Gcode (#14)

* fix load gcode

* update readme

* fmt

* update readme

README.md

@@ -1,18 +1,16 @@
 # cnceye
 ![Test](https://github.com/OpenCMM/cnceye/actions/workflows/ci.yml/badge.svg)
 
-Cnceye indentifies the actual coordiantes of each vertex of a product from a image.
-From there, it will measure the dimensions of the product. Our goal is to make this process as easy as possible with less than 1 micro precision.
+cnceye measures the dimensions of a workpiece using the a laser triagulation sensor on a CNC machine.
 
+![a laser triagulation sensor](https://opencmm.xyz/assets/images/sensor-55b7cf98350f293eba2c2b9d593bdd4f.png)
 
 ## Simulation with Blender
 Create test data
 
 Prerequisites 
 - Blender 3.6.1 or later
 
-Change the output path in `scripts/create_test_images.py` and run
-
 ```bash
-blender "blender/example.blend" --background --python scripts/create_test_images.py
+blender "blender/measure.blend" --background --python scripts/demo.py -- tests/fixtures/gcode/edge.gcode
 ```

cnceye/edge/find.py

@@ -136,9 +136,9 @@ def identify_close_edge(edges, measured_edges, distance_threshold=2.5):
 def add_measured_edge_coord(edge_list: list, mysql_config=MYSQL_CONFIG):
     cnx = mysql.connector.connect(**mysql_config, database="coord")
     cursor = cnx.cursor()
-    insert_query = "UPDATE edge SET rx = %s, ry = %s, rz = %s WHERE id = %s"
+    query = "UPDATE edge SET rx = %s, ry = %s, rz = %s WHERE id = %s"
     try:
-        cursor.executemany(insert_query, edge_list)
+        cursor.executemany(query, edge_list)
     except IntegrityError:
         print("Error: unable to import lines")
     cnx.commit()

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "cnceye"
-version = "0.3.1"
+version = "0.3.2"
 description = "CMM python library"
 license = "MIT"
 authors = ["yuichiroaoki <45054071+yuichiroaoki@users.noreply.github.com>"]

scripts/demo.py

@@ -0,0 +1,96 @@
+"""
+Simulate the measurement of the 3D model by moving the sensor with G-code
+"""
+import bpy
+from mathutils import Vector
+import csv
+import sys
+
+# Get the active object (the 3D model)
+obj = bpy.data.objects["test-part"]
+
+ray_direction = Vector((0, 0, -1))
+
+# x, y, z, distance
+data = []
+
+# Ensure the object has a mesh
+assert obj.type == "MESH"
+
+
+def distance_to_analog_output(distance: float):
+    distance = distance * 1000 * 135  # m to mm, distance to analog output
+    return float(round(distance))
+
+
+def load_gcode(filepath: str):
+    with open(filepath, newline="") as csvfile:
+        reader = csv.reader(csvfile, delimiter=" ")
+        gcode = list(reader)
+    gcode = gcode[2:-2]
+    return gcode
+
+
+def move_start_point(_start_point, xyz, feedrate: float):
+    """
+    Move the start point to the given direction
+    _start_point: Vector (x, y, z) in m (relative to obj.location)
+    xyz: tuple (x, y, z) in mm
+    feedrate: float (mm/min)
+    sensor response time is 10ms
+    """
+    one_step_distance = feedrate / 1000 / 60 * 0.01  # m/step
+    destination = Vector(tuple([x / 1000 for x in xyz]))
+    total_distance_to_move = (destination - _start_point).length
+    loop_count = int(total_distance_to_move // one_step_distance)
+    move_vector = (destination - _start_point) / loop_count
+    for _ in range(loop_count):
+        distance = 0.14  # 140 mm
+        # Calculate the intersection point with the face
+        (hit, intersection_point, *_) = obj.ray_cast(_start_point, ray_direction)
+
+        if hit:
+            distance = start_point[2] - intersection_point[2]
+
+        # m to mm and round to 3 decimal places
+        xyz = [_start_point.x, _start_point.y, _start_point.z]
+        xyz = [round(x * 1000, 3) for x in xyz]
+
+        data.append([*xyz, distance_to_analog_output(distance)])
+        _start_point = _start_point + move_vector
+
+    return destination  # _start_point not may not become exactly the destination
+
+
+def row_to_xyz_feedrate(row):
+    x = float(row[1][1:])
+    y = float(row[2][1:])
+    z = float(row[3][1:])
+    feedrate = float(row[4][1:])
+    return (x, y, z, feedrate)
+
+
+# get filepath from arguments
+argv = sys.argv
+argv = argv[argv.index("--") + 1 :]
+assert len(argv) == 1
+gcode = load_gcode(argv[0])
+
+# Define the ray's starting point in object space
+first_row = gcode[0]
+(x, y, z, feedrate) = row_to_xyz_feedrate(first_row)
+start_point = Vector((x / 1000, y / 1000, 0.206))
+
+
+# start_point = Vector(initial_coord) - obj.location
+gcode = gcode[1:]
+
+for row in gcode:
+    (x, y, z, feedrate) = row_to_xyz_feedrate(row)
+    z = 206.0  # ignore z
+    start_point = move_start_point(start_point, (x, y, z), feedrate)
+
+# save as csv
+with open("demo.csv", "w", newline="") as csvfile:
+    writer = csv.writer(csvfile, delimiter=",")
+    writer.writerows(data)

scripts/simple_measurement.py

@@ -28,8 +28,7 @@ def load_gcode(filepath: str):
     with open(filepath, newline="") as csvfile:
         reader = csv.reader(csvfile, delimiter=" ")
         gcode = list(reader)
-    gcode.pop(0)
-    gcode.pop()
+    gcode = gcode[2:-2]
     return gcode
 
 

tests/fixtures/gcode/edge.gcode

@@ -1,3 +1,4 @@
+%
 O0001
 G1 X-52.5 Y0.0 Z10.0 F600
 G1 X-47.5 Y0.0 Z10.0 F300
@@ -16,3 +17,4 @@ G1 X27.5 Y38.0 Z10.0 F300
 G1 X47.5 Y0.0 Z10.0 F600
 G1 X52.5 Y0.0 Z10.0 F300
 M30
+%

tests/test_gcode.py

@@ -0,0 +1,15 @@
+import csv
+
+
+def load_gcode(filepath: str):
+    with open(filepath, newline="") as csvfile:
+        reader = csv.reader(csvfile, delimiter=" ")
+        gcode = list(reader)
+    gcode = gcode[2:-2]
+    return gcode
+
+
+def test_load_gcode():
+    filepath = "tests/fixtures/gcode/edge.gcode"
+    gcode = load_gcode(filepath)
+    assert len(gcode) == 16