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Introducing cameo, a toolbox of CAM operations.

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Werner Almesberger 2010-11-01 14:58:29 -03:00
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339
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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
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General Public License applies to most of the Free Software
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When we speak of free software, we are referring to freedom, not
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To protect your rights, we need to make restrictions that forbid
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We protect your rights with two steps: (1) copyright the software, and
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#
# Makefile - Makefile of cameo
#
# Written 2010 by Werner Almesberger
# Copyright 2010 by Werner Almesberger
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
PREFIX ?= /usr/local
SHELL=/bin/bash
MAIN=cameo
OBJS=cameo.o gnuplot.o path.o
CFLAGS=-Wall -g
LDFLAGS=-lm
# ----- Verbosity control -----------------------------------------------------
CC_normal := $(CC)
DEPEND_normal := $(CPP) $(CFLAGS) -MM -MG
CC_quiet = @echo " CC " $@ && $(CC_normal)
DEPEND_quiet = @$(DEPEND_normal)
ifeq ($(V),1)
CC = $(CC_normal)
DEPEND = $(DEPEND_normal)
else
CC = $(CC_quiet)
DEPEND = $(DEPEND_quiet)
endif
# ----- Rules -----------------------------------------------------------------
.PHONY: all clean spotless
all: $(MAIN)
$(MAIN): $(OBJS)
clean:
rm -f $(OBJS) $(OBJS:.o=.d)
spotless: clean
rm -f $(MAIN)
# ----- Install / uninstall ---------------------------------------------------
install: all
mkdir -p $(DESTDIR)/$(PREFIX)/bin/
install -m 755 $(MAIN) $(DESTDIR)/$(PREFIX)/bin/
uninstall:
rm -f $(DESTDIR)/$(PREFIX)/bin/$(MAIN)
# ----- Dependencies ----------------------------------------------------------
# compile and generate dependencies, from fped, based on
# http://scottmcpeak.com/autodepend/autodepend.html
%.o: %.c
$(CC) -c $(CFLAGS) $*.c -o $*.o
$(DEPEND) $*.c | \
sed -e \
'/^\(.*:\)\? */{p;s///;s/ *\\\?$$/ /;s/ */:\n/g;H;}' \
-e '$${g;p;}' -e d >$*.d; \
[ "$${PIPESTATUS[*]}" = "0 0" ] || { rm -f $*.d; exit 1; }
-include $(OBJS:.o=.d)

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CAM Engineering and Operation
=============================
Cameo is a collection of CAM tools that convert between various file
formats and adapt the toolpath.
This is a work in progress. The plan is to integrate all the utilities
currently floating around in
http://svn.openmoko.org/developers/werner/cncmap/
into a single program and to better share common functionality.
This work is distributed under the terms of the GNU GENERAL PUBLIC
LICENSE, Version 2:
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
For your convenience, a copy of the complete license has been included
in the file COPYING.GPLv2.

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/*
* cameo.c - Toolpath adaptation and machine control
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#include <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include "path.h"
#include "gnuplot.h"
static void usage(const char *name)
{
fprintf(stderr, "usage: %s r_mm [in.gnuplot [out.gnuplot]]\n",
name);
exit(1);
}
int main(int argc, char **argv)
{
char *in = NULL, *out = NULL;
double r;
struct path *paths;
switch (argc) {
case 4:
out = argv[3];
/* fall through */
case 3:
in = argv[2];
/* fall through */
case 2:
r = atof(argv[1]);
break;
default:
usage(*argv);
}
/*
* To do:
* - auto-detect orientation
* - handle multiple paths
* - instead of reversing the path, reverse the handedness
*/
paths = gnuplot_read(in, r);
assert(!paths->next); /* we don't handle this yet */
paths = path_reverse(paths);
paths = path_offset(paths, 1);
gnuplot_write(out, paths);
return 0;
}

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/*
* gnuplot.c - Gnuplot file input/output
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#include <stdlib.h>
#include <stdio.h>
#include "path.h"
#include "gnuplot.h"
struct path *gnuplot_read(const char *name, double r_tool_default)
{
FILE *file;
int lineno = 0;
char buf[1024];
double x, y, z, tmp;
double r_tool = r_tool_default;
int n;
struct path *paths = NULL, *path = NULL;
struct path **lnk = &paths;
file = name ? fopen(name, "r") : stdin;
if (!file) {
perror(name);
exit(1);
}
while (fgets(buf, sizeof(buf), file)) {
lineno++;
if (sscanf(buf, "#%%r_tool=%lf\n", &tmp) == 1)
r_tool = tmp;
if (*buf == '#')
continue;
n = sscanf(buf, "%lf %lf %lf\n", &x, &y, &z);
switch (n) {
case -1:
path = NULL;
r_tool = r_tool_default;
continue;
case 2:
z = 0;
/* fall through */
case 3:
break;
default:
fprintf(stderr, "invalid data at %s line %d\n",
name ? name : "(stdin)", lineno);
exit(1);
}
if (!path) {
path = path_new(r_tool);
*lnk = path;
lnk = &path->next;
}
path_add(path, x, y, z);
}
fclose(file);
return paths;
}
static int gnuplot_do_write(FILE *file, const struct path *paths)
{
const struct path *path;
const struct point *p;
for (path = paths; path; path = path->next) {
if (path != paths)
if (fprintf(file, "\n") < 0)
return 0;
if (fprintf(file, "#%%r_tool=%f\n", path->r_tool) < 0)
return 0;
for (p = path->first; p; p = p->next)
if (fprintf(file, "%f %f %f\n", p->x, p->y, p->z) < 0)
return 0;
}
if (file != stdout && fclose(file) < 0)
return 0;
return 1;
}
void gnuplot_write(const char *name, const struct path *paths)
{
FILE *file;
file = name ? fopen(name, "w") : stdout;
if (!file) {
perror(name);
exit(1);
}
if (!gnuplot_do_write(file, paths)) {
perror(name ? name : "(stdout)");
exit(1);
}
}

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/*
* gnuplot.h - Gnuplot file input/output
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#ifndef GNUPLOT_H
#define GNUPLOT_H
#include "path.h"
struct path *gnuplot_read(const char *name, double r_tool_default);
void gnuplot_write(const char *name, const struct path *paths);
#endif /* !GNUPLOT_H */

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/*
* path.c - Toolpath operations
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <assert.h>
#include "util.h"
#include "path.h"
struct path *path_new(double r_tool)
{
struct path *path;
path = alloc_type(struct path);
path->r_tool = r_tool;
path->first = path->last = NULL;
path->next = NULL;
return path;
}
static struct point *clone_point(struct point *p)
{
struct point *n;
n = alloc_type(struct point);
n->x = p->x;
n->y = p->y;
n->z = p->z;
n->next = NULL;
return n;
}
static int path_is_closed(const struct path *path)
{
if (path->first == path->last)
return 1;
return path->first->x == path->last->x &&
path->first->y == path->last->y && path->first->z == path->last->z;
}
static void path_add_point(struct path *path, struct point *p)
{
p->next = NULL;
if (path->last)
path->last->next = p;
else
path->first = p;
path->last = p;
}
void path_add(struct path *path, double x, double y, double z)
{
struct point *p;
p = alloc_type(struct point);
p->x = x;
p->y = y;
p->z = z;
return path_add_point(path, p);
}
struct path *path_reverse(const struct path *path)
{
struct path *new;
const struct point *p;
struct point *n;
new = path_new(path->r_tool);
for (p = path->first; p; p = p->next) {
n = alloc_type(struct point);
n->x = p->x;
n->y = p->y;
n->z = p->z;
n->next = new->first;
if (!new->last)
new->last = n;
new->first = n;
}
return new;
}
static struct point *offset_point(const struct point *a, const struct point *b,
const struct point *c, double off)
{
double ax, ay, bx, by;
double aa, bb;
double nx, ny;
struct point *p;
ax = b->x-a->x;
ay = b->y-a->y;
bx = c->x-b->x;
by = c->y-b->y;
aa = hypot(ax, ay);
bb = hypot(bx, by);
nx = -(ay/aa+by/bb);
ny = ax/aa+bx/bb;
nx *= off;
ny *= off;
p = alloc_type(struct point);
p->x = b->x+nx;
p->y = b->y+ny;
p->z = b->z;
p->next = NULL;
return p;
}
static int left_turn(const struct point *a, const struct point *b,
const struct point *c)
{
double ax, ay, bx, by;
ax = b->x-a->x;
ay = b->y-a->y;
bx = c->x-b->x;
by = c->y-b->y;
return (ax*by-ay*bx) >= 0;
}
/*
* http://www.makecnc.com/bones.jpg
*/
static struct point *dog_point(const struct point *edge,
const struct point *tool, double off)
{
double vx, vy, v;
struct point *p;
vx = edge->x-tool->x;
vy = edge->y-tool->y;
v = hypot(vx, vy);
vx *= 1-off/v;
vy *= 1-off/v;
p = alloc_type(struct point);
p->x = tool->x+vx;
p->y = tool->y+vy;
p->z = tool->z;
p->next = NULL;
return p;
}
/*
* The tool is on the "left" side of the path. E.g., if the path goes from
* 6 o'clock to 12 o'clock, the tool would be at 9 o'clock.
*/
struct path *path_offset(const struct path *path, int notch)
{
struct path *new;
const struct point *prev, *p, *next;
struct point *n, *n2;
int dog;
assert(path_is_closed(path));
new = path_new(path->r_tool);
prev = path->first;
for (p = path->first->next; p; p = p->next) {
next = p->next ? p->next : path->first->next;
n = offset_point(prev, p, next, path->r_tool);
dog = notch && left_turn(prev, p, next);
if (dog)
n2 = clone_point(n);
path_add_point(new, n);
if (dog) {
path_add_point(new, dog_point(p, n2, path->r_tool));
path_add_point(new, n2);
}
prev = p;
}
path_add_point(new, clone_point(new->first));
return new;
}
void path_free(struct path *path)
{
struct point *next;
while (path->first) {
next = path->first->next;
free(path->first);
path->first = next;
}
free(path);
}

36
cameo/path.h Normal file
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/*
* path.h - Toolpath operations
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#ifndef PATH_H
#define PATH_H
struct point {
double x, y, z; /* mm */
struct point *next;
};
struct path {
struct point *first, *last;
double r_tool; /* mm */
struct path *next;
};
struct path *path_new(double r_tool);
void path_add(struct path *path, double x, double y, double z);
struct path *path_reverse(const struct path *path);
struct path *path_offset(const struct path *path, int notch);
void path_free(struct path *path);
#endif /* !PATH_H */

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cameo/util.h Normal file
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/*
* util.h - Common utility functions
*
* Written 2009 by Werner Almesberger
* Copyright 2009 by Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#ifndef UTIL_H
#define UTIL_H
#include <stdlib.h>
#include <string.h>
#define alloc_size(s) \
({ void *alloc_size_tmp = malloc(s); \
if (!alloc_size_tmp) \
abort(); \
alloc_size_tmp; })
#define alloc_type(t) ((t *) alloc_size(sizeof(t)))
#define stralloc(s) \
({ char *stralloc_tmp = strdup(s); \
if (!stralloc_tmp) \
abort(); \
stralloc_tmp; })
#endif /* !UTIL_H */