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| 1 | /* |
| 2 | * gp2rml.c - Convert from gnuplot to RML |
| 3 | * |
| 4 | * Written 2010-2013, 2015 by Werner Almesberger |
| 5 | * Copyright 2010-2013, 2015 Werner Almesberger |
| 6 | * |
| 7 | * This program is free software; you can redistribute it and/or modify |
| 8 | * it under the terms of the GNU General Public License as published by |
| 9 | * the Free Software Foundation; either version 2 of the License, or |
| 10 | * (at your option) any later version. |
| 11 | */ |
| 12 | |
| 13 | /* |
| 14 | * When setting the pen up and pen down positions (!PZ), pen up must be a |
| 15 | * zero or positive coordinate relative to Z0 and pen down must be negative |
| 16 | * or zero. |
| 17 | * |
| 18 | * Our pen up position is defined as the maximum pen down height plus some |
| 19 | * clearance. All Z coordinates are relative to Z0. |
| 20 | * |
| 21 | * All this means that we have to set Z0 (with !ZO, that's zet-oh) such that |
| 22 | * it is between the maximum pen down and pen up. Since pen up is also defined |
| 23 | * via the maximum pen down, we have to read all coordinates before we can |
| 24 | * calculate Z0 and then emit the correct positioning commands. Yuck. |
| 25 | * |
| 26 | * We choose Z0 = maximum pen down. |
| 27 | */ |
| 28 | |
| 29 | /* |
| 30 | * @@@ speed selection anomaly: |
| 31 | * |
| 32 | * Seems that !ZZ movements of the MDX-15 only use !VZ and VS is completely |
| 33 | * ignored. |
| 34 | */ |
| 35 | |
| 36 | #include <stdlib.h> |
| 37 | #include <stdio.h> |
| 38 | #include <unistd.h> |
| 39 | #include <string.h> |
| 40 | #include <math.h> |
| 41 | |
| 42 | |
| 43 | #define V_MAX 15.0 |
| 44 | |
| 45 | |
| 46 | struct segment { |
| 47 | double x, y, z; |
| 48 | struct segment *next; |
| 49 | }; |
| 50 | |
| 51 | struct path { |
| 52 | struct segment *segments; |
| 53 | struct path *next; |
| 54 | }; |
| 55 | |
| 56 | |
| 57 | static struct path *paths = NULL, *curr_path; |
| 58 | static struct segment **next_seg; |
| 59 | static double z_max = -1e6; /* -1 km :) */ |
| 60 | static double z_scale = 1; /* < 1: compress; > 1: stretch */ |
| 61 | |
| 62 | |
| 63 | #define units(mm) ((int) round((mm) * 40.0)) |
| 64 | |
| 65 | |
| 66 | #define alloc_type(t) \ |
| 67 | ({ t *alloc_tmp = malloc(sizeof(t)); \ |
| 68 | if (!alloc_tmp) \ |
| 69 | abort(); \ |
| 70 | alloc_tmp; }) |
| 71 | |
| 72 | |
| 73 | static void new_path(void) |
| 74 | { |
| 75 | struct path *new; |
| 76 | |
| 77 | new = alloc_type(struct path); |
| 78 | if (paths) |
| 79 | curr_path->next = new; |
| 80 | else |
| 81 | paths = new; |
| 82 | curr_path = new; |
| 83 | new->segments = NULL; |
| 84 | new->next = NULL; |
| 85 | next_seg = &new->segments; |
| 86 | } |
| 87 | |
| 88 | |
| 89 | static void process_file(FILE *file) |
| 90 | { |
| 91 | int lineno = 0; |
| 92 | char buf[1024]; |
| 93 | double x, y, z; |
| 94 | int n; |
| 95 | struct segment *seg; |
| 96 | |
| 97 | new_path(); |
| 98 | while (fgets(buf, sizeof(buf), file)) { |
| 99 | lineno++; |
| 100 | if (*buf == '!' || *buf == '#') |
| 101 | continue; |
| 102 | n = sscanf(buf, "%lf %lf %lf\n", &x, &y, &z); |
| 103 | switch (n) { |
| 104 | case -1: |
| 105 | if (curr_path->segments) |
| 106 | new_path(); |
| 107 | continue; |
| 108 | case 2: |
| 109 | z = 0; |
| 110 | /* fall through */ |
| 111 | case 3: |
| 112 | break; |
| 113 | default: |
| 114 | fprintf(stderr, "invalid data at line %d\n", lineno); |
| 115 | exit(1); |
| 116 | } |
| 117 | seg = alloc_type(struct segment); |
| 118 | seg->x = x; |
| 119 | seg->y = y; |
| 120 | seg->z = z; |
| 121 | seg->next = NULL; |
| 122 | *next_seg = seg; |
| 123 | next_seg = &seg->next; |
| 124 | if (z_max < z) |
| 125 | z_max = z; |
| 126 | } |
| 127 | } |
| 128 | |
| 129 | |
| 130 | static void output_paths(double z_clear, double xy_speed, double z_speed) |
| 131 | { |
| 132 | const struct path *path; |
| 133 | const struct segment *seg; |
| 134 | double x = 0, y = 0, z = 0; |
| 135 | double d, s = 0, t = 0; |
| 136 | double speed; |
| 137 | |
| 138 | printf("IN;!MC1;PA\n"); |
| 139 | printf("!ZO%d;!PZ0,%d;PU\n", units(z_max), units(z_clear)); |
| 140 | printf("VS%f;!VZ%f\n", xy_speed, z_speed); |
| 141 | |
| 142 | for (path = paths; path; path = path->next) { |
| 143 | seg = path->segments; |
| 144 | if (!seg) |
| 145 | continue; |
| 146 | printf("!PZ%d,%d;PA%d,%d;PD\n", |
| 147 | units(seg->z-z_max), units(z_clear), |
| 148 | units(seg->x), units(seg->y)); |
| 149 | d = hypot(x - seg->x, y - seg->y); |
| 150 | s += d; |
| 151 | s += z - z_max; |
| 152 | t += d / V_MAX; |
| 153 | t += (z - z_max) / z_speed; |
| 154 | x = seg->x; |
| 155 | y = seg->y; |
| 156 | z = seg->z; |
| 157 | seg = seg->next; |
| 158 | while (seg) { |
| 159 | if (path->segments->z == z && z == seg->z) { |
| 160 | printf("PA%d,%d\n", |
| 161 | units(seg->x), units(seg->y)); |
| 162 | speed = xy_speed; |
| 163 | } else { |
| 164 | printf("!ZZ%d,%d,%d\n", |
| 165 | units(seg->x), units(seg->y), |
| 166 | units((seg->z - z_max) * z_scale)); |
| 167 | speed = z_speed; |
| 168 | } |
| 169 | d = hypot(x - seg->x, y - seg->y); |
| 170 | d = hypot(d, z - seg->z); |
| 171 | t += d / speed; |
| 172 | s += d; |
| 173 | x = seg->x; |
| 174 | y = seg->y; |
| 175 | z = seg->z; |
| 176 | seg = seg->next; |
| 177 | } |
| 178 | printf("PU\n"); |
| 179 | d = z_max + z_clear - z; |
| 180 | s += d; |
| 181 | t += d / V_MAX; |
| 182 | z = z_max + z_clear; |
| 183 | } |
| 184 | |
| 185 | printf("!MC0;!ZO0;!PZ0,0;PU0,0;IN\n"); |
| 186 | d = -z + hypot(x, y); |
| 187 | s += d; |
| 188 | t += d / V_MAX; |
| 189 | fprintf(stderr, "Distance %.1f mm, time %.1f s\n", s, t); |
| 190 | } |
| 191 | |
| 192 | |
| 193 | static void usage(const char *name) |
| 194 | { |
| 195 | fprintf(stderr, |
| 196 | "usage: %s [-s z_scale] z_clear[mm] xy_speed z_speed [file]\n\n" |
| 197 | " -s z_scale scale Z axis by z_scale (default: 1.0)\n" |
| 198 | " -t top set the top elevation, in mm (default: auto-detect)\n" |
| 199 | " z_clear clearance above the highest peak, in mm (must be > 0)\n" |
| 200 | " Unit (\"mm\") can optionally be specified\n" |
| 201 | " xy_speed cutting speed, in mm/s\n" |
| 202 | " z_speed vertical speed when lowering the pen, in mm/s\n" |
| 203 | , name); |
| 204 | exit(1); |
| 205 | } |
| 206 | |
| 207 | |
| 208 | int main(int argc, char *const *argv) |
| 209 | { |
| 210 | FILE *file; |
| 211 | char *end; |
| 212 | int i; |
| 213 | double p[3]; |
| 214 | int c; |
| 215 | |
| 216 | while ((c = getopt(argc, argv, "s:t:")) != EOF) |
| 217 | switch (c) { |
| 218 | case 's': |
| 219 | z_scale = strtod(optarg, &end); |
| 220 | if (*end) |
| 221 | usage(*argv); |
| 222 | break; |
| 223 | case 't': |
| 224 | z_max = strtod(optarg, &end); |
| 225 | if (*end && !strcmp(end, "mm")) |
| 226 | usage(*argv); |
| 227 | break; |
| 228 | default: |
| 229 | usage(*argv); |
| 230 | } |
| 231 | |
| 232 | switch (argc - optind) { |
| 233 | case 3: |
| 234 | file = stdin; |
| 235 | break; |
| 236 | case 4: |
| 237 | file = fopen(argv[optind + 3], "r"); |
| 238 | if (!file) { |
| 239 | perror(argv[optind + 3]); |
| 240 | return 1; |
| 241 | } |
| 242 | break; |
| 243 | default: |
| 244 | usage(*argv); |
| 245 | } |
| 246 | for (i = 0; i != 3; i++) { |
| 247 | p[i] = strtod(argv[optind + i], &end); |
| 248 | /* |
| 249 | * Allow the clearance to have a unit, for consistency in |
| 250 | * mkmk-simple |
| 251 | */ |
| 252 | if (!i && *end && !strcmp(end, "mm")) |
| 253 | continue; |
| 254 | if (*end || p[i] <= 0) |
| 255 | usage(*argv); |
| 256 | } |
| 257 | |
| 258 | process_file(file); |
| 259 | output_paths(p[0], p[1], p[2]); |
| 260 | |
| 261 | if (ferror(stdout)) |
| 262 | perror("stdout"); |
| 263 | if (fclose(stdout) == EOF) |
| 264 | perror("stdout"); |
| 265 | |
| 266 | return 0; |
| 267 | } |
| 268 |
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