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bgt.c
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bgt.c
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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#define PI 3.14159
void infill(int RES, float lh);
void tesselator(int RES, float layer, float zmax, float cooldown, float speed);
int main(void){
//backup default values if start sequence fails
float lh=0.6;
float zm=6;
float cl=10000;
float sp=60;
int lr=200;
int state=0;
int sel=0;
FILE *config;
config = fopen("config.bpc","r");
//default placeholders if fscan sequence doesnt work+init "global" variables
if(config == NULL){
printf("Could not read config.bpc, creating file...\n");
fprintf(config,"0.6 6 10000 60 200");
} else {
fscanf(config,"%f %f %f %f %d",&lh,&zm,&cl,&sp,&lr);
fprintf(config,"%f %f %f %f %d",lh,zm,cl,sp,lr);
printf("config.bpc successfully opened.");
}
fclose(config);
printf("\n");
//printf("\e[1;1H\e[2J");
while(state==0){
printf("\e[1;1H\e[2J");
printf("/-------------------------------------------------------\\\n");
printf("|--------------- Bioprinting GCode Tool ----------------|\n");
printf("|---------- v0.5, made by CJ Replogle c. 2023 ----------|\n");
printf("|-------------------------------------------------------|\n");
printf("| |\n");
printf("| 1: Generate New Scaffold |\n");
printf("| 2: Generate From Preset Infill Pattern |\n");
printf("| 3: Generate Infill |\n");
printf("| 4: Settings |\n");
printf("| 5: About this Program / Help |\n");
printf("| 6: Exit |\n");
printf("| |\n");
printf("\\------------------------------------------------------/\n\n-> ");
scanf("%i",&state);
switch (state) { //decision structure to determine what to do depending on user input
case 1:
printf("\e[1;1H\e[2J");
infill(lr,lh);
tesselator(lr,lh,zm,cl,sp);
printf("/-------------------------------------------------------\\\n");
printf("| Scaffold successfully generated! |\n");
printf("\\-------------------------------------------------------/\n\n");
printf("Input any value to return to the menu -> ");
scanf(" %d",&state);
printf("\e[1;1H\e[2J");
state=0;
break;
case 2:
printf("\e[1;1H\e[2J");
tesselator(lr,lh,zm,cl,sp);
printf("/-------------------------------------------------------\\\n");
printf("| Scaffold successfully generated! |\n");
printf("\\-------------------------------------------------------/\n\n");
printf("Input any value to return to the menu -> ");
scanf(" %d",&state);
printf("\e[1;1H\e[2J");
state=0;
break;
case 3:
printf("\e[1;1H\e[2J");
infill(lr,lh);
printf("/-------------------------------------------------------\\\n");
printf("| Infill successfully generated! |\n");
printf("\\-------------------------------------------------------/\n\n");
printf("Input any value to return to the menu -> ");
scanf(" %d",&state);
printf("\e[1;1H\e[2J");
state=0;
break;
case 4:
while(sel!=6){
printf("\e[1;1H\e[2J");
printf("\n1: Layer Height - %.3f mm\n",lh);
printf("2: Scaffold Height - %.3f mm\n",zm);
printf("3: Layer Cooldown - %.0f s\n",cl);
printf("4: Printhead Speed - %.1f mm/min\n",sp);
printf("5: Layer Resolution - %d mm/min\n",lr);
printf("\n6: Back\n");
printf("\n-> ");
scanf("%d",&sel);
switch (sel){
case 1:
printf("\n New Layer Height (mm) -> ");
scanf("%f",&lh);
break;
case 2:
printf("\n New Scaffold Height (mm) -> ");
scanf("%f",&zm);
break;
case 3:
printf("\n Layer Cooldown (s) -> ");
scanf("%f",&cl);
break;
case 4:
printf("\n Printhead Speed (mm/min) -> ");
scanf("%f",&sp);
break;
case 5:
printf("\n Layer Resolution (points/layer) -> ");
scanf("%d",&lr);
break;
}
printf("\e[1;1H\e[2J");
}
FILE *fset;
fset = fopen("config.bpc","w");
fprintf(fset,"%f %f %f %f %d",lh,zm,cl,sp,lr);
fclose(fset);
state=0;
sel=0;
break;
case 5:
printf("\e[1;1H\e[2J");
printf("/-------------------------------------------------------\\\n");
printf("| |\n");
printf("| For detailed description of different variables, see: |\n| https://github.com/cjreplogle/BGT/blob/main/help.md |\n");
printf("| |\n");
printf("\\-------------------------------------------------------/\n\n");
printf(" Input any value to return to the menu -> ");
char bk;
scanf(" %c",&bk);
state=0;
break;
case 6:
state=1;
break;
}
}
exit(0);
}
void infill(int RES, float lh){ //Parametric cylinder slicer made by CJ Replogle. Might generalize fill algorithms to any shape later.
//If my code explanations are not good enough, just email me or something (replogle.17@buckeyemail.osu.edu)
//Open input/output files
FILE *layer;
layer = fopen("layer.gcode","w");
if(layer == NULL){
printf("Could not open layer.gcode.");
}
printf("\nINFILL PATTERNING\n-----------------\n");
//Prompt user for different parameters
printf("\nINFILL TYPE (0=RECTILINEAR CYLINDER, 1=CONCENTRIC CYLINDER, 2=RECTILINEAR SQUARE): ");
int type;
scanf("\n%d",&type);
printf("\nRADIUS (MM): ");
float radius;
scanf("\n%f",&radius);
float ps;
float pd;
float pl;
float fill;
switch (type){
case 0:
//Scan pore size
printf("\nPORE SIZE (MM): ");
scanf("\n%f",&ps);
printf("\nPATH LINKAGE (1=YES, 0=NO): ");
scanf("\n%f",&pl);
pd=0;
fill=0;
break;
case 1:
//Scan pore size
printf("\nPORE DEPTH (MM): ");
scanf("\n%f",&pd);
//Scan print number of pores
printf("\nPORES PER LAYER(MM): ");
scanf("\n%f",&ps);
//Scan print fill
printf("\nFILL?:\n");
scanf("\n%f",&fill);
pl=0;
break;
case 2:
//Scan pore size
printf("\nPORE SIZE (MM): ");
scanf("\n%f",&ps);
pl=0;
pd=0;
fill=0;
break;
}
int sqindex=0;
//Generate points along circular curve
float pset[((int)ps+1)*RES][2];
float opd=pd;
int lc=0; //(layer count)
switch (type) {
case 0: //Generate circular 180 degree arc of "RES" points (RES=Resolution)
for(int i=0;i<RES;i++){
pset[i][0]=radius+radius*cos(i*PI/RES-PI);
pset[i][1]=radius*sin(i*PI/RES-PI);
}
int side=0;
float j=-1*radius;
int k=0;
for(float i=ps;i<=2*radius+ps;i+=ps){ //for each multiple of pore size x coord below diameter
j=-1*radius;
if(side==0){ //if odd
while(j<i){
j=pset[k][0]; //generate positive y point along circle
k++;
}
k--;
pset[k][1]=-1*pset[k][1]; //switch sides
k++;
side=1;
} else { //otherwise (if even)
while(j<i){
j=pset[k][0]; //generate negative y points along circle
pset[k][1]=-1*pset[k][1];
k++;
}
k--;
pset[k][1]=-1*pset[k][1]; //switch sides
k++;
side=0;
}
}
//Center coordinates along x y plane
for(int i=0;i<(RES);i++){
pset[i][0]=pset[i][0]-radius;
}
break;
case 1: //Radial mesh (higher interior porosity has inferior biologics)
do{ //do while moment!!! (it just does thing once first before checking loop condition)
pset[lc*RES][0]=(radius-pd)*-1;
pset[lc*RES][1]=0;
for(int i=1;i<RES;i++){ //move in radial pattern for certain angular distance, then move to inner radius and do same. When circle closed, move inwards/repeat.
if(((int)(2*ps*i/((float)RES)) % 2 ) == 1){
pset[i+lc*RES][0]=(radius-pd+opd)*cos(2*i*PI/RES-PI);
pset[i+lc*RES][1]=(radius-pd+opd)*sin(2*i*PI/RES-PI);
} else {
pset[i+lc*RES][0]=(radius-pd)*cos(2*i*PI/RES-PI);
pset[i+lc*RES][1]=(radius-pd)*sin(2*i*PI/RES-PI);
}
}
lc++;
pd+=(opd+lh);
ps=round(ps*(radius-opd)/(radius))-1;
} while (fill==1 && (radius-pd>0));
//Center coordinates along x y plane
for(int i=0;i<(RES);i++){
pset[i][0]=pset[i][0]-radius;
}
break;
case 2: //Square
sqindex=0;
float y=radius;
float x;
for(x=-1*radius; x<=radius+0.02;x+=ps){
pset[sqindex][0]=x;
pset[sqindex][1]=y;
sqindex++;
y*=-1;
if(x>radius){
break;
}
pset[sqindex][0]=x;
pset[sqindex][1]=y;
sqindex++;
}
pset[sqindex][0]=x;
pset[sqindex][1]=y;
sqindex++;
}
//Curve smoothing function
//To be added if needed.
//Parametrize points by arc length (pass thru points and calculate arc length numerically, divide by res, pass through points again and each time the distance reaches length/res replace the point)
//Convulute coordinate set over Gaussian distribution
//Output to console/file
float indextest=-1*radius; //This thing right here just figures out how to fully close the structure
int poreindex=0;
while(indextest<(-1*radius+ps)){
indextest=pset[poreindex][0];
poreindex++;
}
poreindex--;
if(pl==1){ //closes beginning of curve to side
for(int i=poreindex/1.5; i>=0;i--){
fprintf(layer,"G1 X%f Y%f E1;\n",pset[i][0],-1*pset[i][1]);
}
}
if(type==0){ //prints main curve segment
for(int i=0; i<RES;i++){
fprintf(layer,"G1 X%f Y%f E1;\n",pset[i][0],pset[i][1]);
}
}
if(type==2){ //prints main curve segment
for(int i=0; i<sqindex;i++){
fprintf(layer,"G1 X%f Y%f E1;\n",pset[i][0],pset[i][1]);
}
}
if(type==1){ //prints main curve segment for radially generated scaffolds
for(int i=0;i<lc;i++){
for(int j=i*RES;j<i*RES+RES;j++){
fprintf(layer,"G1 X%f Y%f E1;\n",pset[j][0],pset[j][1]);
}
fprintf(layer,"G1 X%f Y%f E0;\n",pset[i*RES][0],pset[i*RES][1]);
}
}
if(pl==1){ //prints end of curve to connect
for(int i=0; i<poreindex/2.1;i++){
fprintf(layer,"G1 X%f Y%f E1;\n",-1*pset[i][0],pset[i][1]);
}
}
fclose(layer);
}
void tesselator(int RES, float layer, float zmax, float cooldown, float speed){ //Main tesselator function for 2D cross section. Written by CJ Replogle.
//Open input/output files
FILE *in;
FILE *out;
in = fopen("layer.gcode","r");
out = fopen("output.gcode","w");
if(in == NULL){ //error thrown if files not opening properly (check read perms/run with admin)
printf("Could not read input.gcode. Try running this program w/ administrator or check that your root file has a 'layer.gcode' file.");
}
if(out == NULL){
printf("Unable to write to output.gcode. Try running this program w/ administrator.");
}
float coord[RES*2][3];
float tcoord[RES*2][3];
int cout=0;
//Scan for precursor values to coordinates and input them to 2D array
char tmpchar;
float tmpcoord;
while(feof(in)==0){
tmpchar = getc(in);
if((int)tmpchar == 88){ //if X read value after and store as X coord
fscanf(in,"%f",&tmpcoord);
coord[cout][0] = tmpcoord;
}
if((int)tmpchar == 89){ //if Y...
fscanf(in,"%f",&tmpcoord);
coord[cout][1] = tmpcoord;
}
if((int)tmpchar == 69){ //if E...
fscanf(in,"%f",&tmpcoord);
coord[cout][2] = tmpcoord;
cout++;
}
}
printf("\nLAYERING\n--------\n");
printf("\nHOW MANY PRINTHEADS: ");
float phead;
scanf("\n%f",&phead);
printf("\nHOW MANY SECTIONS: ");
int sect=1;
scanf("\n%d",§);
printf("\nWHAT ANGLE SHOULD THESE COORDINATES BE ROTATED: (DEGREES)\n\n");
float angle[sect];
for(int i=0; i<sect; i++){ //the for loops here just memory manage in the case specific setups are used in bilayer scaffolds
printf(" SECTION %d: ",i+1);
scanf("%f",&angle[i]);
angle[i]=3.14159*angle[i]/180;
}
printf("\nFLIP X: (1=YES, 0=NO)\n\n");
int fx[sect];
for(int i=0; i<sect; i++){
printf(" SECTION %d: ",i+1);
scanf("\n%i",&fx[i]);
}
printf("\nFLIP Y: (1=YES, 0=NO)\n\n");
int fy[sect];
for(int i=0; i<sect; i++){
printf(" SECTION %d: ",i+1);
scanf("\n%i",&fy[i]);
}
printf("\nRECURSIVE TRANSFORM: (1=YES, 0=NO)\n\n");
int rt[sect];
for(int i=0; i<sect; i++){
printf(" SECTION %d: ",i+1);
scanf("\n%i",&rt[i]);
}
//Prompt switchback layering
printf("\nSWITCHBACK LAYERING: (1=YES, 0=NO)\n\n");
int switchback[sect];
for(int i=0; i<sect; i++){
printf(" SECTION %d: ",i+1);
scanf("\n%i",&switchback[i]);
}
printf("\nDEBUG OUTPUT: \n\n");
//Calculate bi/trilayer switch points
float sw=zmax/phead;
int head=0;
if(fx[0]==1){ //initial transformation sequence (used if layer transformation is non recursive)
for(int i=0; i<cout;i++){
tcoord[i][0]=-1*coord[i][0];
}
} else {
for(int i=0; i<cout;i++){
tcoord[i][0]=coord[i][0];
}
}
if(fy[0]==1){
for(int i=0; i<cout;i++){
tcoord[i][1]=-1*coord[i][1];
}
} else {
for(int i=0; i<cout;i++){
tcoord[i][1]=coord[i][1];
}
}
for(int i=0; i<cout;i++){
float transx = tcoord[i][0]*cos(angle[0])+tcoord[i][1]*sin(angle[0]);
float transy = -1*tcoord[i][0]*sin(angle[0])+tcoord[i][1]*cos(angle[0]);
tcoord[i][0] = transx;
tcoord[i][1] = transy;
}
//Output to .gcode/console
fprintf(out,"M107 ;\nG21 ;\nG90 ;\nM83 ;\n"); //initiation gcode statement for biox cellink printer
if(phead>1){
printf("T0 ;\n"); //select printhead 1 if applicable
}
fprintf(out,"G1 Z%.3f;\n",layer); //move to starting z coordinate
fprintf(out,"G1 X0 Y0 F60;\n"); //move to starting xy coordinate
fprintf(out,"G4 P1000;\n"); //give printer a sec for extrusion to catch up (thanks cellink)
int layercout=1;
float sectiontrack=0;
float headtrack=0;
float previoushead=0;
for(float z=layer; z<=zmax; z+=layer){ //layer generator/transformer
sectiontrack=sect*z/zmax;
previoushead=headtrack;
headtrack=head*z/zmax;
if((int)headtrack > (int)previoushead){ //printhead selection
fprintf(out,"T%d;\n",(int)headtrack);
}
if(z!=layer){ //z axis movement
fprintf(out,"G4 P%f;\n",cooldown);
fprintf(out,"G1 Z%.3f;\n",z);
}
layercout++;
if(rt[(int)sectiontrack]!=1){ // odd layer non-recursive case
if(layercout%2==1){
fprintf(out,"G1 X%.3f Y%.3f ;\n",coord[0][0],coord[0][1]);
for(int i=1; i<cout;i++){
fprintf(out,"G1 X%.3f Y%.3f E1;\n",coord[i][0],coord[i][1]);
}
if(switchback[(int)sectiontrack]==1 && (z+layer<=zmax) && (layercout>2)){
printf("G4 P%f;\n",cooldown);
z+=layer;
fprintf(out,"G1 Z%.3f F%.3f;\n",z,speed);
for(int i=cout-1; i>=0;i--){
fprintf(out,"G1 X%.3f Y%.3f E1;\n",coord[i][0],coord[i][1]);
}
}
} else { //even layer non-recursive case
fprintf(out,"G1 X%.3f Y%.3f ;\n",tcoord[0][0],tcoord[0][1]);
for(int i=1; i<cout;i++){
fprintf(out,"G1 X%.3f Y%.3f E1;\n",tcoord[i][0],tcoord[i][1]);
}
if(switchback[(int)sectiontrack]==1 && (z+layer<=zmax) && (layercout>2)){ //switchback case
z+=layer;
fprintf(out,"G1 Z%.3f F%.3f;\n",z,speed);
for(int i=cout-1; i>=0;i--){
fprintf(out,"G1 X%.3f Y%.3f E1;\n",tcoord[i][0],tcoord[i][1]); //you reached the deepest part in the code congrats
}
}
}
} else { //recursive transformation case
if(fx[(int)sectiontrack]==1){ //check x layer swap
for(int i=0; i<cout;i++){
tcoord[i][0]=pow(-1,layercout)*coord[i][0];
}
} else {
for(int i=0; i<cout;i++){
tcoord[i][0]=coord[i][0];
}
}
if(fy[(int)sectiontrack]==1){ //check y layer swap
for(int i=0; i<cout;i++){
tcoord[i][1]=pow(-1,layercout)*coord[i][1];
}
} else {
for(int i=0; i<cout;i++){
tcoord[i][1]=coord[i][1];
}
}
for(int i=0; i<cout;i++){ //euler rotation matrix transformation (i am a better mathematician than euler)
float transx = tcoord[i][0]*cos(layercout*angle[(int)sectiontrack])+tcoord[i][1]*sin(layercout*angle[(int)sectiontrack]);
float transy = -1*tcoord[i][0]*sin(layercout*angle[(int)sectiontrack])+tcoord[i][1]*cos(layercout*angle[(int)sectiontrack]);
tcoord[i][0] = transx;
tcoord[i][1] = transy;
}
fprintf(out,"G1 X%.3f Y%.3f;\n",tcoord[0][0],tcoord[0][1]);
for(int i=1; i<cout-1;i++){ //print result :3
fprintf(out,"G1 X%.3f Y%.3f E1;\n",tcoord[i][0],tcoord[i][1]);
}
fprintf(out,"G1 X%.3f Y%.3f E1;\n",tcoord[cout-1][0],tcoord[cout-1][1]);
fprintf(out,"G1 X%.3f Y%.3f;\n",tcoord[cout-1][0],tcoord[cout-1][1]);
if(switchback[(int)sectiontrack]==1 && (z+layer<=zmax) && (layercout>2)){ //switchback layering case
fprintf(out,"G4 P%f;\n",cooldown);
z+=layer;
fprintf(out,"G1 Z%.3f F%.3f;\n",z,speed);
for(int i=cout-1; i>=0;i--){
fprintf(out,"G1 X%.3f Y%.3f E1;\n",tcoord[i][0],tcoord[i][1]);
}
fprintf(out,"G1 X%.3f Y%.3f;\n",tcoord[0][0],tcoord[0][1]);
}
}
}
fprintf(out,"M107 ;\nG0 \nM84 ;\n"); //printer end statement (dont touch unless you know what you're doing)
fclose(in);
fclose(out);
}