def filter_toolpath(self, toolpath):
last_pos = None
max_height = None
new_path = []
safety_pending = False
get_safe = lambda pos: tuple(
(pos[0], pos[1], self.settings["safety_height"]))
for step in toolpath:
if step.action == MOVE_SAFETY:
safety_pending = True
elif step.action in MOVES_LIST:
new_pos = tuple(step.position)
if (max_height is None) or (new_pos[2] > max_height):
max_height = new_pos[2]
if not last_pos:
# there was a safety move (or no move at all) before
# -> move sideways
new_path.append(
ToolpathSteps.MoveStraightRapid(get_safe(new_pos)))
elif safety_pending:
safety_pending = False
if pnear(last_pos, new_pos, axes=(0, 1)):
# same x/y position - skip safety move
pass
else:
# go up, sideways and down
new_path.append(
ToolpathSteps.MoveStraightRapid(
get_safe(last_pos)))
new_path.append(
ToolpathSteps.MoveStraightRapid(get_safe(new_pos)))
else:
# we are in the middle of usual moves -> keep going
pass
new_path.append(step)
last_pos = new_pos
else:
# unknown move -> keep it
new_path.append(step)
# process pending safety moves
if safety_pending and last_pos:
new_path.append(ToolpathSteps.MoveStraightRapid(
get_safe(last_pos)))
if max_height > self.settings["safety_height"]:
_log.warn("Toolpath exceeds safety height: %f => %f", max_height,
self.settings["safety_height"])
return new_path
def filter_toolpath(self, toolpath):
last_pos = None
max_height = None
new_path = []
safety_pending = False
get_safe = lambda pos: tuple((pos[0], pos[1],
self.settings["safety_height"]))
for move_type, args in toolpath:
if move_type == MOVE_SAFETY:
safety_pending = True
elif move_type in (MOVE_STRAIGHT, MOVE_STRAIGHT_RAPID):
new_pos = tuple(args)
max_height = max(max_height, new_pos[2])
if not last_pos:
# there was a safety move (or no move at all) before
# -> move sideways
new_path.append((MOVE_STRAIGHT_RAPID, get_safe(new_pos)))
elif safety_pending:
safety_pending = False
if pnear(last_pos, new_pos, axes=(0, 1)):
# same x/y position - skip safety move
pass
else:
# go up, sideways and down
new_path.append((MOVE_STRAIGHT_RAPID,
get_safe(last_pos)))
new_path.append((MOVE_STRAIGHT_RAPID,
get_safe(new_pos)))
else:
# we are in the middle of usual moves -> keep going
pass
new_path.append((move_type, new_pos))
last_pos = new_pos
else:
# unknown move -> keep it
new_path.append((move_type, args))
# process pending safety moves
if safety_pending and last_pos:
new_path.append((MOVE_STRAIGHT_RAPID, get_safe(last_pos)))
if max_height > self.settings["safety_height"]:
_log.warn("Toolpath exceeds safety height: %f => %f" % \
(max_height, self.settings["safety_height"]))
return new_path
def filter_toolpath(self, toolpath):
last_pos = None
max_height = None
new_path = []
safety_pending = False
get_safe = lambda pos: tuple(
(pos[0], pos[1], self.settings["safety_height"]))
for move_type, args in toolpath:
if move_type == MOVE_SAFETY:
safety_pending = True
elif move_type in (MOVE_STRAIGHT, MOVE_STRAIGHT_RAPID):
new_pos = tuple(args)
max_height = max(max_height, new_pos[2])
if not last_pos:
# there was a safety move (or no move at all) before
# -> move sideways
new_path.append((MOVE_STRAIGHT_RAPID, get_safe(new_pos)))
elif safety_pending:
safety_pending = False
if pnear(last_pos, new_pos, axes=(0, 1)):
# same x/y position - skip safety move
pass
else:
# go up, sideways and down
new_path.append(
(MOVE_STRAIGHT_RAPID, get_safe(last_pos)))
new_path.append(
(MOVE_STRAIGHT_RAPID, get_safe(new_pos)))
else:
# we are in the middle of usual moves -> keep going
pass
new_path.append((move_type, new_pos))
last_pos = new_pos
else:
# unknown move -> keep it
new_path.append((move_type, args))
# process pending safety moves
if safety_pending and last_pos:
new_path.append((MOVE_STRAIGHT_RAPID, get_safe(last_pos)))
if max_height > self.settings["safety_height"]:
_log.warn("Toolpath exceeds safety height: %f => %f" % \
(max_height, self.settings["safety_height"]))
return new_path