discretize Hatchlines and Contourlines for z-Height

freecad/LaserCladdingWorkbench/commands.py

@@ -169,18 +169,30 @@ class LCSaveProg():
                 if re.match('Contour*', progpart.Name):
                     # do Conoutes
                     face = pad.ref_body.getSubObject(pad.ref_surface)
-                    edges = Part.__sortEdges__(progpart.Shape.Edges)
+                    #edges = Part.__sortEdges__(progpart.Shape.Edges)
-                    vlist = []
+                    wires = progpart.Shape.Wires
-                    for edge in edges:
+                    print("Number Contourlines (should be 1): ", len(wires))
-                        vlist.extend([v.Point for v in edge.Vertexes])
+                    counter = 0
-                    poly = Part.makePolygon(vlist)
+                    for wire in wires:
-                    #Part.show(poly, "ContourPath")
+                        line = []
-                    poses = get_list_of_poses(face, poly.Edges)
+                        for edge in Part.__sortEdges__(wire.Edges):
-                    if not hasattr(progpart, 'pathtype'):
+                            p0 = edge.Vertexes[0].Point
-                        pathtype = 'LIN'
+                            p1 = edge.Vertexes[1].Point
-                    else:
+                            for p in [p0, p1]:
-                        pathtype = progpart.pathtype
+                                uv = face.Surface.parameter(p)
-                    prog.append_contour(poses, pathtype)
+                                normal = face.normalAt(uv[0], uv[1])
+                                pose = Kuka_Pose.from_point_and_normal(p, normal)
+                                line.append(pose)
+                        print("append contour line (segment): ", counter)
+                        counter += 1
+                        pathtype = getattr(progpart, 'pathtype', 'LIN')
+                        prog.append_contour(line, pathtype)
+                    #vlist = []
+                    #for edge in edges:
+                    #    vlist.extend([v.Point for v in edge.Vertexes])
+                    #poly = Part.makePolygon(vlist)
+                    ##Part.show(poly, "ContourPath")
+                    #poses = get_list_of_poses(face, poly.Edges)
                 elif re.match('Hatch*', progpart.Name):
                     face = pad.ref_body.getSubObject(pad.ref_surface)
                     wires = progpart.Shape.Wires

freecad/LaserCladdingWorkbench/kuka.py

@@ -15,7 +15,7 @@ header_src = """&ACCESS RVP
 &PARAM EDITMASK = *
 """
 
-z_up_pose = """{X 0.0, Y 0.0, Z 50.0, A 0.0, B 0.0, C 0.0, E1 0.0, E2 0.0}"""
+z_up_pose = """{X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0, E1 0.0, E2 0.0}"""
 
 class Kuka_Layer:
     def __init__(self):
@@ -168,28 +168,34 @@ class Kuka_Prog:
                 if len(layer.hatchlines):
                     print("Number Hatchlines: ", len(layer.hatchlines))
                     f.write(";- Hatchlines\n")
-                    f.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
+                    f.write("$VEL.CP = TRAVELSPEED ; m/s (vmax)\n")
                     f.write("LIN_REL {Z 90.0} C_VEL; just move up \n")
+                    # to first point on part
+                    (first_hatch_line, _) = layer.hatchlines[0]
+                    segment = first_hatch_line[0]
+                    f.write("LIN refpose:{}:{} C_VEL; move to first hatch point but with z_up\n".format(segment.translate_with(self.baseorigin).to_string(), z_up_pose))
+
                     for (line, seg_type) in layer.hatchlines:
                         # a line has many segments
                         # start laser at first segment
                         # stop with last
                         f.write(";- Hatchline\n")
-                        segment = line[0]
-                        f.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
-                        f.write("LIN refpose:{}:{} C_VEL; move to first hatch point but with z_up\n".format(segment.translate_with(self.baseorigin).to_string(), z_up_pose))
-                        # One Hatchline
                         f.write(";- First Point in line \n")
+                        segment = line[0]
+                        f.write("$VEL.CP = TRAVELSPEED ; m/s (vproc)\n")
                         f.write("LIN refpose:{} C_VEL; GENERATED\n".format(segment.translate_with(self.baseorigin).to_string()))
                         f.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True; Turn on Laser at point  \n" % self.use_laser_out)
+                        f.write("$VEL.CP = WELDSPEED ; m/s (vproc)\n")
                         # each segment
                         for segment in line[1:-1]:
-                            f.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vproc)
                             f.write("LIN refpose:{} C_VEL; GENERATED\n".format(segment.translate_with(self.baseorigin).to_string()))
                         segment = line[-1]
                         f.write(";- Last Point in line \n")
                         f.write("LIN refpose:{} C_VEL; GENERATED\n".format(segment.translate_with(self.baseorigin).to_string()))
                         f.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=FALSE; Turn off Laser at point\n" % self.use_laser_out)
+                        # if z height difference between this and next point, we should move up, else it's faster to just go on.
+                        #f.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
+                        #f.write("LIN refpose:{}:{} C_VEL; move up from last hatch point \n".format(segment.translate_with(self.baseorigin).to_string(), z_up_pose))
                         f.write(";- End line \n")
 
 

freecad/LaserCladdingWorkbench/pad.py

@@ -102,13 +102,21 @@ class LaserPad:
         contours = create_contour_lines(contours_geoms)
         hatchlines = create_hatch_lines(hatch_geoms)
 
+        for debug1 in contours:
+            Part.show(debug1, "Debug_Contours")
+
         proj_contours = project_to_face(contours, face)
         proj_hatchlines = project_to_face(hatchlines, face)
         # DEBUG Part.show(Part.makeCompound(hatchlines))
         obj.purgeTouched()
 
-        for pc in proj_contours:
+        for debug_shape in proj_contours:
-            p = Part.makeCompound(pc)
+            Part.show(debug_shape, "Debug_Projected_Contours")
+
+        for contourline in proj_contours:
+            p = Part.makeCompound([])
+            wire = Part.makePolygon(contourline.Wires[0].discretize(Distance=3.0))
+            p.add(wire)
             contours_comp = obj.newObject("Part::Feature", "Contours")
             LaserPath(contours_comp)
             contours_comp.Shape = p
@@ -120,8 +128,7 @@ class LaserPad:
         p = Part.makeCompound([])
         for hatchline in proj_hatchlines:
             # discretize by length
-            for line in hatchline:
+            wire_sections = hatchline.Wires[0].discretize(Distance=3.0)
-                wire_sections = line.Wires[0].discretize(Distance=3.0)
             wire = Part.makePolygon(wire_sections)
             p.add(wire)
 

freecad/LaserCladdingWorkbench/templates/lasercladding.dat

@@ -20,5 +20,5 @@ DECL INT SUCCESS
 DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P1                      ",POINT2[] "P1                      ",CP_PARAMS[] "CPDAT0                  ",PTP_PARAMS[] "PDAT1                   ",CONT[] "                        ",CP_VEL[] "2.0                     ",PTP_VEL[] "100                     ",SYNC_PARAMS[] "SYNCDAT                 ",SPL_NAME[] "S0                      "}
 DECL E6POS XP1={X 1007.93701,Y 220.6707,Z 616.796082,A -59.0254211,B -89.0309219,C -120.955002,S 6,T 27,E1 4.45351398E-05,E2 12600.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
 DECL FDAT FP1={TOOL_NO 6,BASE_NO 6,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
-DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0,GEAR_JERK 50.0}
+DECL PDAT PPDAT1={VEL 60.0,ACC 100.0,APO_DIST 100.0,GEAR_JERK 50.0}
 ENDDAT

freecad/LaserCladdingWorkbench/utils.py

@@ -17,11 +17,8 @@ def project_to_face(compounds, face):
     # proj = Part.makeCompound([])
     proj = []
     for c in compounds:
-        projection_result = []
+        shape = face.makeParallelProjection(c, App.Vector(0, 0, 1))
-        for e in c.Edges:
+        proj.append(shape)
-            projection_result.append(face.makeParallelProjection(e, App.Vector(0, 0, 1)))
-        # proj.add(Part.makeCompound(projection_result))
-        proj.append(projection_result)
     return proj