Merge pull request #3378 from dubstar-04/feature/CycleTimeEstimate

[PATH] feature/cycle time estimate - fixes #3346

src/Mod/Path/App/Path.cpp

@@ -31,6 +31,7 @@
 #include <Base/Reader.h>
 #include <Base/Stream.h>
 #include <Base/Exception.h>
+#include <Base/Console.h>
 
 // KDL stuff - at the moment, not used
 //#include "Mod/Robot/App/kdl_cp/path_line.hpp"
@@ -146,6 +147,67 @@ double Toolpath::getLength()
     return l;
 }
 
+double Toolpath::getCycleTime(double hFeed, double vFeed, double hRapid, double vRapid)
+{
+    // check the feedrates are set
+    if ((hFeed == 0) || (vFeed == 0)){
+        Base::Console().Warning("Feed Rate Error: Check Tool Controllers have Feed Rates");
+        return 0;
+    }
+
+    if (hRapid == 0){
+        hRapid = hFeed;
+    }
+
+    if (vRapid == 0){
+        vRapid = vFeed;
+    }
+
+    if(vpcCommands.size()==0)
+        return 0;
+    double l = 0;
+    double time = 0;
+    bool verticalMove = false;
+    Vector3d last(0,0,0);
+    Vector3d next;
+    for(std::vector<Command*>::const_iterator it = vpcCommands.begin();it!=vpcCommands.end();++it) {
+        std::string name = (*it)->Name;
+        float feedrate = (*it)->getParam("F");
+
+        l = 0;
+        verticalMove = false;
+        feedrate = hFeed;
+        next = (*it)->getPlacement(last).getPosition();
+
+        if (last.z != next.z){
+            verticalMove = true;
+            feedrate = vFeed;
+        }
+
+        if ((name == "G0") || (name == "G00")){
+            // Rapid Move
+            l += (next - last).Length();
+            feedrate = hRapid;
+            if(verticalMove){
+                feedrate = vRapid;
+            }
+        }else if ((name == "G1") || (name == "G01")) {
+            // Feed Move
+            l += (next - last).Length();
+        }else if ((name == "G2") || (name == "G02") || (name == "G3") || (name == "G03") ) {
+            // Arc Move
+            Vector3d center = (*it)->getCenter();
+            double radius = (last - center).Length();
+            double angle = (next - center).GetAngle(last - center);
+            l += angle * radius;
+        }
+
+        time += l / feedrate;
+        last = next;
+    }
+    return time;
+}
+
 class BoundBoxSegmentVisitor : public PathSegmentVisitor
 {
 public:

src/Mod/Path/App/Path.h

@@ -60,6 +60,7 @@ namespace Path
             void insertCommand(const Command &Cmd, int); // inserts a command
             void deleteCommand(int); // deletes a command
             double getLength(void); // return the Length (mm) of the Path
+            double getCycleTime(double, double, double, double); // return the Cycle Time (s) of the Path
             void recalculate(void); // recalculates the points
             void setFromGCode(const std::string); // sets the path from the contents of the given GCode string
             std::string toGCode(void) const; // gets a gcode string representation from the Path

src/Mod/Path/App/PathPy.xml

@@ -78,6 +78,11 @@ deletes the command found at the given position or from the end of the path</Use
                 <UserDocu>returns a copy of this path</UserDocu>
             </Documentation>
         </Methode>
+        <Methode Name="getCycleTime" Const="true">
+            <Documentation>
+                <UserDocu>return the cycle time estimation for this path in s</UserDocu>
+            </Documentation>
+        </Methode>
         <!--<ClassDeclarations>
             bool touched;
         </ClassDeclarations>-->

src/Mod/Path/App/PathPyImp.cpp

@@ -189,6 +189,14 @@ PyObject* PathPy::deleteCommand(PyObject * args)
     Py_Error(Base::BaseExceptionFreeCADError, "Wrong parameters - expected an integer (optional)");
 }
 
+PyObject* PathPy::getCycleTime(PyObject * args)
+{
+    double hFeed, vFeed, hRapid, vRapid;
+    if (PyArg_ParseTuple(args, "dddd", &hFeed, &vFeed, &hRapid, &vRapid)){
+    return PyFloat_FromDouble(getToolpathPtr()->getCycleTime(hFeed, vFeed, hRapid, vRapid));
+    }
+}
+
 // GCode methods
 
 PyObject* PathPy::toGCode(PyObject * args)

src/Mod/Path/PathScripts/PathJob.py

@@ -30,7 +30,7 @@
 import PathScripts.PathStock as PathStock
 import PathScripts.PathToolController as PathToolController
 import PathScripts.PathUtil as PathUtil
-import json
+import json, time
 
 # lazily loaded modules
 from lazy_loader.lazy_loader import LazyLoader
@@ -99,6 +99,8 @@ def __init__(self, obj, models, templateFile = None):
         obj.addProperty("App::PropertyString", "PostProcessorArgs", "Output", QtCore.QT_TRANSLATE_NOOP("PathJob", "Arguments for the Post Processor (specific to the script)"))
 
         obj.addProperty("App::PropertyString", "Description", "Path", QtCore.QT_TRANSLATE_NOOP("PathJob","An optional description for this job"))
+        obj.addProperty("App::PropertyString", "CycleTime", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "Operations Cycle Time Estimation"))
+        obj.setEditorMode('CycleTime', 1)  # read-only
         obj.addProperty("App::PropertyDistance", "GeometryTolerance", "Geometry", QtCore.QT_TRANSLATE_NOOP("PathJob", "For computing Paths; smaller increases accuracy, but slows down computation"))
 
         obj.addProperty("App::PropertyLink", "Stock", "Base", QtCore.QT_TRANSLATE_NOOP("PathJob", "Solid object to be used as stock."))
@@ -110,7 +112,7 @@ def __init__(self, obj, models, templateFile = None):
         obj.addProperty("App::PropertyStringList", "Fixtures", "WCS", QtCore.QT_TRANSLATE_NOOP("PathJob", "The Work Coordinate Systems for the Job"))
         obj.OrderOutputBy = ['Fixture', 'Tool', 'Operation']
         obj.Fixtures = ['G54']
-
+        
         obj.PostProcessorOutputFile = PathPreferences.defaultOutputFile()
         #obj.setEditorMode("PostProcessorOutputFile", 0)  # set to default mode
         obj.PostProcessor = postProcessors = PathPreferences.allEnabledPostProcessors()
@@ -252,6 +254,10 @@ def onDocumentRestored(self, obj):
         obj.setEditorMode('Operations', 2) # hide
         obj.setEditorMode('Placement', 2)
 
+        if not hasattr(obj, 'CycleTime'):
+            obj.addProperty("App::PropertyString", "CycleTime", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "Operations Cycle Time Estimation"))
+            obj.setEditorMode('CycleTime', 1)  # read-only
+
     def onChanged(self, obj, prop):
         if prop == "PostProcessor" and obj.PostProcessor:
             processor = PostProcessor.load(obj.PostProcessor)
@@ -342,6 +348,37 @@ def __setstate__(self, state):
 
     def execute(self, obj):
         obj.Path = obj.Operations.Path
+        self.getCycleTime()
+
+    def getCycleTime(self):
+        seconds = 0
+        for op in self.obj.Operations.Group:
+
+            # Skip inactive operations
+            if PathUtil.opProperty(op, 'Active') is False:
+                continue
+
+            # Skip operations that don't have a cycletime attribute
+            if not PathUtil.opProperty(op, 'CycleTime') or PathUtil.opProperty(op, 'CycleTime') is None:
+                continue
+
+            formattedCycleTime = PathUtil.opProperty(op, 'CycleTime')
+            try:
+                ## convert the formatted time from HH:MM:SS to just seconds
+                opCycleTime = sum(x * int(t) for x, t in zip([1, 60, 3600], reversed(formattedCycleTime.split(":"))))
+            except:
+                FreeCAD.Console.PrintWarning("Error converting the operations cycle time. Job Cycle time may be innacturate\n")
+                continue
+
+            if opCycleTime > 0:
+                seconds = seconds + opCycleTime
+
+        if seconds > 0:
+            cycleTimeString = time.strftime("%H:%M:%S", time.gmtime(seconds)) 
+        else:
+            cycleTimeString = translate('PathGui', 'Cycle Time Error')
+
+        self.obj.CycleTime =  cycleTimeString
 
     def addOperation(self, op, before = None, removeBefore = False):
         group = self.obj.Operations.Group

src/Mod/Path/PathScripts/PathOp.py

@@ -31,6 +31,7 @@
 
 from PathScripts.PathUtils import waiting_effects
 from PySide import QtCore
+import time
 
 # lazily loaded modules
 from lazy_loader.lazy_loader import LazyLoader
@@ -122,6 +123,8 @@ def __init__(self, obj, name):
         obj.addProperty("App::PropertyBool", "Active", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "Make False, to prevent operation from generating code"))
         obj.addProperty("App::PropertyString", "Comment", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "An optional comment for this Operation"))
         obj.addProperty("App::PropertyString", "UserLabel", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "User Assigned Label"))
+        obj.addProperty("App::PropertyString", "CycleTime", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "Operations Cycle Time Estimation"))
+        obj.setEditorMode('CycleTime', 1)  # read-only
 
         features = self.opFeatures(obj)
 
@@ -189,7 +192,7 @@ def __init__(self, obj, name):
     def setEditorModes(self, obj, features):
         '''Editor modes are not preserved during document store/restore, set editor modes for all properties'''
 
-        for op in ['OpStartDepth', 'OpFinalDepth', 'OpToolDiameter']:
+        for op in ['OpStartDepth', 'OpFinalDepth', 'OpToolDiameter', 'CycleTime']:
             if hasattr(obj, op):
                 obj.setEditorMode(op, 1) # read-only
 
@@ -226,6 +229,9 @@ def onDocumentRestored(self, obj):
             obj.addProperty("App::PropertyEnumeration", "EnableRotation", "Rotation", QtCore.QT_TRANSLATE_NOOP("App::Property", "Enable rotation to gain access to pockets/areas not normal to Z axis."))
             obj.EnableRotation = ['Off', 'A(x)', 'B(y)', 'A & B']
 
+        if not hasattr(obj, 'CycleTime'):
+            obj.addProperty("App::PropertyString", "CycleTime", "Path", QtCore.QT_TRANSLATE_NOOP("PathOp", "Operations Cycle Time Estimation"))
+
         self.setEditorModes(obj, features)
         self.opOnDocumentRestored(obj)
 
@@ -521,8 +527,41 @@ def execute(self, obj):
 
         path = Path.Path(self.commandlist)
         obj.Path = path
+        obj.CycleTime = self.getCycleTimeEstimate(obj)
+        self.job.Proxy.getCycleTime()
         return result
 
+    def getCycleTimeEstimate(self, obj):
+
+        tc = obj.ToolController
+
+        if tc is None or tc.ToolNumber == 0:
+            FreeCAD.Console.PrintError("No Tool Controller is selected. Tool feed rates required to calculate the cycle time.\n")
+            return translate('PathGui', 'Tool Error')
+
+        hFeedrate = tc.HorizFeed.Value
+        vFeedrate = tc.VertFeed.Value
+        hRapidrate = tc.HorizRapid.Value
+        vRapidrate = tc.VertRapid.Value
+
+        if hFeedrate == 0 or vFeedrate == 0:
+            FreeCAD.Console.PrintError("Tool Controller requires feed rates. Tool feed rates required to calculate the cycle time.\n")
+            return translate('PathGui', 'Feedrate Error')
+
+        if hRapidrate == 0 or vRapidrate == 0:
+            FreeCAD.Console.PrintWarning("Add Tool Controller Rapid Speeds on the SetupSheet for more accurate cycle times.\n")
+
+        ## get the cycle time in seconds
+        seconds = obj.Path.getCycleTime(hFeedrate, vFeedrate, hRapidrate, vRapidrate)
+
+        if not seconds:
+            return translate('PathGui', 'Cycletime Error')
+
+        ## convert the cycle time to a HH:MM:SS format
+        cycleTime = time.strftime("%H:%M:%S", time.gmtime(seconds))
+
+        return cycleTime
+
     def addBase(self, obj, base, sub):
         PathLog.track(obj, base, sub)
         base = PathUtil.getPublicObject(base)