.push("</svg>");
            },
            function(point) {
                z = point.z;
                return UTIL.round(point.x - dx, 3) + "," + UTIL.round(my - point.y - dy, 3);
            },
            function(layer, z, thick, layers) {
                if (zcolor) {
                    zcolor = Math.round(((layer + 1) / layers) * 0xffffff).toString(16);
                    zcolor = `#${zcolor.padStart(6,0)}`;
                }
            }
        );

        return lines.join('\n');
    };

    /**
     *
     */
    function exportDXF(settings, data) {
        let lines = [];

        exportElements(
            settings,
            data,
            function(min, max) {
                lines.appendAll([
                    '  0',
                    'SECTION',
                    '  2',
                    'HEADER',
                    '  9',
                    '$ACADVER',
                    '1',
                    'AC1014',
                    '  0',
                    'ENDSEC',
                    '  0',
                    'SECTION',
                    '  2',
                    'ENTITIES',
                ]);
            },
            function(poly) {
                lines.appendAll([
                    '  0',
                    'LWPOLYLINE',
                    '100', // subgroup required
                    'AcDbPolyline',
                    ' 90', // poly vertices
                    poly.length,
                    ' 70', // open
                    '0',
                    ' 43', // constant width line
                    '0.0'
                ]);

                poly.forEach(function(point) {
                    lines.appendAll([
                        ' 10',
                        point.x,
                        ' 20',
                        point.y
                    ]);
                });

                lines.appendAll([
                    '  0',
                    'SEQEND',
                ]);
            },
            function() {
                lines.appendAll([
                    '  0',
                    'ENDSEC',
                    '  0',
                    'EOF',
                ]);
            },
            function(point) {
                return {x:point.x,y:point.y};
            }
        );

        return lines.join('\n');
    };

})();