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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Arc Welder: Anti-Stutter Library
//
// Compresses many G0/G1 commands into G2/G3(arc) commands where possible, ensuring the tool paths stay within the specified resolution.
// This reduces file size and the number of gcodes per second.
//
// Uses the 'Gcode Processor Library' for gcode parsing, position processing, logging, and other various functionality.
//
// Copyright(C) 2020 - Brad Hochgesang
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// This program is free software : you can redistribute it and/or modify
// it under the terms of the GNU Affero General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
// GNU Affero General Public License for more details.
//
//
// You can contact the author at the following email address:
// FormerLurker@pm.me
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#pragma once
#include <string>
#include <limits>
#define PI_DOUBLE 3.14159265358979323846
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.0000000001 // fail
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.001 // pass
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.0001 // pass
// Todo: Figure out EXACTLY what this should be!!! 0.00001 is conservative
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.00001 // PASS , but fails to draw spiral test
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.000005 // Pass, but fails the spiral test
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.0000025 // Passes both... This is tricky...
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.000001 // fails on barbarian test!!!
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.0000001 // fail
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.0000005 // fail
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.00000075 // fail
//#define CIRCLE_GENERATION_A_ZERO_TOLERANCE 0.000000875 // fail
#include <list>
#include "utilities.h"
#include "array_list.h"
// The minimum theta value allowed between any two arc in order for an arc to be
// created. This prevents sign calculation issues for very small values of theta
#define DEFAULT_XYZ_PRECISION 3
#define DEFAULT_E_PRECISION 5
#define ARC_LENGTH_PERCENT_TOLERANCE_DEFAULT 0.01 // one percent
struct point
{
public:
point() :x(0), y(0), z(0), e_relative(0){}
point(double x, double y, double z, double e_relative)
: x(x), y(y), z(z), e_relative(e_relative){}
double x;
double y;
double z;
double e_relative;
static point get_midpoint(point p1, point p2);
};
struct segment
{
segment()
{
}
segment(point p_1, point p_2)
{
p1.x = p_1.x;
p1.y = p_1.y;
p1.z = p_1.z;
p2.x = p_2.x;
p2.y = p_2.y;
p2.z = p_2.z;
}
point p1;
point p2;
bool get_closest_perpendicular_point(point c, point& d);
static bool get_closest_perpendicular_point(point p1, point p2, point c, point& d);
};
struct vector : point
{
vector() {
x = 0;
y = 0;
z = 0;
}
vector(double p_x, double p_y, double p_z) {
x = p_x;
y = p_y;
z = p_z;
}
double get_magnitude();
static double cross_product_magnitude(vector v1, vector v2);
};
struct circle {
circle() {
center.x = 0;
center.y = 0;
center.z = 0;
radius = 0;
};
circle(point p, double r)
{
center.x = p.x;
center.y = p.y;
center.z = p.z;
radius = r;
}
point center;
double radius;
static bool try_create_circle(point p1, point p2, point p3, double max_radius, circle& new_circle);
double get_radians(const point& p1, const point& p2) const;
double get_polar_radians(const point& p1) const;
point get_closest_point(const point& p) const;
};
#define DEFAULT_RESOLUTION_MM 0.05
struct arc : circle
{
arc() {
center.x = 0;
center.y = 0;
center.z = 0;
radius = 0;
length = 0;
angle_radians = 0;
start_point.x = 0;
start_point.y = 0;
start_point.z = 0;
end_point.x = 0;
end_point.y = 0;
end_point.z = 0;
is_arc = false;
polar_start_theta = 0;
polar_end_theta = 0;
}
bool is_arc;
double length;
double angle_radians;
double polar_start_theta;
double polar_end_theta;
point start_point;
point end_point;
static bool try_create_arc(const circle& c, const point& start_point, const point& mid_point, const point& end_point, double approximate_length, arc& target_arc, double resolution = DEFAULT_RESOLUTION_MM, double path_tolerance_percent = ARC_LENGTH_PERCENT_TOLERANCE_DEFAULT);
static bool try_create_arc(const circle& c, const array_list<point>& points, double approximate_length, arc& target_arc, double resolution = DEFAULT_RESOLUTION_MM, double path_tolerance_percent = ARC_LENGTH_PERCENT_TOLERANCE_DEFAULT);
};
double distance_from_segment(segment s, point p);
#define DEFAULT_MIN_SEGMENTS 3
#define DEFAULT_MAX_SEGMENTS 50
class segmented_shape
{
public:
segmented_shape(int min_segments = DEFAULT_MIN_SEGMENTS,
int max_segments = DEFAULT_MAX_SEGMENTS,
double resolution_mm = DEFAULT_RESOLUTION_MM,
double path_tolerance_percent = ARC_LENGTH_PERCENT_TOLERANCE_DEFAULT
);
segmented_shape& operator=(const segmented_shape& pos);
virtual ~segmented_shape();
int get_num_segments();
int get_min_segments();
int get_max_segments();
double get_resolution_mm();
double get_path_tolerance_percent();
double get_shape_length();
double get_shape_e_relative();
void set_resolution_mm(double resolution_mm);
void reset_precision();
void update_xyz_precision(double precision);
void update_e_precision(double precision);
virtual bool is_shape() const;
// public virtual functions
virtual void clear();
virtual point pop_front();
virtual point pop_back();
virtual bool try_add_point(point p, double e_relative);
virtual std::string get_shape_gcode_absolute(double e_abs_start);
virtual std::string get_shape_gcode_relative();
bool is_extruding();
protected:
array_list<point> points_;
void set_is_shape(bool value);
unsigned char xyz_precision_;
unsigned char e_precision_;
double original_shape_length_;
double e_relative_;
bool is_extruding_;
double resolution_mm_;
bool is_shape_;
double path_tolerance_percent_;
private:
int min_segments_;
int max_segments_;
};
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