From 0bc780611dc59131ee8694217dc255bd981e8017 Mon Sep 17 00:00:00 2001 From: Werner Almesberger Date: Mon, 1 Nov 2010 14:58:29 -0300 Subject: [PATCH] Introducing cameo, a toolbox of CAM operations. --- cameo/COPYING.GPLv2 | 339 ++++++++++++++++++++++++++++++++++++++++++++ cameo/Makefile | 76 ++++++++++ cameo/README | 21 +++ cameo/cameo.c | 63 ++++++++ cameo/gnuplot.c | 108 ++++++++++++++ cameo/gnuplot.h | 22 +++ cameo/path.c | 217 ++++++++++++++++++++++++++++ cameo/path.h | 36 +++++ cameo/util.h | 34 +++++ 9 files changed, 916 insertions(+) create mode 100644 cameo/COPYING.GPLv2 create mode 100644 cameo/Makefile create mode 100644 cameo/README create mode 100644 cameo/cameo.c create mode 100644 cameo/gnuplot.c create mode 100644 cameo/gnuplot.h create mode 100644 cameo/path.c create mode 100644 cameo/path.h create mode 100644 cameo/util.h diff --git a/cameo/COPYING.GPLv2 b/cameo/COPYING.GPLv2 new file mode 100644 index 0000000..d511905 --- /dev/null +++ b/cameo/COPYING.GPLv2 @@ -0,0 +1,339 @@ + 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 +freedom to share and change it. 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If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/cameo/Makefile b/cameo/Makefile new file mode 100644 index 0000000..8c67df6 --- /dev/null +++ b/cameo/Makefile @@ -0,0 +1,76 @@ +# +# 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) + diff --git a/cameo/README b/cameo/README new file mode 100644 index 0000000..4cb1118 --- /dev/null +++ b/cameo/README @@ -0,0 +1,21 @@ +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. diff --git a/cameo/cameo.c b/cameo/cameo.c new file mode 100644 index 0000000..5d5843c --- /dev/null +++ b/cameo/cameo.c @@ -0,0 +1,63 @@ +/* + * 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 +#include +#include + +#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; +} diff --git a/cameo/gnuplot.c b/cameo/gnuplot.c new file mode 100644 index 0000000..2194f75 --- /dev/null +++ b/cameo/gnuplot.c @@ -0,0 +1,108 @@ +/* + * 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 +#include + +#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); + } +} + diff --git a/cameo/gnuplot.h b/cameo/gnuplot.h new file mode 100644 index 0000000..149d42f --- /dev/null +++ b/cameo/gnuplot.h @@ -0,0 +1,22 @@ +/* + * 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 */ diff --git a/cameo/path.c b/cameo/path.c new file mode 100644 index 0000000..7446087 --- /dev/null +++ b/cameo/path.c @@ -0,0 +1,217 @@ +/* + * 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 +#include +#include +#include + +#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); +} diff --git a/cameo/path.h b/cameo/path.h new file mode 100644 index 0000000..9b0dd3d --- /dev/null +++ b/cameo/path.h @@ -0,0 +1,36 @@ +/* + * 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 */ diff --git a/cameo/util.h b/cameo/util.h new file mode 100644 index 0000000..d4497b3 --- /dev/null +++ b/cameo/util.h @@ -0,0 +1,34 @@ +/* + * 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 +#include + + +#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 */