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Gcode: support 6 axis machine (work line ncviewer.com) #1403

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Merged
ABSitf merged 5 commits into from
Jul 12, 2023
Merged

Gcode: support 6 axis machine (work line ncviewer.com) #1403

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c0e960a
added settings rotation axis and rotation order for 6 axis machine
ABSitf Jul 7, 2023
11aa062
Merge branch 'master' of https://github.com/MeshInspector/MeshLib int…
ABSitf Jul 10, 2023
3ab61f7
remove unused code added missing method for settings
ABSitf Jul 10, 2023
d5396d1
fix
ABSitf Jul 11, 2023
974bc2d
fix small rework (removed RotationAxisName::None)
ABSitf Jul 12, 2023
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96 changes: 62 additions & 34 deletions source/MRMesh/MRGcodeProcessor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,47 @@ GcodeProcessor::MoveAction GcodeProcessor::processLine( const std::string_view&
return {};
}

void GcodeProcessor::setRotationParams( RotationAxisName paramName, const Vector3f& rotationAxis )
{
const int intParamName = int( paramName );
const bool validParamName = intParamName < int( RotationAxisName::Count );
if ( !validParamName )
return;

if ( rotationAxis.lengthSq() < 0.01f )
return;

rotationAxes_[intParamName] = rotationAxis;
}

Vector3f GcodeProcessor::getRotationParams( RotationAxisName paramName ) const
{
const int intParamName = int( paramName );
const bool validParamName = intParamName < int( RotationAxisName::Count );
if ( !validParamName )
return {};

return rotationAxes_[intParamName];
}

void GcodeProcessor::setRotationOrder( const RotationAxisOrder& rotationAxesOrder )
{
rotationAxesOrder_.clear();
rotationAxesOrderMap_.clear();
for ( int i = 0; i < rotationAxesOrder.size(); ++i )
{
const int intRotationAxis = int( rotationAxesOrder[i] );
if ( intRotationAxis == int( RotationAxisName::Count ) )
continue;

if ( std::find( rotationAxesOrderMap_.begin(), rotationAxesOrderMap_.end(), intRotationAxis ) != rotationAxesOrderMap_.end() )
continue;

rotationAxesOrder_.push_back( rotationAxesOrder[i] );
rotationAxesOrderMap_.push_back( intRotationAxis );
}
}

std::vector<GcodeProcessor::Command> GcodeProcessor::parseFrame_( const std::string_view& frame )
{
std::vector<Command> commands;
Expand Down Expand Up @@ -202,8 +243,7 @@ GcodeProcessor::MoveAction GcodeProcessor::generateMoveAction_()
res = getToolRotationPoints_();
}

// test
//assert( res.action.path.size() == res.toolDirection.size() );
assert( res.action.path.size() == res.toolDirection.size() );

translationPos_ = newMotorsPos;
if ( inputRotation_ )
Expand Down Expand Up @@ -438,52 +478,40 @@ MR::Vector3f GcodeProcessor::calcCoordMotors_()

MR::Vector3f GcodeProcessor::calcRealCoord_( const Vector3f& translationPos, const Vector3f& rotationAngles )
{
const Matrix3f rotationMatrixA = Matrix3f::rotation( Vector3f::plusX(), -rotationAngles[0] / 180.f * PI_F );
return rotationMatrixA * translationPos;
Vector3f res = translationPos;
for ( int i = 0; i < rotationAxesOrderMap_.size(); ++i )
{
const int axisNumber = rotationAxesOrderMap_[i];
const Matrix3f rotationMatrix = Matrix3f::rotation( rotationAxes_[axisNumber], rotationAngles[axisNumber] / 180.f * PI_F );
res = rotationMatrix * res;
}
return res;
}

void GcodeProcessor::updateRotationAngleAndMatrix_( const Vector3f& rotationAngles )
{
if ( rotationAngles[0] != rotationAngles_[0] )
{
rotationAngles_[0] = rotationAngles[0];
cacheRotationMatrix_[0] = Matrix3f::rotation( Vector3f::plusX(), -rotationAngles_[0] / 180.f * PI_F );
}
if ( rotationAngles[1] != rotationAngles_[1] )
{
rotationAngles_[1] = rotationAngles[1];
cacheRotationMatrix_[1] = Matrix3f::rotation( Vector3f::plusY(), -rotationAngles_[1] / 180.f * PI_F );
}
if ( rotationAngles[2] != rotationAngles_[2] )
for ( int i = 0; i < 3; ++i )
{
rotationAngles_[2] = rotationAngles[2];
cacheRotationMatrix_[2] = Matrix3f::rotation( Vector3f::plusZ(), -rotationAngles_[2] / 180.f * PI_F );
rotationAngles_[i] = rotationAngles[i];
cacheRotationMatrix_[i] = Matrix3f::rotation( rotationAxes_[i], rotationAngles_[i] / 180.f * PI_F );
}
}

MR::Vector3f GcodeProcessor::calcRealCoordCached_( const Vector3f& translationPos, const Vector3f& rotationAngles )
{
if ( rotationAngles[0] != rotationAngles_[0] )
{
rotationAngles_[0] = rotationAngles[0];
cacheRotationMatrix_[0] = Matrix3f::rotation( Vector3f::plusX(), -rotationAngles_[0] / 180.f * PI_F );
}
if ( rotationAngles[1] != rotationAngles_[1] )
{
rotationAngles_[1] = rotationAngles[1];
cacheRotationMatrix_[1] = Matrix3f::rotation( Vector3f::plusY(), -rotationAngles_[1] / 180.f * PI_F );
}
if ( rotationAngles[2] != rotationAngles_[2] )
{
rotationAngles_[2] = rotationAngles[2];
cacheRotationMatrix_[2] = Matrix3f::rotation( Vector3f::plusZ(), -rotationAngles_[2] / 180.f * PI_F );
}
return cacheRotationMatrix_[0] * cacheRotationMatrix_[2] * translationPos;
updateRotationAngleAndMatrix_( rotationAngles );
return calcRealCoordCached_( translationPos );
}

MR::Vector3f GcodeProcessor::calcRealCoordCached_( const Vector3f& translationPos )
{
return cacheRotationMatrix_[0] * cacheRotationMatrix_[2] * translationPos;
Vector3f res = translationPos;
for ( int i = 0; i < 3; ++i )
{
const int axisNumber = rotationAxesOrderMap_[i];
res = cacheRotationMatrix_[axisNumber] * res;
}
return res;
}

}
23 changes: 21 additions & 2 deletions source/MRMesh/MRGcodeProcessor.h
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@Grantim Grantim Jul 10, 2023

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do we need translation order too? mb some devices has moving axis (that means that translation is applied before rotation)

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@ABSitf ABSitf Jul 11, 2023

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in current version it has no effect (will added in next PR)

Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include <vector>
#include <string>
#include <optional>
#include <functional>


namespace MR
Expand Down Expand Up @@ -47,6 +48,21 @@ class MRMESH_CLASS GcodeProcessor
// process all commands from one line g-code source and generate corresponding move action
MRMESH_API MoveAction processLine( const std::string_view& line );

// settings
enum class RotationAxisName
{
A,
B,
C,
Count
};
//using RotationAxisMap = std::array<RotationAxisName, size_t( RotationAxisName::Count )>;
using RotationAxisOrder = std::vector<RotationAxisName>;
MRMESH_API void setRotationParams( RotationAxisName paramName, const Vector3f& rotationAxis );
MRMESH_API Vector3f getRotationParams( RotationAxisName paramName ) const;
MRMESH_API void setRotationOrder( const RotationAxisOrder& rotationAxisOrder );
const RotationAxisOrder& getRotationOrder() const { return rotationAxesOrder_; }

private:

struct Command
Expand Down Expand Up @@ -135,15 +151,18 @@ class MRMESH_CLASS GcodeProcessor

// input data (data entered in last line)
Vector3f inputCoords_; // x, y, z
Vector3<bool> inputCoordsReaded_; // any of (x, y, z) was readed
Vector3<bool> inputCoordsReaded_; // any of (x, y, z) was read
std::optional<float> radius_; // r
std::optional<Vector3f> arcCenter_; // i, j, k
std::optional<Vector3f> inputRotation_; // a, b, c

std::vector<std::string_view> gcodeSource_; // string list with sets of command (frames)

// internal settings
// internal / machine settings
float accuracy_ = 1.e-3f;
std::array<Vector3f, 3> rotationAxes_ = { Vector3f::minusX(), Vector3f::minusY(), Vector3f::plusZ() };
RotationAxisOrder rotationAxesOrder_ = { RotationAxisName::A, RotationAxisName::B, RotationAxisName::C };
std::vector<int> rotationAxesOrderMap_ = {0, 1, 2}; // mapping axis sequence number to axis number in storage

};

Expand Down