def __init__(self):
self.mesh = None
self.filled = True
self.rob_parser = ABB_Robot()
def __init__(self):
self.mesh = None
self.filled = True
self.rob_parser = ABB_Robot()
class RobPath():
def __init__(self):
self.mesh = None
self.filled = True
self.rob_parser = ABB_Robot()
def load_mesh(self, filename):
self.mesh = mesh.Mesh(filename)
# TODO: Change bpoints.
self.mesh.translate(np.float32([20, 20, 0]))
position = self.mesh.bpoint1 # Rename to position
size = self.mesh.bpoint2 - self.mesh.bpoint1 # Change by size
print np.vstack(self.mesh.triangles)
def translate_mesh(self, position):
self.mesh.translate(position)
def resize_mesh(self, size):
scale = size / self.mesh.size
self.mesh.scale(scale)
def set_power(self, power):
self.rob_parser.power = power
def set_speed(self, speed):
self.rob_parser.track_speed = speed
def set_track(self, height, width, overlap):
self.track_height = height
self.track_width = width
self.track_overlap = overlap
self.track_distance = (1 - overlap) * width
print 'Track distance:', self.track_distance
def set_powder(self, carrier_gas, stirrer, turntable):
self.rob_parser.carrier_gas = carrier_gas
self.rob_parser.stirrer = stirrer
self.rob_parser.turntable = turntable
def init_process(self):
self.k = 0
self.path = []
self.slices = []
self.pair = False
self.levels = mesh.get_range_values(self.mesh.z_min, self.mesh.z_max,
self.track_height)
def update_process(self):
if self.k == 0:
self.mesh.resort_triangles()
slice = self.mesh.get_slice(self.levels[self.k])
if slice is not None:
if self.filled:
fill_lines = self.mesh.get_grated(slice, self.track_distance)
# Reverse the order of the slicer fill lines
if self.pair:
fill_lines.reverse()
self.pair = not self.pair
tool_path = self.mesh.get_path_from_fill_lines(fill_lines)
else:
tool_path = self.mesh.get_path_from_slices([slice])
self.slices.append(slice)
self.path.extend(tool_path)
self.k = self.k + 1
print 'k, levels:', self.k, len(self.levels)
def get_contours_path(self):
self.k = 0
self.path = []
self.slices = []
self.pair = False
self.levels = mesh.get_range_values(self.mesh.z_min, self.mesh.z_max,
self.track_height)
slices = [self.mesh.get_slice(level) for level in self.levels]
self.path = self.mesh.get_path_from_slices(slices)
def save_rapid(self):
filename = 'etna.mod'
directory = 'ETNA'
routine = self.rob_parser.path2rapid(self.path)
self.rob_parser.save_file(filename, routine)
self.rob_parser.upload_file(filename, directory)
print routine
class RobPath:
def __init__(self):
self.mesh = None
self.filled = True
self.rob_parser = ABB_Robot()
def load_mesh(self, filename):
self.mesh = mesh.Mesh(filename)
# TODO: Change bpoints.
self.mesh.translate(np.float32([20, 20, 0]))
position = self.mesh.bpoint1 # Rename to position
size = self.mesh.bpoint2 - self.mesh.bpoint1 # Change by size
print np.vstack(self.mesh.triangles)
def translate_mesh(self, position):
self.mesh.translate(position)
def resize_mesh(self, size):
scale = size / self.mesh.size
self.mesh.scale(scale)
def set_power(self, power):
self.rob_parser.power = power
def set_speed(self, speed):
self.rob_parser.track_speed = speed
def set_track(self, height, width, overlap):
self.track_height = height
self.track_width = width
self.track_overlap = overlap
self.track_distance = (1 - overlap) * width
print "Track distance:", self.track_distance
def set_powder(self, carrier_gas, stirrer, turntable):
self.rob_parser.carrier_gas = carrier_gas
self.rob_parser.stirrer = stirrer
self.rob_parser.turntable = turntable
def init_process(self):
self.k = 0
self.path = []
self.slices = []
self.pair = False
self.levels = mesh.get_range_values(self.mesh.z_min, self.mesh.z_max, self.track_height)
def update_process(self):
if self.k == 0:
self.mesh.resort_triangles()
slice = self.mesh.get_slice(self.levels[self.k])
if slice is not None:
if self.filled:
fill_lines = self.mesh.get_grated(slice, self.track_distance)
# Reverse the order of the slicer fill lines
if self.pair:
fill_lines.reverse()
self.pair = not self.pair
tool_path = self.mesh.get_path_from_fill_lines(fill_lines)
else:
tool_path = self.mesh.get_path_from_slices([slice])
self.slices.append(slice)
self.path.extend(tool_path)
self.k = self.k + 1
print "k, levels:", self.k, len(self.levels)
def get_contours_path(self):
self.k = 0
self.path = []
self.slices = []
self.pair = False
self.levels = mesh.get_range_values(self.mesh.z_min, self.mesh.z_max, self.track_height)
slices = [self.mesh.get_slice(level) for level in self.levels]
self.path = self.mesh.get_path_from_slices(slices)
def save_rapid(self):
filename = "etna.mod"
directory = "ETNA"
routine = self.rob_parser.path2rapid(self.path)
self.rob_parser.save_file(filename, routine)
self.rob_parser.upload_file(filename, directory)
print routine
