636 lines
20 KiB
JavaScript
636 lines
20 KiB
JavaScript
/** Copyright Stewart Allen <sa@grid.space> -- All Rights Reserved */
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"use strict";
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// dep: geo.paths
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// dep: geo.point
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// dep: geo.polygons
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// dep: kiri.render
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// dep: kiri-mode.cam.driver
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// use: kiri-mode.cam.ops
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gapp.register("kiri-mode.cam.prepare", [], (root, exports) => {
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const { base, kiri } = root;
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const { paths, polygons, newPoint } = base;
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const { tip2tipEmit, poly2polyEmit } = paths;
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const { driver, render } = kiri;
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const { CAM } = driver;
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const POLY = polygons;
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/**
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* DRIVER PRINT CONTRACT
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*
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* @param {Object} print state object
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* @param {Function} update incremental callback
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* @param {Number} [index] into widget array
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* @param {Object} [firstPoint] starting point
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*/
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CAM.prepare = async function(widgets, settings, update) {
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widgets = widgets.filter(w => !w.track.ignore && !w.meta.disabled);
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const count = widgets.length;
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const weight = 1/count;
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const print = self.worker.print = kiri.newPrint(settings, widgets);
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print.output = [];
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let point;
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widgets.forEach((widget, index) => {
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point = prepEach(widget, settings, print, point, (progress, msg) => {
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update((index * weight + progress * weight) * 0.75, msg || "prepare");
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});
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});
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const output = print.output.filter(level => Array.isArray(level));
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if (render) // allows it to run from CLI
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return render.path(output, (progress, layer) => {
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update(0.75 + progress * 0.25, "render", layer);
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}, {
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thin: true,
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print: 0,
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move: 0x557799,
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speed: false,
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moves: true,
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other: "moving",
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action: "milling",
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maxspeed: settings.process.camFastFeed || 6000
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});
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};
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function prepEach(widget, settings, print, firstPoint, update) {
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if (widget.camops.length === 0 || widget.meta.disabled) return;
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let device = settings.device,
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process = settings.process,
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stock = settings.stock || {},
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outer = settings.bounds || widget.getPositionBox(),
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outerz = outer.max.z,
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slices = widget.slices,
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hasStock = stock.x && stock.y && stock.z && process.camStockOn,
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isIndexed = hasStock && process.camStockIndexed,
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startCenter = process.camOriginCenter,
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alignTop = settings.controller.alignTop,
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zclear = (process.camZClearance || 1),
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zmax_force = process.camForceZMax || false,
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zmax_outer = hasStock ? stock.z + zclear : outerz + zclear,
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wztop = widget.track.top,
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ztOff = hasStock ? stock.z - wztop : 0,
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bounds = widget.getBoundingBox(),
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boundsz = bounds.max.z + ztOff,
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zadd = hasStock && !isIndexed ? stock.z - boundsz : alignTop ? outerz - boundsz : 0,
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zmax = outerz + zclear + process.camOriginOffZ,
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wmpos = widget.track.pos,
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wmx = wmpos.x,
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wmy = wmpos.y,
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originx = (startCenter ? 0 : hasStock ? -stock.x / 2 : bounds.min.x) + process.camOriginOffX,
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originy = (startCenter ? 0 : hasStock ? -stock.y / 2 : bounds.min.y) + process.camOriginOffY,
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origin = newPoint(originx + wmx, originy + wmy, zmax),
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output = print.output,
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easeDown = process.camEaseDown,
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depthFirst = process.camDepthFirst,
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tolerance = 0,
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drillDown = 0,
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drillLift = 0,
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drillDwell = 0,
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lasering = false,
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laserPower = 0,
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newOutput = print.output || [],
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layerOut = [],
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printPoint,
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isNewMode,
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tool,
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toolType,
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toolDiam,
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toolDiamMove,
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plungeRate = process.camFastFeedZ,
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feedRate,
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lastTool,
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lastPoint,
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currentOp,
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nextIsMove = true,
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synthPlunge = false,
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spindle = 0,
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spindleMax = device.spindleMax,
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maxToolDiam = widget.maxToolDiam,
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terrain = widget.terrain ? widget.terrain.map(data => {
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return {
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z: data.z,
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tops: data.tops,
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};
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}) : zmax;
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function newLayer(op) {
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if (layerOut.length || layerOut.mode) {
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newOutput.push(layerOut);
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}
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layerOut = [];
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layerOut.mode = op || currentOp;
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layerOut.spindle = spindle;
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}
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function addGCode(text) {
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if (!(text && text.length)) {
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return;
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}
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if (!Array.isArray(text)) {
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text = text.trim().split('\n');
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}
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newOutput.push([{ gcode: text }]);
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if (layerOut.length) {
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layerOut = [];
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layerOut.mode = currentOp;
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layerOut.spindle = spindle;
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}
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}
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// non-zero means contouring
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function setTolerance(dist) {
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tolerance = dist;
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}
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function setPrintPoint(point) {
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ops.printPoint = printPoint = point;
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}
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function setSpindle(speed) {
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spindle = Math.min(speed, spindleMax);
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}
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function setTool(toolID, feed, plunge) {
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if (toolID !== lastTool) {
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tool = new CAM.Tool(settings, toolID);
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toolType = tool.getType();
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toolDiam = tool.fluteDiameter();
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toolDiamMove = toolType === 'endmill' ? toolDiam : tolerance * 2;
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lastTool = toolID;
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}
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feedRate = feed || feedRate;
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plungeRate = plunge || plungeRate || feedRate;
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}
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function setLasering(bool, power = 0) {
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lasering = bool ? currentOp : undefined;
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laserPower = power;
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}
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function setDrill(down, lift, dwell) {
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drillDown = down;
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drillLift = lift;
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drillDwell = dwell;
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}
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function emitDrills(polys) {
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polys = polys.slice();
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for (;;) {
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let closestDist = Infinity,
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closestI,
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closest = null,
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dist;
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for (let i=0; i<polys.length; i++) {
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if (!polys[i]) continue;
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if ((dist = polys[i].first().distTo2D(printPoint)) < closestDist) {
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closestDist = dist;
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closest = polys[i];
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closestI = i;
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}
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}
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if (!closest) return;
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polys[closestI] = null;
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printPoint = closest.first();
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emitDrill(closest, drillDown, drillLift, drillDwell);
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}
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}
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function emitDrill(poly, down, lift, dwell) {
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let remain = poly.first().z - poly.last().z,
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points = [],
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point = poly.first();
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if (down <= 0) {
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down = remain;
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}
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for (;;) {
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if (remain > down * 2) {
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points.push(point.clone());
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point.z -= down;
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remain -= down;
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} else if (remain < down) {
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points.push(point.clone());
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point.z -= remain;
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points.push(point.clone());
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break;
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} else {
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points.push(point.clone());
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point.z -= remain / 2;
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points.push(point.clone());
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point.z -= remain / 2;
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points.push(point.clone());
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break;
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}
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}
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camOut(point.clone().setZ(zmax));
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points.forEach(function(point, index) {
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camOut(point, 1);
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if (index > 0 && index < points.length - 1) {
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if (dwell) camDwell(dwell);
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if (lift) camOut(point.clone().setZ(point.z + lift), 0);
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}
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})
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camOut(point.clone().setZ(zmax));
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newLayer();
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}
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/**
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* @param {Point} point
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* @param {number} emit (0=move, !0=filament emit/laser on/cut mode)
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* @param {number} [speed] speed
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* @param {number} [tool] tool
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*/
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function layerPush(point, emit, speed, tool) {
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layerOut.mode = currentOp;
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if (lasering) {
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let power = emit ? laserPower : 0;
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if (emit && lasering.adapt) {
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let { minz, maxz, minp, maxp, adaptrp } = lasering;
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maxz = maxz || wztop;
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let deltaz = maxz - minz;
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let { z } = point;
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if (adaptrp) {
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while (z > maxz) z -= deltaz;
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while (z < minz) z += deltaz;
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} else if (z < minz || z > maxz) {
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// skip outside of band
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return point;
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}
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z -= minz;
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if (minp < maxp) {
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power = minp + (z / deltaz) * (maxp - minp);
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} else {
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power = minp - (z / deltaz) * (minp - maxp);
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}
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}
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if (lasering.flat) {
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point.z = (stock && stock.z ? stock.z : wztop) + lasering.flatz;
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}
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print.addOutput(layerOut, point, power, speed, tool, 'laser');
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} else {
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print.addOutput(layerOut, point, emit, speed, tool);
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}
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return point;
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}
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function camDwell(time) {
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layerPush(
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null,
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0,
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time,
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tool.getNumber()
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);
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}
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function camOut(point, cut, moveLen = toolDiamMove) {
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point = point.clone();
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point.x += wmx;
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point.y += wmy;
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point.z += zadd;
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// carry rotation forward when not overridden
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if (point.a === undefined && lastPoint) {
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point.a = lastPoint.a;
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}
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// console.log(point.z);
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if (nextIsMove) {
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cut = 0;
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nextIsMove = false;
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}
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let rate = feedRate;
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// before first point, move cutting head to point above it
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// then set that new point as the lastPoint
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if (!lastPoint) {
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let above = point.clone().setZ(zmax + zadd + ztOff);
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lastPoint = layerPush(above, 0, 0, tool.getNumber());
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}
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// measure deltas to last point in XY and Z
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let deltaXY = lastPoint.distTo2D(point),
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deltaZ = point.z - lastPoint.z,
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absDeltaZ = Math.abs(deltaZ),
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isMove = !cut;
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// drop points too close together
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if (deltaXY < 0.001 && point.z === lastPoint.z) {
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// console.trace(["drop dup",lastPoint,point]);
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return;
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}
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// convert short planar moves to cuts in some cases
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if (isMove && deltaXY <= moveLen && deltaZ <= 0 && !lasering) {
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let iscontour = tolerance > 0;
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let isflat = absDeltaZ < 0.001;
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// restrict this to contouring
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if (isflat || (iscontour && absDeltaZ <= tolerance)) {
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cut = 1;
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isMove = false;
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} else if (deltaZ <= -tolerance) {
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// move over before descending
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layerPush(point.clone().setZ(lastPoint.z), 0, 0, tool.getNumber());
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// new pos for plunge calc
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deltaXY = 0;
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}
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} else if (isMove) {
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// for longer moves, check the terrain to see if we need to go up and over
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const bigXY = (deltaXY > moveLen && !lasering);
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const bigZ = (deltaZ > toolDiam/2 && deltaXY > tolerance);
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const midZ = (tolerance && absDeltaZ >= tolerance);
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if (bigXY || bigZ || midZ) {
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let maxz = getZClearPath(
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terrain,
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lastPoint.x - wmx,
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lastPoint.y - wmy,
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point.x - wmx,
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point.y - wmy,
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Math.max(point.z, lastPoint.z),
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zadd,
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maxToolDiam/2,
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zclear
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),
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maxZdelta = Math.max(maxz - point.z, maxz - lastPoint.z),
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mustGoUp = maxZdelta >= tolerance,
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clearz = maxz;
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if (zmax_force) {
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clearz = maxz = zmax + zadd;
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}
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// up if any point between higher than start/outline, go up first
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const zIsBelow = point.z < maxz;
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if (mustGoUp || zIsBelow) {
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const zClearance = clearz + ztOff;
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if (zIsBelow) {
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layerPush(lastPoint.clone().setZ(zClearance), 0, 0, tool.getNumber());
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}
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layerPush(point.clone().setZ(zClearance), 0, 0, tool.getNumber());
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// new pos for plunge calc
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deltaXY = 0;
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}
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}
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}
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// set new plunge rate
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if (!lasering && deltaZ < -tolerance) {
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let threshold = Math.min(deltaXY / 2, absDeltaZ),
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modifier = threshold / absDeltaZ;
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if (synthPlunge && threshold && modifier && deltaXY > tolerance) {
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// use modifier to speed up long XY move plunge rates
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rate = Math.round(plungeRate + ((feedRate - plungeRate) * modifier));
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} else {
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rate = plungeRate;
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}
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}
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// todo synthesize move speed from feed / plunge accordingly
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layerOut.mode = currentOp;
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layerOut.spindle = spindle;
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lastPoint = layerPush(
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point,
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cut ? 1 : 0,
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rate,
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tool.getNumber()
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);
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}
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// coming from a previous widget, use previous last point
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lastPoint = firstPoint;
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// make top start offset configurable
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printPoint = firstPoint || origin;
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// accumulated data for depth-first optimiztions
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let depthData = {
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rough: [],
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outline: [],
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roughDiam: 0,
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outlineDiam: 0,
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contourx: [],
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contoury: [],
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trace: [],
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drill: [],
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layer: 0,
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};
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let ops = {
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stock,
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setTool,
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setDrill,
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setSpindle,
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setTolerance,
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setPrintPoint,
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setLasering,
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printPoint,
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newLayer,
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addGCode,
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camOut,
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polyEmit,
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poly2polyEmit,
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tip2tipEmit,
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depthRoughPath,
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depthOutlinePath,
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emitDrills,
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emitTrace,
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bounds,
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zmax,
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lastPoint: () => { return lastPoint }
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};
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let opSum = 0;
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let opTot = widget.camops.map(op => op.weight()).reduce((a,v) => a + v);
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for (let op of widget.camops) {
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setTolerance(0);
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nextIsMove = true;
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currentOp = op.op;
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let weight = op.weight();
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newLayer(op.op);
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op.prepare(ops, (progress, message) => {
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update((opSum + (progress * weight)) / opTot, message || op.type(), message);
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});
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opSum += weight;
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if (tool) {
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newLayer();
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camOut(printPoint = printPoint.clone().setZ(zmax + zadd + ztOff));
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newLayer();
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}
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}
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function emitTrace(slice) {
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let { tool, rate, plunge } = slice.camTrace;
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setTool(tool, rate, plunge);
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let traceTool = new CAM.Tool(settings, tool);
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let traceToolDiam = traceTool.fluteDiameter();
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printPoint = poly2polyEmit(slice.camLines, printPoint, polyEmit, { swapdir: false });
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newLayer();
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}
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function polyEmit(poly, index, count, fromPoint) {
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let last = null;
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if (easeDown && poly.isClosed()) {
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last = poly.forEachPointEaseDown(function(point, offset) {
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camOut(point.clone(), offset > 0);
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}, fromPoint);
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} else {
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poly.forEachPoint(function(point, pidx, points, offset) {
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last = point;
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camOut(point.clone(), offset !== 0);
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}, poly.isClosed(), index);
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}
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newLayer();
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return last;
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}
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function depthRoughPath(start, depth, levels, tops, emitter, fit, ease) {
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let level = levels[depth];
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if (!level) {
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return start;
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}
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let ltops = tops[depth];
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let fitted = fit ? ltops.filter(poly => poly.isInside(fit, 0.01)) : ltops;
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let ftops = fitted.filter(top => !top.level_emit);
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if (ftops.length > 1) {
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ftops = POLY.route(ftops, start);
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}
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function roughTopEmit(top, index, count, start) {
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top.level_emit = true;
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let inside = level.filter(poly => poly.isInside(top));
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if (ease) {
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start.z += ease;
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}
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start = poly2polyEmit(inside, start, emitter, { mark: "emark", perm: true, swapdir: false });
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if (ease) {
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start.z += ease;
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}
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start = depthRoughPath(start, depth + 1, levels, tops, emitter, top, ease);
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return start;
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}
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// output fragments (due to tabs) last
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let frag = ftops.filter(p => p.open);
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let full = ftops.filter(p => !p.open);
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poly2polyEmit(full, start, roughTopEmit, { mark: "emark", swapdir: false });
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poly2polyEmit(frag, start, roughTopEmit, { mark: "emark", swapdir: false });
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return start;
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}
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function depthOutlinePath(start, depth, levels, radius, emitter, dir, ease) {
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let bottm = depth < levels.length - 1 ? levels[levels.length - 1] : null;
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let above = levels[depth-1];
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let level = levels[depth];
|
|
if (!level) {
|
|
return start;
|
|
}
|
|
if (above) {
|
|
level = level.filter(lp => {
|
|
const conf = above.filter(ap => !ap.level_emit && lp.isNear(ap, radius, true));
|
|
return conf.length === 0;
|
|
});
|
|
}
|
|
// const thru = []; // match thru polys
|
|
level = level.filter(lp => {
|
|
if (lp.level_emit) {
|
|
return false;
|
|
}
|
|
// if (bottm && !clr) {
|
|
// const tm = bottm.filter(bp => lp.isEquivalent(bp));
|
|
// thru.appendAll(tm);
|
|
// return tm.length === 0;
|
|
// }
|
|
return true;
|
|
});
|
|
// limit level search to polys matching winding (inside vs outside)
|
|
level = level.filter(p => p.isClockwise() === dir);
|
|
// omit polys that match bottom level polys unless level above is cleared
|
|
start = poly2polyEmit(level, start, (poly, index, count, fromPoint) => {
|
|
poly.level_emit = true;
|
|
if (ease) {
|
|
fromPoint.z += ease;
|
|
}
|
|
fromPoint = polyEmit(poly, index, count, fromPoint);
|
|
if (ease) {
|
|
fromPoint.z += ease;
|
|
}
|
|
fromPoint = depthOutlinePath(fromPoint, depth + 1, levels, radius, emitter, dir, ease);
|
|
fromPoint = depthOutlinePath(fromPoint, depth + 1, levels, radius, emitter, !dir, ease);
|
|
return fromPoint;
|
|
}, { weight: false, swapdir: false });
|
|
return start;
|
|
}
|
|
|
|
// last layer/move is to zmax
|
|
// re-inject that point into the last layer generated
|
|
if (lastPoint && newOutput.length) {
|
|
let lastLayer = newOutput.filter(layer => Array.isArray(layer)).peek();
|
|
if (Array.isArray(lastLayer)) {
|
|
print.addOutput(lastLayer, printPoint = lastPoint.clone().setZ(zmax_outer), 0, 0, tool.getNumber());
|
|
}
|
|
}
|
|
|
|
// replace output single flattened layer with all points
|
|
print.output = newOutput;
|
|
return printPoint;
|
|
};
|
|
|
|
/**
|
|
* return tool Z clearance height for a line segment movement path
|
|
*/
|
|
function getZClearPath(terrain, x1, y1, x2, y2, z, zadd, off, over) {
|
|
// when terrain skipped, top + pass used
|
|
if (terrain > 0) {
|
|
return terrain;
|
|
}
|
|
let maxz = z;
|
|
let check = [];
|
|
for (let i=0; i<terrain.length; i++) {
|
|
let data = terrain[i];
|
|
check.push(data);
|
|
if (data.z + zadd < z) {
|
|
break;
|
|
}
|
|
}
|
|
check.reverse();
|
|
for (let i=0; i<check.length; i++) {
|
|
let data = check[i];
|
|
let p1 = newPoint(x1, y1);
|
|
let p2 = newPoint(x2, y2);
|
|
let int = data.tops.map(p => p.intersections(p1, p2, true)).flat();
|
|
if (int.length) {
|
|
maxz = Math.max(maxz, data.z + zadd + over);
|
|
continue;
|
|
}
|
|
let s1 = p1.slopeTo(p2).toUnit().normal();
|
|
let s2 = p2.slopeTo(p1).toUnit().normal();
|
|
let pa = p1.projectOnSlope(s1, off);
|
|
let pb = p2.projectOnSlope(s1, off);
|
|
int = data.tops.map(p => p.intersections(pa, pb, true)).flat();
|
|
if (int.length) {
|
|
maxz = Math.max(maxz, data.z + zadd + over);
|
|
continue;
|
|
}
|
|
pa = p1.projectOnSlope(s2, off);
|
|
pb = p2.projectOnSlope(s2, off);
|
|
int = data.tops.map(p => p.intersections(pa, pb, true)).flat();
|
|
if (int.length) {
|
|
maxz = Math.max(maxz, data.z + zadd + over);
|
|
continue;
|
|
}
|
|
}
|
|
return maxz;
|
|
}
|
|
|
|
});
|