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Minor improvements
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@robin-gdwl
robin-gdwl committed Dec 10, 2019
1 parent 6bd94ae commit 3753537
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Showing 4 changed files with 66 additions and 54 deletions.
2 changes: 1 addition & 1 deletion SVG_Block.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ def load(self):
# loads an svg file, puts the movements into self.path_movements
# translates color and opacity values into the corresponding transformations
start_time = time.time()
parsed_file = svg_parser.SVGParse(self.filepath, self.tolerance)
parsed_file = svg_parser.SVGParse(self.filepath, self.tolerance, self.scale)
movements = parsed_file.convert_to_movements()

self.path_movements = movements
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11 changes: 6 additions & 5 deletions Toolpath.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ def __init__(self, coordinates, tool_length):

# ************************************************** FORWARD KINEMATICS

def select(self,q_sols, q_d, w=[1, 1.5, 1.5, 1.5, 0.5, 0.5]):
def select(self,q_sols, q_d, w=[3, 1.5, 10, 5, 0.5, 0.5]):
"""Select the optimal solutions among a set of feasible joint value
solutions.
Args:
Expand Down Expand Up @@ -175,12 +175,12 @@ def invKine(self, desired_pos, start_pos): # T60
T_34 = T_32 * T_21 * T_14
th[3, c] = atan2(T_34[1, 0], T_34[0, 0])
th = th.real
print("___" * 30)
print(th)
#print("___" * 30)
#print(th)
th = np.transpose(th)
th = th.tolist()
print(th)
print("___"*30)
#print(th)
#print("___"*30)

best_th = th
best_th = self.select(th, start_pos)
Expand All @@ -189,6 +189,7 @@ def invKine(self, desired_pos, start_pos): # T60

# Calculates Rotation Matrix given euler angles.
def eulerAnglesToRotationMatrix(self, theta):
print("euler angle calculation ")
R_x = np.array([[1, 0, 0],
[0, math.cos(theta[0]), -math.sin(theta[0])],
[0, math.sin(theta[0]), math.cos(theta[0])]
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36 changes: 22 additions & 14 deletions UR_Playground_0.8.1.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ class BlockViewer():
logging.basicConfig(filename= "UR_Playground.log", level=logging.DEBUG,
format = "%(asctime)s:%(levelname)s:%(message)s")
logging.info("___"*45)
logging.info("UR_PLAYGROUND")
logging.info("UR_PLAYGROUND_0.8.1")

class URPlayground(QMainWindow):

Expand All @@ -41,7 +41,7 @@ def __init__(self, *args):
self.svgblock = svgBlock()
self.toolpath = None

self.setWindowTitle("UR_Playground")
self.setWindowTitle("UR_Playground_0.8.1")

self.initialise_blocks()
#self.make_log()
Expand Down Expand Up @@ -91,11 +91,15 @@ def check_toolpath(self): # FIXME ... this is not done well at all fix this asa
toolpath = Toolpath(self.svgblock.coordinates_travel[0], self.program.tcp[2])
coordinates = copy.copy(self.svgblock.coordinates_travel)
previous_pose = self.objRB.q
csys = m3d.Transform(self.svgblock.csys)
tcp = m3d.Transform(self.program.tcp)
print("tcp and csys:")
print(tcp)
print(csys)
print("_____" * 25)
for i, path in enumerate(coordinates):
for coord in path:
#convert coordinate to world coordinate system
csys = m3d.Transform(self.svgblock.csys)
tcp = m3d.Transform(self.program.tcp)

t = csys * m3d.Transform(coord)
t = t * tcp
Expand All @@ -110,12 +114,12 @@ def check_toolpath(self): # FIXME ... this is not done well at all fix this asa

desired_pose = rot_mat
p_column = np.array([[pose[0]/1000],[pose[1]/1000],[pose[2]/1000]])
print(p_column)
#print(p_column)

full_matrix = np.append(rot_mat, p_column,axis=1)
full_matrix = np.append(full_matrix, [[0,0,0,1]],axis = 0)
print(full_matrix)
print(coord)
#print(full_matrix)
#print(coord)

best_jpose = toolpath.invKine(full_matrix, previous_pose)
#self.objRB.JVars = best_jpose[:,1]
Expand All @@ -125,6 +129,7 @@ def check_toolpath(self): # FIXME ... this is not done well at all fix this asa
self.toolpath = toolpath.poses
print("tp ", self.toolpath)
#return toolpath.poses
del toolpath

#self.objRB.JVars = best_jpose
#self.RB.update()
Expand All @@ -137,15 +142,18 @@ def play_toolpath(self):
self.objRB.JVars = self.toolpath[int(tp_position)]
self.RB.update()
time.sleep(0.2)
else:
logging.info("No Toolpath. click check first")
#else:
#logging.info("No Toolpath. click check first")

def make_toolpath(self):
self.toolpath = None
self.check_toolpath()
tp_position = len(self.toolpath) * self.ui.sliderPlay.sliderPosition()/100
self.objRB.JVars = self.toolpath[int(tp_position)]
self.RB.update()
if len(self.svgblock.coordinates_travel) >0:
self.toolpath = None
self.check_toolpath()
tp_position = len(self.toolpath) * self.ui.sliderPlay.sliderPosition()/100
self.objRB.JVars = self.toolpath[int(tp_position)]
self.RB.update()
else:
logging.info("No Toolpath. Load SVG File first")

def update_toolpath_position(self):
#print("slider position: ", self.ui.sliderPlay.sliderPosition())
Expand Down
71 changes: 37 additions & 34 deletions svg_parser.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,8 @@ class SVGParse:
returns list of movement objects
"""

def __init__(self, filepath, tolerance):
def __init__(self, filepath, tolerance, scale):
self.scale = scale
self.path = filepath
self.tol = tolerance
self.movements = []
Expand All @@ -24,7 +25,7 @@ def convert_to_movements(self):
paths, attributes = svgpathtools.svg2paths(self.path)

for p_index, p in enumerate(paths):
print("----"*45)
#print("----"*45)

p_attributes = attributes[p_index] # current path's attributes

Expand All @@ -38,7 +39,7 @@ def interpolate_path(self,path,attributes):
movement = MoveColOpa() # each path has one movement object
length = path.length(error = self.tol)
# TODO: if tolerance is very high amount = 0 and div throws an error
amount = int(length / self.tol)
amount = int(length / self.tol * self.scale)
if amount == 0:
amount = 2
div = 1 / amount
Expand Down Expand Up @@ -106,13 +107,13 @@ def get_color(self,attributes):
# check if there is a gradient
if "url" in p_stroke:
grad_bool = True
print("gradient in p")
#print("gradient in p")
gradient_id = p_stroke[p_stroke.find("(") + 1: p_stroke.find(")")]
gradient_id = gradient_id.strip("#")

else:
grad_bool = False
print("no gradient")
#print("no gradient")

if grad_bool:
return "gradient",gradient_id
Expand All @@ -124,26 +125,27 @@ def get_color(self,attributes):

def color_at_param(self,gradient, param):
print("---"*25)
print("looking for color at param ")
#print("looking for color at param ")
color = []
stops = gradient.stop_offsets
print("stops: ", stops)

clrs = gradient.colors
for idx, offset in enumerate(stops) :
print("parsing all offsets.... current offset: ", offset, "at index: ", idx, "of: ", len(stops)-1)
print("offset: ", offset)
print("param: ", param)
print(len(gradient.opacities))
print(len(clrs))
print(len(stops))
#print("parsing all offsets.... current offset: ", offset, "at index: ", idx, "of: ", len(stops)-1)
#print("offset: ", offset)
#print("param: ", param)
#print(len(gradient.opacities))
#print(len(clrs))
#print(len(stops))

if idx < (len(stops) - 1):
print("next offset: ", stops[idx + 1])
#print("next offset: ", stops[idx + 1])
pass

# TODO:add case if param is smaller than first stop
if param == offset :
print("param = offset")
#print("param = offset")
return clrs[idx]
elif param >= offset and param >= stops[idx + 1]:
continue
Expand All @@ -152,7 +154,7 @@ def color_at_param(self,gradient, param):
para_1 = offset
para_2 = stops[idx +1]
position = (param - para_1) / (para_2 - para_1)
print("pos: ", position)
#print("pos: ", position)

col_1 = clrs[idx]
col_2 = clrs[idx + 1]
Expand All @@ -161,14 +163,14 @@ def color_at_param(self,gradient, param):
startval = rgb_val
endval = col_2[val]
interm_val = ((endval - startval) * position) + startval
print(interm_val)
#print(interm_val)
color.append(interm_val)
print("param", param)
print("colour at param: ", color)
#print("param", param)
#print("colour at param: ", color)
return color

elif param == stops[idx + 1]:
print("param = next offset")
#print("param = next offset")
return clrs[idx + 1]

def opacities_on_path(self, path, attributes, stepsize, amount):
Expand All @@ -192,7 +194,7 @@ def opacities_on_path(self, path, attributes, stepsize, amount):
opacities.append(opacity)
j += stepsize
else:
print("applying opacitiesthis many times: ", amount)
print("applying opacities this many times: ", amount)
# TODO: find out why you need to add 1 to the amount
opacities = [1] * (amount+1)

Expand All @@ -210,44 +212,45 @@ def get_path_opacity(self,path,attributes): # get the overall opacity of a path
return opacity

def opacity_at_param(self,gradient, param):
print("---" * 19)
print("looking for opacity at param ")
#print("---" * 19)
#print("looking for opacity at param ")

stops = gradient.stop_offsets
opas = gradient.opacities

for idx, offset in enumerate(stops):
print("parsing all offsets.... current offset: ", offset, "at index: ", idx, "of: ", len(stops) - 1)
print("offset: ", offset)
print("param: ", param)
#print("parsing all offsets.... current offset: ", offset, "at index: ", idx, "of: ", len(stops) - 1)
#print("offset: ", offset)
#print("param: ", param)

if idx < (len(stops) - 1):
print("next offset: ", stops[idx + 1])
#print("next offset: ", stops[idx + 1])
pass
if param == offset:
print("param = offset")
#print("param = offset")
return opas[idx]
elif param >= offset and param >= stops[idx + 1]:
continue
elif offset <= param <= stops[idx + 1]:
para_1 = offset
para_2 = stops[idx + 1]
position = (param - para_1) / (para_2 - para_1)
print("pos: ", position)
#print("pos: ", position)

opa_1 = opas[idx] # this is one float
opa_2 = opas[idx + 1]
print(type(opa_1))
print(type(opa_2))
#print(type(opa_1))
#print(type(opa_2))

opacity = ((opa_2 - opa_1) * position) + opa_1

print(type(opacity))
print("current param opacity: ", opacity)
#print(type(opacity))
# print("current param opacity: ", opacity)

return opacity

elif param == stops[idx + 1]:
print("param = next offset")
#print("param = next offset")
return opas[idx + 1]

def get_gradients(self):
Expand All @@ -260,7 +263,7 @@ def get_gradients(self):

if len(lin_gradients) > 0:
for g in lin_gradients:
print("g:", g)
#print("g:", g)
id = g.attributes["id"].value
grad = Gradient(id)

Expand Down

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