From 57b4e276e5836abdcd198f571663a743e8acbf86 Mon Sep 17 00:00:00 2001
From: Werner Almesberger <werner@openmoko.org>
Date: Thu, 16 Dec 2010 14:19:46 -0300
Subject: [PATCH] cameo: added optimization of movements between tool paths

- ops.h, ops.c (optimize_paths): reorder toolpaths to reduce the distance
  between them
- lang.l, lang.y: added command "optimize"
- README: documented "optimize"
---
 cameo/README |  9 +++++++++
 cameo/lang.l |  1 +
 cameo/lang.y |  6 +++++-
 cameo/ops.c  | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 cameo/ops.h  |  1 +
 5 files changed, 62 insertions(+), 1 deletion(-)

diff --git a/cameo/README b/cameo/README
index 0529e28..bb4dad0 100644
--- a/cameo/README
+++ b/cameo/README
@@ -179,3 +179,12 @@ and write the toolpaths to the file "drill.gp". Next, we retrieve the
 remaining paths, generate toolpaths for a 0.8 mm endmill, and write
 them to the file "mill.gp". Finally, we check that all paths have been
 processed.
+
+
+Tool path optimization:
+
+  optimize
+
+Try to reduce the movements made between paths by reordering the paths.
+Note that this disturbs the order generated by "offset" and should thus
+not be used on paths that to be executed in a specific sequence.
diff --git a/cameo/lang.l b/cameo/lang.l
index 9fb0de8..605f41c 100644
--- a/cameo/lang.l
+++ b/cameo/lang.l
@@ -46,6 +46,7 @@ NUM	-?[0-9]+\.?[0-9]*
 <INITIAL>empty			return TOK_EMPTY;
 <INITIAL>mill			return TOK_MILL;
 <INITIAL>offset			return TOK_OFFSET;
+<INITIAL>optimize		return TOK_OPTIMIZE;
 <INITIAL>remainder		return TOK_REMAINDER;
 <INITIAL>reset			return TOK_RESET;
 <INITIAL>translate		return TOK_TRANSLATE;
diff --git a/cameo/lang.y b/cameo/lang.y
index af69ae7..938115b 100644
--- a/cameo/lang.y
+++ b/cameo/lang.y
@@ -150,7 +150,7 @@ static struct path **classify(struct path **anchor, struct path *path)
 
 
 %token		TOK_ALIGN TOK_ARRAY TOK_CLEAR TOK_DRILL TOK_EMPTY
-%token		TOK_MILL TOK_OFFSET TOK_REMAINDER TOK_RESET
+%token		TOK_MILL TOK_OFFSET TOK_OPTIMIZE TOK_REMAINDER TOK_RESET
 %token		TOK_TRANSLATE TOK_Z
 %token		TOK_APPEND TOK_GERBER TOK_GNUPLOT TOK_EXCELLON TOK_WRITE
 %token		TOK_DOG TOK_INSIDE
@@ -208,6 +208,10 @@ command:
 			tool_comp_paths(paths,
 			    !!($2 & OO_DOG), !!($2 & OO_INSIDE));
 		}
+	| TOK_OPTIMIZE
+		{
+			paths = optimize_paths(paths);
+		}
 	| TOK_TRANSLATE dimen dimen
 		{
 			translate(paths, $2, $3, 0);
diff --git a/cameo/ops.c b/cameo/ops.c
index d5b4ac5..93ba2ea 100644
--- a/cameo/ops.c
+++ b/cameo/ops.c
@@ -12,6 +12,7 @@
 
 
 #include <stddef.h>
+#include <math.h>
 
 #include "path.h"
 #include "shape.h"
@@ -88,3 +89,48 @@ struct path *try_mill(struct path *path, double diam, double step)
 		    path->first->z, path->r_tool, diam/2, step);
 	return NULL;
 }
+
+
+/*
+ * This isn't a perfect solution for the traveling salesman problem, but it's
+ * easy to implement and usually produces results that don't look overly
+ * offensive.
+ */
+
+struct path *optimize_paths(struct path *paths)
+{
+	struct path **walk, **best = NULL;
+	struct path *res = NULL, **anchor = &res;
+	struct path *curr;
+	struct point *p;
+	double best_d = 0, d;
+
+	for (walk = &paths; *walk; walk = &(*walk)->next) {
+		p = (*walk)->first;
+		if (!p)
+			continue;
+		d = hypot(p->x, p->y);
+		if (!best || d  < best_d) {
+			best = walk;
+			best_d = d;
+		}
+	}
+	while (best) {
+		curr = *best;
+		*anchor = *best;
+		anchor = &curr->next;
+		*best = curr->next;
+		best = NULL;
+		for (walk = &paths; *walk; walk = &(*walk)->next) {
+			p = (*walk)->first;
+			if (!p)
+				continue;
+			d = hypot(p->x-curr->last->x, p->y-curr->last->y);
+			if (!best || d < best_d) {
+				best = walk;
+				best_d = d;
+			}
+		}
+	}
+	return res;
+}
diff --git a/cameo/ops.h b/cameo/ops.h
index ad20b1e..7e3dd16 100644
--- a/cameo/ops.h
+++ b/cameo/ops.h
@@ -20,5 +20,6 @@
 void tool_comp_paths(struct path *paths, int dog_bone, int all_inside);
 struct path *try_drill(struct path *path, double d_min, double d_max);
 struct path *try_mill(struct path *path, double diam, double step);
+struct path *optimize_paths(struct path *paths);
 
 #endif /* !OPS_H */