Add Gravograph IS post processor
This commit is contained in:
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using System;
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using System.IO.Ports;
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using System.Threading;
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namespace OpenNest.Posts.GravographIS
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{
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/// <summary>
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/// Serial streamer for the Gravograph IS8000. 9600 8-N-1; flow control is
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/// configurable and defaults to RTS/CTS (the controller is buffered and drops
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/// CTS to apply backpressure). The job is sent in modest chunks rather than as
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/// one giant write so the handshake can pause the write mid-stream.
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/// </summary>
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public sealed class GravographISPort : IDisposable
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{
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private SerialPort port;
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public const int DefaultBaudRate = 9600;
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public const int DefaultChunkSize = 256;
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public const int DefaultWriteTimeoutMs = 30000;
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public int ChunkSize { get; set; } = DefaultChunkSize;
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public int WriteTimeoutMs { get; set; } = DefaultWriteTimeoutMs;
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public bool IsOpen => port != null && port.IsOpen;
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/// <summary>
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/// Opens the port at the controller's required line settings (9600 8-N-1)
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/// with the given <paramref name="handshake"/>. Throws if the port is
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/// already open or if opening fails.
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/// </summary>
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public void Open(string portName, Handshake handshake = Handshake.RequestToSend)
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{
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if (string.IsNullOrWhiteSpace(portName))
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throw new ArgumentException("Port name is required.", nameof(portName));
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if (port != null)
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throw new InvalidOperationException("Port is already open.");
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port = new SerialPort(portName, DefaultBaudRate, Parity.None, 8, StopBits.One)
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{
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Handshake = handshake,
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WriteTimeout = WriteTimeoutMs,
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ReadTimeout = WriteTimeoutMs,
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// DTR/RTS are needed for some USB-serial bridges and for RTS/CTS flow:
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DtrEnable = true,
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RtsEnable = handshake != Handshake.RequestToSend &&
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handshake != Handshake.RequestToSendXOnXOff,
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};
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port.Open();
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}
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/// <summary>
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/// Streams the encoded job to the port in chunks. Cancellable. The chunked
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/// write is intentional — Write() blocks until the OS accepts the bytes,
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/// which with RTS/CTS or XOn/XOff yields cleanly when the controller's
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/// buffer is full.
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/// </summary>
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public void StreamJob(byte[] data, CancellationToken cancellationToken = default)
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{
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if (data == null) throw new ArgumentNullException(nameof(data));
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if (port == null || !port.IsOpen)
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throw new InvalidOperationException("Port is not open.");
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var chunk = ChunkSize > 0 ? ChunkSize : DefaultChunkSize;
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var offset = 0;
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while (offset < data.Length)
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{
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cancellationToken.ThrowIfCancellationRequested();
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var count = System.Math.Min(chunk, data.Length - offset);
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port.Write(data, offset, count);
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offset += count;
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}
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// Block until the OS has handed the last bytes to the line. SerialPort
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// doesn't expose flush-and-drain directly; BaseStream.Flush is a no-op
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// on Windows, so this is best-effort.
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try { port.BaseStream.Flush(); }
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catch { /* ignored — Flush is advisory on SerialPort */ }
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}
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public void Close()
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{
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if (port == null) return;
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try
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{
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if (port.IsOpen) port.Close();
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}
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finally
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{
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port.Dispose();
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port = null;
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}
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}
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public void Dispose() => Close();
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}
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}
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@@ -0,0 +1,61 @@
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using System;
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using System.IO;
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using System.IO.Ports;
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using System.Threading;
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namespace OpenNest.Posts.GravographIS
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{
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/// <summary>
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/// IPostProcessor implementation for the Gravograph IS8000. <see cref="Post(Nest, Stream)"/>
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/// writes the binary HPGL bytes. For serial streaming, use <see cref="Stream(Nest, string, Handshake, CancellationToken)"/>.
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/// </summary>
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public sealed class GravographISPostProcessor : IPostProcessor
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{
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public string Name => "Gravograph IS8000";
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public string Author => "OpenNest";
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public string Description => "Gravograph IS8000 mechanical engraver (binary HPGL over serial)";
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public GravographISWriterOptions WriterOptions { get; } = new GravographISWriterOptions();
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public NestPolylineExtractor Extractor { get; } = new NestPolylineExtractor();
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public double StitchTolerance { get; set; } = PolylinePrePass.DefaultStitchTolerance;
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public bool AllowReverse { get; set; } = true;
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public void Post(Nest nest, Stream outputStream)
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{
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if (nest == null) throw new ArgumentNullException(nameof(nest));
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if (outputStream == null) throw new ArgumentNullException(nameof(outputStream));
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var polylines = Extractor.Extract(nest);
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var prepared = PolylinePrePass.Prepare(polylines, StitchTolerance, AllowReverse);
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new GravographISWriter(WriterOptions).Write(prepared, outputStream);
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}
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public void Post(Nest nest, string outputFile)
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{
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using var fs = new FileStream(outputFile, FileMode.Create, FileAccess.Write);
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Post(nest, fs);
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}
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/// <summary>
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/// Buffers the encoded job in memory, then streams it to the named COM port.
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/// </summary>
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public void Stream(Nest nest, string portName,
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Handshake handshake = Handshake.RequestToSend,
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CancellationToken cancellationToken = default)
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{
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byte[] bytes;
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using (var ms = new MemoryStream())
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{
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Post(nest, ms);
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bytes = ms.ToArray();
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}
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using var port = new GravographISPort();
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port.Open(portName, handshake);
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port.StreamJob(bytes, cancellationToken);
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}
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}
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}
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@@ -0,0 +1,327 @@
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using System;
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using System.Collections.Generic;
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using System.IO;
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using OpenNest.Geometry;
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namespace OpenNest.Posts.GravographIS
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{
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/// <summary>
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/// Encodes polylines (in inches) into the Gravograph IS8000 native "binary HPGL"
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/// wire format. The byte stream is byte-exact against captures from GravoStyle'98.
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///
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/// Scale: 80 steps/mm = 2032 steps/inch. Y (and Z) are negated on the wire.
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/// Deltas are signed big-endian int16 (max ±32767 steps ≈ ±16 inches per move).
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/// </summary>
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public sealed class GravographISWriter
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{
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// 93-byte preamble — captured from GravoStyle'98 with the trailing
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// job-specific travel block stripped. The VS, VZ and DZ operands are
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// patched by the writer to reflect feed and depth options.
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//
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// The original capture ended with a DR command (FF FD 44 52 00 00)
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// followed by three 8-byte int16 records — same format as PU/PD —
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// that carried a chunked travel from the head's parked position to
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// the original job's first vertex (cumulative ΔX ≈ 1", ΔY ≈ 47").
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// Those frozen deltas have nothing to do with our job geometry, so
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// replaying them sends the head to a fixed point regardless of where
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// the operator set zero. Stripped for the same reason as the captured
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// fixed return-to-home block.
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private static readonly byte[] PreambleTemplate = new byte[]
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{
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0x21, 0x41, 0x53, 0x20, 0x33, 0x38, 0x3b, 0x01, 0x90, 0x01,
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0xf4, 0x01, 0x90, 0x01, 0xf4, 0x01, 0x90, 0x01, 0xf4, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x09, 0x00, 0x00, 0x03, 0xe8, 0x05, 0x06, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xfd, 0x32, 0x44, 0x00,
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0x00, 0xff, 0xfd, 0x4d, 0x43, 0x00, 0x01, 0xff, 0xfd, 0x4f,
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0x55, 0xff, 0xfb, 0xff, 0xfd, 0x4f, 0x55, 0xff, 0xfa, 0xff,
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0xfd, 0x50, 0x5a, 0x00, 0x00, 0xff, 0xfd, 0x56, 0x53, 0x00,
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0x23, 0xff, 0xfd, 0x56, 0x5a, 0x00, 0x23, 0xff, 0xfd, 0x44,
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0x5a, 0x01, 0xfc,
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};
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// Stripped 36-byte postamble: lift, aux off, motor off, operator beep,
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// job-finish. The 24-byte return-to-home block that appears in GravoStyle's
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// captured postamble between MC and OP is intentionally OMITTED — those
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// three 8-byte int16 records carry chunked job-specific return deltas
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// (each record is [word1:int16][param:int16][ΔX:int16][ΔY:int16], same
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// format as PU/PD records; the original capture chunked the long Y return
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// across three records because each delta has to fit in int16). Reusing
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// GravoStyle's frozen deltas on different geometry overshoots the X-axis
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// limit. We emit calculated return deltas for the current job instead.
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// The writer now replaces the captured fixed return block with a calculated
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// lift + PU travel to the operator-set origin before these final commands.
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private static readonly byte[] EndJobBytes = new byte[]
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{
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0xff, 0xfd, 0x4f, 0x55, 0xff, 0xfa, // OU 0xFFFA aux off
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0xff, 0xfd, 0x4f, 0x55, 0xff, 0xfb, // OU 0xFFFB aux off
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0xff, 0xfd, 0x4d, 0x43, 0x00, 0x00, // MC 0x0000 motor off
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0xff, 0xfd, 0x4f, 0x50, 0x00, 0x00, // OP 0x0000 operator beep
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0xff, 0xfd, 0x4a, 0x46, 0x00, 0x00, // JF 0x0000 job finish
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};
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// 80 steps/mm × 25.4 mm/in
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internal const int StepsPerInch = 2032;
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public GravographISWriterOptions Options { get; }
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public GravographISWriter()
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: this(new GravographISWriterOptions())
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{
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}
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public GravographISWriter(GravographISWriterOptions options)
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{
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Options = options ?? throw new ArgumentNullException(nameof(options));
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}
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/// <summary>
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/// Writes the full byte stream (preamble + geometry + postamble) for the given
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/// polylines. Polyline coordinates are in inches, relative to the operator-set
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/// work origin. The writer emits a leading DR travel to the first polyline
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/// start before lowering for the first cut.
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/// </summary>
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public void Write(IEnumerable<IReadOnlyList<Vector>> polylines, Stream output)
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{
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if (polylines == null) throw new ArgumentNullException(nameof(polylines));
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if (output == null) throw new ArgumentNullException(nameof(output));
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var preamble = (byte[])PreambleTemplate.Clone();
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PatchOperand(preamble, (byte)'V', (byte)'S', (short)Options.FeedMmPerSec);
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PatchOperand(preamble, (byte)'V', (byte)'Z', (short)Options.FeedMmPerSec);
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PatchOperand(preamble, (byte)'D', (byte)'Z', DepthInStepsAsInt16());
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output.Write(preamble, 0, preamble.Length);
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// Cumulative head position from the operator-set upper-left origin, in
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// wire steps. The first polyline gets a leading DR travel from this
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// origin before PD lowers for cutting. Used by the envelope guard to
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// catch bad records before they ship to the engraver.
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var headX = 0;
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var headY = 0;
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var envelopeXSteps = (int)System.Math.Round(Options.WorkEnvelopeXMm * StepsPerMm,
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MidpointRounding.AwayFromZero);
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var envelopeYSteps = (int)System.Math.Round(Options.WorkEnvelopeYMm * StepsPerMm,
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MidpointRounding.AwayFromZero);
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var firstPolyline = true;
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var polyIndex = 0;
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foreach (var poly in polylines)
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{
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polyIndex++;
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if (poly == null || poly.Count < 2)
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continue;
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var (startX, startY) = ToWire(poly[0]);
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WriteTravel(output,
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firstPolyline ? (byte)'D' : (byte)'P',
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firstPolyline ? (byte)'R' : (byte)'U',
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checked(startX - headX), checked(startY - headY),
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ref headX, ref headY, envelopeXSteps, envelopeYSteps, polyIndex);
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// PD command + single records-follow flag, then one record per segment.
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output.WriteByte(0xFF);
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output.WriteByte(0xFD);
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output.WriteByte((byte)'P');
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output.WriteByte((byte)'D');
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output.WriteByte(0x00);
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output.WriteByte(0x00);
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var prevX = startX;
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var prevY = startY;
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for (int i = 1; i < poly.Count; i++)
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{
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var (cx, cy) = ToWire(poly[i]);
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var dx = checked(cx - prevX);
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var dy = checked(cy - prevY);
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EnsureEnvelope(headX + dx, headY + dy, envelopeXSteps, envelopeYSteps,
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polyIndex, segment: i, isTravel: false);
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WriteRecord(output, dx, dy);
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prevX = cx;
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prevY = cy;
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headX += dx;
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headY += dy;
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}
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firstPolyline = false;
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}
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WriteLiftOnly(output);
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if (Options.ReturnToOriginAtEnd && !firstPolyline)
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{
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WriteTravel(output, (byte)'P', (byte)'U',
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checked(-headX), checked(-headY),
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ref headX, ref headY, envelopeXSteps, envelopeYSteps, polyIndex);
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}
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output.Write(EndJobBytes, 0, EndJobBytes.Length);
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}
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private const double StepsPerMm = 80.0;
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private void EnsureEnvelope(int wireX, int wireY,
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int envXSteps, int envYSteps,
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int polyIndex, int segment, bool isTravel)
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{
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if (!Options.EnvelopeGuardEnabled) return;
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// Wire frame: X is identity to input; Y is negated. With the operator
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// origin set at the upper-left of the work envelope and an OpenNest
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// quadrant-4 plate, valid part coordinates are +X/right and -Y/down:
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// wireX ∈ [0, +envXSteps]
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// wireY ∈ [0, +envYSteps]
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if (wireX >= 0 && wireX <= envXSteps && wireY >= 0 && wireY <= envYSteps)
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return;
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var inputX = wireX / (double)StepsPerInch;
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var inputY = -wireY / (double)StepsPerInch;
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var kind = isTravel ? "pen-up travel" : "cut segment";
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throw new InvalidOperationException(
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$"Polyline {polyIndex} {kind} (segment {segment}) would place the head at " +
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$"({inputX:F3}\", {inputY:F3}\"), outside the {Options.WorkEnvelopeXMm}×{Options.WorkEnvelopeYMm} mm " +
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$"work envelope from upper-left origin. Refusing to emit the record.");
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}
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private short DepthInStepsAsInt16()
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{
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var steps = (long)System.Math.Round(Options.DepthInches * StepsPerInch, MidpointRounding.AwayFromZero);
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if (steps < short.MinValue || steps > short.MaxValue)
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throw new ArgumentOutOfRangeException(nameof(Options.DepthInches), $"Depth {Options.DepthInches} in. → {steps} steps overflows int16.");
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return (short)steps;
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}
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private static (int x, int y) ToWire(Vector v)
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{
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// Inches -> steps. With upper-left origin in OpenNest quadrant 4,
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// negative input Y is down; Y is negated on the wire.
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var x = (int)System.Math.Round(v.X * StepsPerInch, MidpointRounding.AwayFromZero);
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var y = (int)System.Math.Round(-v.Y * StepsPerInch, MidpointRounding.AwayFromZero);
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return (x, y);
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}
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private void WriteTravel(Stream s, byte c0, byte c1, int dx, int dy,
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ref int headX, ref int headY,
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int envelopeXSteps, int envelopeYSteps,
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int polyIndex)
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{
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if (dx == 0 && dy == 0)
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return;
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s.WriteByte(0xFF);
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s.WriteByte(0xFD);
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s.WriteByte(c0);
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s.WriteByte(c1);
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s.WriteByte(0x00);
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s.WriteByte(0x00);
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var chunks = System.Math.Max(
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(int)System.Math.Ceiling(System.Math.Abs(dx) / (double)short.MaxValue),
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(int)System.Math.Ceiling(System.Math.Abs(dy) / (double)short.MaxValue));
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if (chunks < 1) chunks = 1;
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var emittedX = 0;
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var emittedY = 0;
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for (var i = 1; i <= chunks; i++)
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{
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var targetX = (int)System.Math.Round(dx * (i / (double)chunks), MidpointRounding.AwayFromZero);
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var targetY = (int)System.Math.Round(dy * (i / (double)chunks), MidpointRounding.AwayFromZero);
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var chunkX = checked(targetX - emittedX);
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var chunkY = checked(targetY - emittedY);
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EnsureEnvelope(headX + chunkX, headY + chunkY, envelopeXSteps, envelopeYSteps,
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polyIndex, segment: 0, isTravel: true);
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WriteRecord(s, chunkX, chunkY);
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emittedX = targetX;
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emittedY = targetY;
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headX += chunkX;
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headY += chunkY;
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}
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}
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private static void WriteLiftOnly(Stream s)
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{
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s.WriteByte(0xFF);
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s.WriteByte(0xFD);
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s.WriteByte((byte)'P');
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s.WriteByte((byte)'U');
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s.WriteByte(0x00);
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s.WriteByte(0x01);
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}
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private static void WriteCommandWithRecord(Stream s, byte c0, byte c1, int dx, int dy)
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{
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s.WriteByte(0xFF);
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s.WriteByte(0xFD);
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s.WriteByte(c0);
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s.WriteByte(c1);
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// Records-follow flag (0x0000) emitted once per PU/PD packet.
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s.WriteByte(0x00);
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s.WriteByte(0x00);
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WriteRecord(s, dx, dy);
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}
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private static void WriteRecord(Stream s, int dx, int dy)
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{
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if (dx < short.MinValue || dx > short.MaxValue ||
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||||
dy < short.MinValue || dy > short.MaxValue)
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{
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throw new InvalidOperationException(
|
||||
$"Move delta ({dx}, {dy}) steps overflows signed int16 — split moves upstream.");
|
||||
}
|
||||
|
||||
int word1;
|
||||
int param;
|
||||
|
||||
var absDx = (double)System.Math.Abs(dx);
|
||||
var absDy = (double)System.Math.Abs(dy);
|
||||
var len = System.Math.Sqrt(absDx * absDx + absDy * absDy);
|
||||
|
||||
if (len < 1.0)
|
||||
{
|
||||
// Zero-length lift (PU 00 01) is the dedicated form; for a record-carrying
|
||||
// packet a true zero-length move shouldn't occur, but stay numerically safe.
|
||||
word1 = 16384;
|
||||
param = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
var maxAbs = System.Math.Max(absDx, absDy);
|
||||
word1 = (int)System.Math.Round(16384.0 * maxAbs / len, MidpointRounding.AwayFromZero);
|
||||
param = (int)System.Math.Round(len / 22.4, MidpointRounding.AwayFromZero);
|
||||
if (param < 1) param = 1;
|
||||
if (param > 180) param = 180;
|
||||
if (word1 > 16384) word1 = 16384;
|
||||
}
|
||||
|
||||
WriteBigEndianInt16(s, (short)word1);
|
||||
WriteBigEndianInt16(s, (short)param);
|
||||
WriteBigEndianInt16(s, (short)dx);
|
||||
WriteBigEndianInt16(s, (short)dy);
|
||||
}
|
||||
|
||||
private static void WriteBigEndianInt16(Stream s, short value)
|
||||
{
|
||||
s.WriteByte((byte)((value >> 8) & 0xFF));
|
||||
s.WriteByte((byte)(value & 0xFF));
|
||||
}
|
||||
|
||||
// Locates the operand of a command (FF FD <c0> <c1> <hi> <lo>) and overwrites it.
|
||||
// Throws if the command isn't present — that would mean the preamble was mis-edited.
|
||||
private static void PatchOperand(byte[] buffer, byte c0, byte c1, short value)
|
||||
{
|
||||
for (int i = 0; i <= buffer.Length - 6; i++)
|
||||
{
|
||||
if (buffer[i] == 0xFF && buffer[i + 1] == 0xFD &&
|
||||
buffer[i + 2] == c0 && buffer[i + 3] == c1)
|
||||
{
|
||||
buffer[i + 4] = (byte)((value >> 8) & 0xFF);
|
||||
buffer[i + 5] = (byte)(value & 0xFF);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
throw new InvalidOperationException(
|
||||
$"Command '{(char)c0}{(char)c1}' not found in preamble template.");
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
namespace OpenNest.Posts.GravographIS
|
||||
{
|
||||
public sealed class GravographISWriterOptions
|
||||
{
|
||||
public double DepthInches { get; set; } = 0.25;
|
||||
|
||||
public int FeedMmPerSec { get; set; } = 35;
|
||||
|
||||
// IS8000 work envelope in millimeters, from the operator-set upper-left
|
||||
// work origin. Defaults to the catalog 0.610 m x 1.220 m bed. With an
|
||||
// OpenNest quadrant-4 plate, motion is allowed right (+X) and down (-Y).
|
||||
public double WorkEnvelopeXMm { get; set; } = 610.0;
|
||||
public double WorkEnvelopeYMm { get; set; } = 1220.0;
|
||||
|
||||
// When true, the writer throws an InvalidOperationException naming the
|
||||
// offending polyline and segment before any out-of-envelope record is
|
||||
// emitted. Disable only for off-machine encoding tests.
|
||||
public bool EnvelopeGuardEnabled { get; set; } = true;
|
||||
|
||||
// When true, lift at the end of the last cut and return to the
|
||||
// operator-set origin before shutting the job down.
|
||||
public bool ReturnToOriginAtEnd { get; set; } = true;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,179 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using OpenNest.CNC;
|
||||
using OpenNest.Geometry;
|
||||
|
||||
namespace OpenNest.Posts.GravographIS
|
||||
{
|
||||
/// <summary>
|
||||
/// Lifts polylines out of an OpenNest <see cref="Nest"/> for the Gravograph
|
||||
/// backend. Walks each <see cref="Part"/>'s <see cref="Program"/>, breaks
|
||||
/// polylines at rapid moves, and tessellates arcs to a chord-deviation
|
||||
/// tolerance (the wire format takes line segments only).
|
||||
/// </summary>
|
||||
public sealed class NestPolylineExtractor
|
||||
{
|
||||
public double ArcChordToleranceInches { get; set; } = 0.001;
|
||||
|
||||
/// <summary>
|
||||
/// Extracts polylines from every non-cutoff part in every plate of the nest,
|
||||
/// returning them in plate coordinates (inches).
|
||||
/// </summary>
|
||||
public List<List<Vector>> Extract(Nest nest)
|
||||
{
|
||||
if (nest == null) throw new ArgumentNullException(nameof(nest));
|
||||
|
||||
var result = new List<List<Vector>>();
|
||||
|
||||
foreach (var plate in nest.Plates)
|
||||
{
|
||||
foreach (var part in plate.Parts)
|
||||
{
|
||||
if (part.BaseDrawing != null && part.BaseDrawing.IsCutOff)
|
||||
continue;
|
||||
|
||||
ExtractPart(part, result);
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Extracts polylines for a single part. Public so callers driving the
|
||||
/// writer directly (e.g. from a console one-off) can use it.
|
||||
/// </summary>
|
||||
public List<List<Vector>> ExtractPart(Part part)
|
||||
{
|
||||
var list = new List<List<Vector>>();
|
||||
ExtractPart(part, list);
|
||||
return list;
|
||||
}
|
||||
|
||||
private void ExtractPart(Part part, List<List<Vector>> sink)
|
||||
{
|
||||
var program = part.Program;
|
||||
if (program == null) return;
|
||||
|
||||
// The walk below treats Motion.EndPoint as absolute. Convert a working
|
||||
// copy to absolute mode so G91 programs (the form OpenNest's UI writes)
|
||||
// produce correct geometry. Cloning keeps part.Program untouched.
|
||||
if (program.Mode == Mode.Incremental)
|
||||
{
|
||||
program = (Program)program.Clone();
|
||||
program.Mode = Mode.Absolute;
|
||||
}
|
||||
|
||||
var offset = part.Location;
|
||||
var pos = new Vector(0, 0);
|
||||
List<Vector> current = null;
|
||||
|
||||
foreach (var code in program.Codes)
|
||||
{
|
||||
if (code is Motion m && m.Suppressed)
|
||||
continue;
|
||||
|
||||
switch (code)
|
||||
{
|
||||
case RapidMove rapid:
|
||||
{
|
||||
FlushCurrent(sink, ref current);
|
||||
pos = rapid.EndPoint;
|
||||
break;
|
||||
}
|
||||
|
||||
case LinearMove linear:
|
||||
{
|
||||
if (current == null)
|
||||
{
|
||||
current = new List<Vector> { pos + offset };
|
||||
}
|
||||
var end = linear.EndPoint;
|
||||
current.Add(end + offset);
|
||||
pos = end;
|
||||
break;
|
||||
}
|
||||
|
||||
case ArcMove arc:
|
||||
{
|
||||
if (current == null)
|
||||
{
|
||||
current = new List<Vector> { pos + offset };
|
||||
}
|
||||
TessellateArc(pos, arc, offset, ArcChordToleranceInches, current);
|
||||
pos = arc.EndPoint;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FlushCurrent(sink, ref current);
|
||||
}
|
||||
|
||||
private static void FlushCurrent(List<List<Vector>> sink, ref List<Vector> current)
|
||||
{
|
||||
if (current != null && current.Count >= 2)
|
||||
sink.Add(current);
|
||||
current = null;
|
||||
}
|
||||
|
||||
// Sample points along an arc to within chordTol of the true curve. start is
|
||||
// the arc's start point (current pen position), arc.CenterPoint is absolute
|
||||
// (G-code I/J in this codebase are stored as the absolute center), arc.EndPoint
|
||||
// is absolute end. The starting point is assumed to already be in the polyline;
|
||||
// intermediate samples and the endpoint are appended.
|
||||
private static void TessellateArc(Vector start, ArcMove arc, Vector offset,
|
||||
double chordTol, List<Vector> sink)
|
||||
{
|
||||
var c = arc.CenterPoint;
|
||||
var r = c.DistanceTo(start);
|
||||
if (r < 1e-9)
|
||||
{
|
||||
sink.Add(arc.EndPoint + offset);
|
||||
return;
|
||||
}
|
||||
|
||||
var a0 = System.Math.Atan2(start.Y - c.Y, start.X - c.X);
|
||||
var a1 = System.Math.Atan2(arc.EndPoint.Y - c.Y, arc.EndPoint.X - c.X);
|
||||
|
||||
double sweep;
|
||||
if (arc.Rotation == RotationType.CW)
|
||||
{
|
||||
sweep = a0 - a1;
|
||||
if (sweep <= 0) sweep += 2 * System.Math.PI;
|
||||
}
|
||||
else
|
||||
{
|
||||
sweep = a1 - a0;
|
||||
if (sweep <= 0) sweep += 2 * System.Math.PI;
|
||||
}
|
||||
|
||||
// Treat a near-zero sweep with coincident start/end as a full circle.
|
||||
if (sweep < 1e-9 &&
|
||||
System.Math.Abs(start.X - arc.EndPoint.X) < 1e-9 &&
|
||||
System.Math.Abs(start.Y - arc.EndPoint.Y) < 1e-9)
|
||||
{
|
||||
sweep = 2 * System.Math.PI;
|
||||
}
|
||||
|
||||
// Max angle step from chord-deviation tolerance: dev = r * (1 - cos(t/2)).
|
||||
var maxAngleStep = 2.0 * System.Math.Acos(System.Math.Max(0.0, 1.0 - chordTol / r));
|
||||
if (double.IsNaN(maxAngleStep) || maxAngleStep <= 0)
|
||||
maxAngleStep = System.Math.PI / 32;
|
||||
|
||||
var steps = (int)System.Math.Ceiling(sweep / maxAngleStep);
|
||||
if (steps < 1) steps = 1;
|
||||
|
||||
var direction = arc.Rotation == RotationType.CW ? -1.0 : 1.0;
|
||||
for (int i = 1; i < steps; i++)
|
||||
{
|
||||
var t = sweep * (i / (double)steps);
|
||||
var ang = a0 + direction * t;
|
||||
var pt = new Vector(c.X + r * System.Math.Cos(ang), c.Y + r * System.Math.Sin(ang));
|
||||
sink.Add(pt + offset);
|
||||
}
|
||||
|
||||
sink.Add(arc.EndPoint + offset);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net8.0-windows</TargetFramework>
|
||||
<RootNamespace>OpenNest.Posts.GravographIS</RootNamespace>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\OpenNest.Core\OpenNest.Core.csproj" />
|
||||
<PackageReference Include="System.IO.Ports" Version="8.0.0" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<InternalsVisibleTo Include="OpenNest.Tests" />
|
||||
</ItemGroup>
|
||||
<Target Name="CopyToPostsDir" AfterTargets="Build">
|
||||
<PropertyGroup>
|
||||
<PostsDir>..\OpenNest\bin\$(Configuration)\$(TargetFramework)\Posts\</PostsDir>
|
||||
</PropertyGroup>
|
||||
<MakeDir Directories="$(PostsDir)" />
|
||||
<Copy SourceFiles="$(TargetPath)" DestinationFolder="$(PostsDir)" SkipUnchangedFiles="true" ContinueOnError="true" />
|
||||
</Target>
|
||||
</Project>
|
||||
@@ -0,0 +1,196 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using OpenNest.Geometry;
|
||||
|
||||
namespace OpenNest.Posts.GravographIS
|
||||
{
|
||||
/// <summary>
|
||||
/// Geometry pre-pass for the Gravograph IS8000 backend. The machine is a dumb
|
||||
/// executor — it never reorders geometry and always lifts between separate
|
||||
/// entities — so we stitch shared-endpoint polylines together and reorder by
|
||||
/// nearest-neighbor before encoding.
|
||||
/// </summary>
|
||||
public static class PolylinePrePass
|
||||
{
|
||||
public const double DefaultStitchTolerance = 1e-6;
|
||||
|
||||
/// <summary>
|
||||
/// Joins polylines whose endpoints coincide (within <paramref name="tolerance"/>)
|
||||
/// into single continuous polylines. Polylines with fewer than two points are
|
||||
/// dropped. Direction is reversed as needed to make a join. Each input polyline
|
||||
/// is copied — the inputs are not mutated.
|
||||
/// </summary>
|
||||
public static List<List<Vector>> Stitch(
|
||||
IEnumerable<IReadOnlyList<Vector>> polylines,
|
||||
double tolerance = DefaultStitchTolerance)
|
||||
{
|
||||
if (polylines == null) throw new ArgumentNullException(nameof(polylines));
|
||||
|
||||
var segs = new List<List<Vector>>();
|
||||
foreach (var p in polylines)
|
||||
{
|
||||
if (p == null || p.Count < 2)
|
||||
continue;
|
||||
segs.Add(new List<Vector>(p));
|
||||
}
|
||||
|
||||
bool changed;
|
||||
do
|
||||
{
|
||||
changed = false;
|
||||
for (int i = 0; i < segs.Count; i++)
|
||||
{
|
||||
var a = segs[i];
|
||||
|
||||
for (int j = 0; j < segs.Count; j++)
|
||||
{
|
||||
if (i == j) continue;
|
||||
var b = segs[j];
|
||||
|
||||
// a-end ↔ b-start: append b to a (skip duplicated joint)
|
||||
if (Near(a[a.Count - 1], b[0], tolerance))
|
||||
{
|
||||
for (int k = 1; k < b.Count; k++) a.Add(b[k]);
|
||||
segs.RemoveAt(j);
|
||||
if (j < i) i--;
|
||||
changed = true;
|
||||
break;
|
||||
}
|
||||
|
||||
// a-end ↔ b-end: append reversed b to a
|
||||
if (Near(a[a.Count - 1], b[b.Count - 1], tolerance))
|
||||
{
|
||||
for (int k = b.Count - 2; k >= 0; k--) a.Add(b[k]);
|
||||
segs.RemoveAt(j);
|
||||
if (j < i) i--;
|
||||
changed = true;
|
||||
break;
|
||||
}
|
||||
|
||||
// a-start ↔ b-end: prepend b to a
|
||||
if (Near(a[0], b[b.Count - 1], tolerance))
|
||||
{
|
||||
var combined = new List<Vector>(b.Count + a.Count - 1);
|
||||
combined.AddRange(b);
|
||||
for (int k = 1; k < a.Count; k++) combined.Add(a[k]);
|
||||
segs[i] = combined;
|
||||
segs.RemoveAt(j);
|
||||
if (j < i) i--;
|
||||
changed = true;
|
||||
break;
|
||||
}
|
||||
|
||||
// a-start ↔ b-start: prepend reversed b to a
|
||||
if (Near(a[0], b[0], tolerance))
|
||||
{
|
||||
var combined = new List<Vector>(b.Count + a.Count - 1);
|
||||
for (int k = b.Count - 1; k >= 0; k--) combined.Add(b[k]);
|
||||
for (int k = 1; k < a.Count; k++) combined.Add(a[k]);
|
||||
segs[i] = combined;
|
||||
segs.RemoveAt(j);
|
||||
if (j < i) i--;
|
||||
changed = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (changed) break;
|
||||
}
|
||||
}
|
||||
while (changed);
|
||||
|
||||
return segs;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Greedy nearest-neighbor ordering of polylines starting from
|
||||
/// <paramref name="origin"/> (defaults to 0,0 = the work origin = the first
|
||||
/// polyline's first point on the wire). When <paramref name="allowReverse"/>
|
||||
/// is true a polyline may be reversed if its tail is closer than its head.
|
||||
/// </summary>
|
||||
public static List<List<Vector>> Reorder(
|
||||
IEnumerable<IReadOnlyList<Vector>> polylines,
|
||||
bool allowReverse = true,
|
||||
Vector? origin = null)
|
||||
{
|
||||
if (polylines == null) throw new ArgumentNullException(nameof(polylines));
|
||||
|
||||
var pool = new List<List<Vector>>();
|
||||
foreach (var p in polylines)
|
||||
{
|
||||
if (p == null || p.Count < 2)
|
||||
continue;
|
||||
pool.Add(new List<Vector>(p));
|
||||
}
|
||||
|
||||
var ordered = new List<List<Vector>>(pool.Count);
|
||||
var current = origin ?? new Vector(0, 0);
|
||||
|
||||
while (pool.Count > 0)
|
||||
{
|
||||
var bestIdx = -1;
|
||||
var bestReverse = false;
|
||||
var bestDistSq = double.PositiveInfinity;
|
||||
|
||||
for (int i = 0; i < pool.Count; i++)
|
||||
{
|
||||
var p = pool[i];
|
||||
var dHead = SquaredDistance(current, p[0]);
|
||||
if (dHead < bestDistSq)
|
||||
{
|
||||
bestDistSq = dHead;
|
||||
bestIdx = i;
|
||||
bestReverse = false;
|
||||
}
|
||||
|
||||
if (allowReverse)
|
||||
{
|
||||
var dTail = SquaredDistance(current, p[p.Count - 1]);
|
||||
if (dTail < bestDistSq)
|
||||
{
|
||||
bestDistSq = dTail;
|
||||
bestIdx = i;
|
||||
bestReverse = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
var pick = pool[bestIdx];
|
||||
pool.RemoveAt(bestIdx);
|
||||
if (bestReverse)
|
||||
pick.Reverse();
|
||||
ordered.Add(pick);
|
||||
current = pick[pick.Count - 1];
|
||||
}
|
||||
|
||||
return ordered;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Convenience: stitch then reorder.
|
||||
/// </summary>
|
||||
public static List<List<Vector>> Prepare(
|
||||
IEnumerable<IReadOnlyList<Vector>> polylines,
|
||||
double stitchTolerance = DefaultStitchTolerance,
|
||||
bool allowReverse = true,
|
||||
Vector? origin = null)
|
||||
{
|
||||
var stitched = Stitch(polylines, stitchTolerance);
|
||||
return Reorder(stitched, allowReverse, origin);
|
||||
}
|
||||
|
||||
private static bool Near(Vector a, Vector b, double tol)
|
||||
{
|
||||
var dx = a.X - b.X;
|
||||
var dy = a.Y - b.Y;
|
||||
return (dx * dx + dy * dy) <= tol * tol;
|
||||
}
|
||||
|
||||
private static double SquaredDistance(Vector a, Vector b)
|
||||
{
|
||||
var dx = a.X - b.X;
|
||||
var dy = a.Y - b.Y;
|
||||
return dx * dx + dy * dy;
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user