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v2 - Finalizing and short testing

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This commit is contained in:
Eduard Gerlitz 2025-03-12 14:37:23 +01:00
parent 261e3b4929
commit 10a0e86caf
18 changed files with 218 additions and 249 deletions
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7
MAIN.py
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@ -1,5 +1,4 @@
# main.py
from functions import *
from funct_inlay import *
from funct_wp import *
@ -34,7 +33,7 @@ def setup_group(frame, group_name, data, input_vars, selected_params, group_widg
param_var = selected_params[group_name] # Bind the dropdown to the corresponding selected_param entry
param_dropdown = ttk.Combobox(frame, textvariable=param_var, values=param_values)
group_widgets[group_name] = {"param_dropdown": param_dropdown} # Save for later reference
source_path = f"{folder_pictures}/{data['general']['initpic_name']}"
source_path = f"{folder_pictures}/{data['general']['notavailablepic_name']}"
# Handle missing picture case
if not os.path.exists(picture_path):
@ -273,7 +272,7 @@ def setup_evaluation(root, folder_pictures, data, folder_output, input_vars, sel
frame.grid(row=2, column=0, columnspan=5, padx=10, pady=10, sticky="nsew")
# Load and display the specific initial picture
picture_path = f"{folder_pictures}/{data['general']['initpic_name']}"
picture_path = f"{folder_pictures}/{data['general']['generatorpic_name']}"
group_image_tk = load_image(picture_path, 200) # Assuming a function load_image exists and works as expected
image_label = ttk.Label(frame, image=group_image_tk)
image_label.image = group_image_tk # Keep a reference to avoid garbage collection
@ -290,7 +289,7 @@ def setup_evaluation(root, folder_pictures, data, folder_output, input_vars, sel
# Place buttons in the vertical frame for operations
button_frame = ttk.Frame(frame)
button_frame.grid(row=0, column=1, padx=10, pady=10, sticky="n")
button1 = ttk.Button(button_frame, text="GENERATE DMUAUT_CFG.SPF FILE", width=45, command=btn_gen)
button1 = ttk.Button(button_frame, text="GEN CFG_DMUAUT.SPF FILE", width=45, command=btn_gen)
button1.grid(row=0, column=0, padx=10, pady=5)
button2 = ttk.Button(button_frame, text="GEN CFG_INLAY.SPF FILE", width=45, command=btn_gen_custom1)
button2.grid(row=1, column=0, padx=5, pady=5)

4
cfg_parsets/clp.yml
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@ -1,4 +0,0 @@
clp1:
clp_offset: '0'
clp2:
clp_offset: '0'

28
cfg_parsets/grp.yml
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@ -1,28 +0,0 @@
grp1:
h_offset: '30'
h_step: '10'
hub: '50'
steps_num: '5'
w_offset: '40'
w_step: '45'
grp2:
h_offset: '30'
h_step: '5'
hub: '10'
steps_num: '6'
w_offset: '20'
w_step: '10'
grp3:
h_offset: '10'
h_step: '25'
hub: '10'
steps_num: '5'
w_offset: '25'
w_step: '45'
newset:
h_offset: '10'
h_step: '25'
hub: '10'
steps_num: '5'
w_offset: '25'
w_step: '45'

6
cfg_parsets/inlay.yml
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@ -5,6 +5,6 @@
INL_Y_OFFSET: '50'
inlay1:
INL_X_NUM: '10'
INL_X_OFFSET: '50'
INL_Y_NUM: '9'
INL_Y_OFFSET: '50'
INL_X_OFFSET: '10'
INL_Y_NUM: '10'
INL_Y_OFFSET: '10'

8
cfg_parsets/wp.yml
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@ -1,9 +1,9 @@
wp1:
WPF_X: '20'
WPF_X: '15'
WPF_Y: '20'
WPF_Z: '20'
WPF_Z: '15'
WPR_X: '20'
WPR_Y: '20'
WPR_Z: '33'
WP_CLP_OFFSET_X: '4'
WPR_Z: '20'
WP_CLP_OFFSET_X: '5'
WP_GRP_OFFSET_Z: '5'

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cfg_picture/Thumbs.db
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cfg_picture/cat_wondering.png Normal file
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cfg_picture/img_clp.png
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cfg_picture/puppy - Kopie.png
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14
def.yml
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@ -1,6 +1,7 @@
general:
yolovar: int
initpic_name: puppy.png
notavailablepic_name: cat_wondering.png
generatorpic_name: dog_progr.png
groups:
inlay:
@ -25,8 +26,13 @@ groups:
picture_name: img_wp.png
clp:
parameter:
clp_offset: double
CLP_BACKENWEITE: double
CLP_BACKENHOHE: double
CLP_SPANNHOHE: double
CLP_AUFLAGETIEFE: double
MESSPOS_X: double
MESSPOS_Y: double
MESSPOS_Z: double
MESSPOS_TOL: double
cfg:
picture_name: img_clp.png

190
funct_clp.py
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@ -1,130 +1,116 @@
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
import numpy as np
from functions import *
def generate_picture_clp(all_group_vars, picture_path, DEBUG=False):
try:
# Get WPR_X, WPR_Y, and WPR_Z values
vars = all_group_vars['wp']
x_wpraw = float(vars['WPR_X'])
y_wpraw = float(vars['WPR_Y'])
z_wpraw = float(vars['WPR_Z'])
x_cube = x_wpraw*2
y_cube = y_wpraw*2
z_cube = z_wpraw
clp_offset = float(all_group_vars['clp']['clp_offset'])
vars = all_group_vars['clp']
CLP_BACKENWEITE, CLP_BACKENHOHE, CLP_SPANNHOHE, CLP_AUFLAGETIEFE = (float(vars[k]) for k in
['CLP_BACKENWEITE', 'CLP_BACKENHOHE',
'CLP_SPANNHOHE', 'CLP_AUFLAGETIEFE'])
# ERROR HANDLING
if x_cube <= 0 or y_cube <= 0 or z_cube <= 0:
raise ValueError("WPR_X, WPR_Y, and WPR_Z must be positive values.")
WPR_X = CLP_BACKENWEITE/2
WPR_Y = CLP_BACKENWEITE/2
WPR_Z = CLP_SPANNHOHE * 5
# Define the vertices of the cube based on wpraw dimensions
vertices = (np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
[0, 0, z_cube], [x_cube, 0, z_cube], [x_cube, y_cube, z_cube], [0, y_cube, z_cube]])
+ np.array([0, -clp_offset, 0]))
if min(WPR_X, WPR_Y, WPR_Z) <= 0:
raise ValueError("Dimensions must be positive.")
# Define the 6 faces of the cube
faces = [[vertices[j] for j in [0, 1, 2, 3]], # Bottom face
[vertices[j] for j in [4, 5, 6, 7]], # Top face
[vertices[j] for j in [0, 3, 7, 4]], # Left face
[vertices[j] for j in [1, 2, 6, 5]], # Right face
[vertices[j] for j in [0, 1, 5, 4]], # Front face
[vertices[j] for j in [2, 3, 7, 6]]] # Back face
fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
# Plot the cube in 3D
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
# Define raw workpiece dimensions
x_cube, y_cube, z_cube = 2 * WPR_X, 2 * WPR_Y, WPR_Z
vertices_raw = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
[0, 0, WPR_Z], [x_cube, 0, WPR_Z], [x_cube, y_cube, WPR_Z], [0, y_cube, WPR_Z]])
faces_raw = [vertices_raw[[0, 1, 2, 3]], vertices_raw[[4, 5, 6, 7]], vertices_raw[[0, 3, 7, 4]],
vertices_raw[[1, 2, 6, 5]], vertices_raw[[0, 1, 5, 4]], vertices_raw[[2, 3, 7, 6]]]
# Plot the cube with the specified faces
ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
# Set the aspect ratio for each axis
# Set axis properties
ax.set_box_aspect([x_cube, y_cube, z_cube])
ax.set(xticks=[], yticks=[], zticks=[])
# Hide the axis ticks and labels
ax.set_xticks([]) # Hide X axis ticks
ax.set_yticks([]) # Hide Y axis ticks
ax.set_zticks([]) # Hide Z axis ticks
# Draw WP coordinate system
axis_len = max(x_cube, y_cube, z_cube) * 0.2
colors = ['r', 'g', 'b']
origin_x = 0
origin_y = 0
origin_z = 0
for i, vec in enumerate(np.eye(3)):
ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'WP', color='black', fontsize=9, weight='bold', ha='center',
va='top')
# Add a ball (sphere) at the center of the cube
ball_radius = min(x_wpraw, y_wpraw, z_wpraw) * 0.1 # Size relative to cube dimensions
# Draw WP
ax.add_collection3d(Poly3DCollection(faces_raw, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
u = np.linspace(0, 2 * np.pi, 20)
v = np.linspace(0, np.pi, 20)
x_sphere = x_wpraw + ball_radius * np.outer(np.cos(u), np.sin(v))
y_sphere = y_wpraw - clp_offset + ball_radius * np.outer(np.sin(u), np.sin(v))
z_sphere = z_wpraw + ball_radius * np.outer(np.ones(np.size(u)), np.cos(v))
ax.plot_surface(x_sphere, y_sphere, z_sphere, color='red', alpha=1)
# Draw CLP coordinate system
axis_len = max(x_cube, y_cube, z_cube) * 0.15
colors = ['r', 'g', 'b']
origin_x = WPR_X
origin_y = WPR_Y
origin_z = 0
for i, vec in enumerate(np.eye(3)):
ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'CLP', color='blue', fontsize=9, weight='bold', ha='center',
va='top')
# Add the origin sparrow (a small 3D marker at the origin)
max_size = max(x_cube, y_cube, z_cube) * 0.2 # Scale the arrows relative to the smallest dimension
ax.quiver(0, -clp_offset, 0, max_size, 0, 0, color='red', linewidth=2, label='X-axis') # Red arrow for X-axis
ax.quiver(0, -clp_offset, 0, 0, max_size, 0, color='green', linewidth=2, label='Y-axis') # Green arrow for Y-axis
ax.quiver(0, -clp_offset, 0, 0, 0, max_size, color='blue', linewidth=2, label='Z-axis') # Blue arrow for Z-axis
# Define clamping block dimensions
clp_deep = y_cube * 0.3
base_x = WPR_X - CLP_BACKENWEITE / 2
alpha = 0.35
color = 'blue'
linewidth = 1
# Add two black blocks (greifer fingers) on the Y-faces in the middle of the cube height
max_size2 = max(x_cube, y_cube, z_cube) * 0.4 # Scale the arrows relative to the smallest dimension
ax.bar3d(-max_size2, -(2.0-1)/2 * y_cube, -z_wpraw * 0.0,
max_size2, 2.0 * y_cube, z_wpraw * 0.2,
color='black', alpha=.10)
ax.bar3d(-max_size2, -(2.0-1)/2 * y_cube, -z_wpraw * 0.0,
max_size2+3, 2.0 * y_cube, -z_wpraw * 0.2,
color='black', alpha=.10)
# Draw clamping blocks
x = base_x
dx = CLP_BACKENWEITE
y = 0
dy1 = clp_deep
dy2 = CLP_AUFLAGETIEFE
z = 0
dz1 = CLP_SPANNHOHE
dz2 = CLP_BACKENHOHE
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
alpha=alpha, linewidth=linewidth)
y = y_cube
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
alpha=alpha, linewidth=linewidth, inverty=True)
ax.bar3d(x_cube, -(2-1)/2 * y_cube, -z_wpraw * 0.0,
max_size2, 2.0 * y_cube, z_wpraw * 0.2,
color='black', alpha=.10)
ax.bar3d(x_cube-3, -(2-1)/2 * y_cube, -z_wpraw * 0.0,
max_size2+3, 2.0 * y_cube, -z_wpraw * 0.2,
color='black', alpha=.10)
# Draw text for geometry values
ax.text(0, 2*WPR_Y+clp_deep, CLP_SPANNHOHE/2, f'{CLP_SPANNHOHE}mm', color='blue', fontsize=9, weight='bold', ha='right', va='center')
ax.text(0, 2*WPR_Y+clp_deep, -CLP_BACKENHOHE/2, f'{CLP_BACKENHOHE}mm', color='blue', fontsize=9, weight='bold', ha='right', va='center')
ax.text(WPR_X, 2*WPR_Y+clp_deep, CLP_SPANNHOHE, f'{CLP_BACKENWEITE}mm', color='blue', fontsize=9, weight='bold', ha='right', va='center')
ax.text(WPR_X*2, 2*WPR_Y-CLP_AUFLAGETIEFE/2, 0, f'{CLP_AUFLAGETIEFE}mm', color='blue', fontsize=9, weight='bold', ha='left', va='bottom')
# Add the origin sparrow (a small 3D marker at the origin)
max_size3 = max(x_cube, y_cube, z_cube) * 0.3 # Scale the arrows relative to the smallest dimension
ax.quiver(x_wpraw, y_wpraw, 0, 0, max_size3, 0, color='red', linewidth=3, label='X-axis') # Red arrow for X-axis
ax.quiver(x_wpraw, y_wpraw, 0, -max_size3, 0, 0, color='green', linewidth=3, label='Y-axis') # Green arrow for Y-axis
ax.quiver(x_wpraw, y_wpraw, 0, 0, 0, max_size3, color='blue', linewidth=3, label='Z-axis') # Blue arrow for Z-axis
# Set viewing angle
ax.view_init(elev=30, azim=-150) # Set elevation to 24° and azimuth to -151°
# ax.view_init(elev=90, azim=180) # Set elevation to 24° and azimuth to -151°
# Set limits for the axes
# ax.set_xlim([0, x_cube])
# ax.set_ylim([0, y_cube])
# ax.set_zlim([0, z_cube])
# Set equal aspect ratio to make grid cells look square
ax.set_aspect('equal')
# Set view properties
z_trans = WPR_Z
zoom_factor = 1.5 # Adjust this factor to zoom out more or less
ax.view_init(elev=30, azim=-160)
ax.set_xlim([-x_cube * zoom_factor * 0.1, x_cube * zoom_factor])
ax.set_ylim([-y_cube * zoom_factor * 0.1, y_cube * zoom_factor])
ax.set_zlim([-WPR_Z * zoom_factor * 0.1 - z_trans, WPR_Z * zoom_factor - z_trans])
ax.set_aspect('auto')
ax.grid(False) # Remove grid lines
ax.set_xticks([])
ax.set_yticks([])
ax.set_zticks([])
for axis in [ax.xaxis, ax.yaxis, ax.zaxis]:
axis.set_pane_color((1, 1, 1, 0)) # Hide background panes
axis.line.set_color((1, 1, 1, 0)) # Hide axis lines
# Save or display the plot
if not DEBUG:
# Save the figure to the specified picture path
fig.savefig(picture_path, bbox_inches='tight', pad_inches=0.1, dpi=300, transparent=True)
fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
else:
plt.show()
# Close the figure to free memory
plt.close()
except ValueError as ve:
# Handle value error (e.g., invalid input)
print(f"Invalid Input: Error: {ve}")
except Exception as e:
# Catch any other exceptions and show a generic error message
print(f"An error occurred while generating the 3D cube: {e}")
# Example use-case
if __name__ == "__main__":
all_group_vars = {
'wp_raw': {
'WPR_X': '10', # Example values for testing
'WPR_Y': '15',
'WPR_Z': '20'
},
'clp': {
'clp_offset': '4'
'CLP_BACKENWEITE': 25,
'CLP_BACKENHOHE': 20,
'CLP_SPANNHOHE': 3,
'CLP_AUFLAGETIEFE': 3
}
}
generate_picture_clp(all_group_vars, 'output_image.png', DEBUG=True)
generate_picture_clp({'clp': all_group_vars}, "cfg_picture/TEST_wpraw.jpg", DEBUG=True)

15
funct_gen.py
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@ -7,7 +7,8 @@ import paramiko
import yaml
import shutil
# Function to generate the DMUAUT_CFG.SPF configuration file and save selected parameter sets
# Function to generate the CFG_DMUAUT.SPF configuration file and save selected parameter sets
def generate_config_spf(folder_output, input_vars, selected_params):
# Get the current timestamp for folder name (format: YYMMDD_HHmmSS)
timestamp = time.strftime("%y%m%d_%H%M%S")
@ -18,7 +19,7 @@ def generate_config_spf(folder_output, input_vars, selected_params):
os.makedirs(folder_path)
# Define the file path for the SPF configuration file
spf_file_path = os.path.join(folder_path, "DMUAUT_CFG.SPF")
spf_file_path = os.path.join(folder_path, "CFG_DMUAUT.SPF")
# Generate the SPF file content
with open(spf_file_path, "w") as spf_file:
@ -45,14 +46,13 @@ def generate_config_spf(folder_output, input_vars, selected_params):
print(f"Configuration files saved in {folder_path}")
os.startfile(folder_path)
def generate_config_spf_custom1(folder_output, input_vars, selected_params, filetransfer=False):
filename = "CFG_INL.SPF"
filename2 = "_N_CFG_INL_SPF"
# Get the current timestamp for folder name (format: YYMMDD_HHmmSS)
timestamp = time.strftime("%y%m%d_%H%M%S")
folder_path = os.path.join(folder_output, f"{timestamp}")
@ -105,7 +105,7 @@ def generate_config_spf_custom1(folder_output, input_vars, selected_params, file
spf_file_path2 = os.path.join(folder_path, filename2)
shutil.copyfile(spf_file_path, spf_file_path2)
#try:
# try:
# Transfer to Sinumerik
url2 = "192.168.214.1"
ssh_username = "manufact"
@ -114,7 +114,7 @@ def generate_config_spf_custom1(folder_output, input_vars, selected_params, file
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(url2,username=ssh_username,password=ssh_password)
ssh.connect(url2, username=ssh_username, password=ssh_password)
sftp = ssh.open_sftp()
sftp.chdir(upload_folder_nc)
if filename2 in sftp.listdir():
@ -126,8 +126,7 @@ def generate_config_spf_custom1(folder_output, input_vars, selected_params, file
os.remove(spf_file_path2)
print(f"------->>>> FILE TRANSFERED TO SINUMERIK ------->>>> ")
#except Exception as e:
# except Exception as e:
# print(f"ERROR IN FILETRANSFER {e}")
else:
os.startfile(folder_path)

133
funct_wp.py
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@ -1,33 +1,31 @@
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
import numpy as np
import trimesh
from functions import *
def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
# try:
vars = all_group_vars['wp']
WPR_X, WPR_Y, WPR_Z, WPF_X, WPF_Y, WPF_Z, WP_CLP_OFFSET_X, WP_GRP_OFFSET_Z = (float(vars[k]) for k in
['WPR_X', 'WPR_Y', 'WPR_Z', 'WPF_X', 'WPF_Y', 'WPF_Z', 'WP_CLP_OFFSET_X', 'WP_GRP_OFFSET_Z'])
['WPR_X', 'WPR_Y', 'WPR_Z', 'WPF_X',
'WPF_Y', 'WPF_Z', 'WP_CLP_OFFSET_X',
'WP_GRP_OFFSET_Z'])
if min(WPR_X, WPR_Y, WPR_Z, WPF_X, WPF_Y, WPF_Z) <= 0:
raise ValueError("Dimensions must be positive.")
fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
# -------------------- wpraw -------------------------------------------------------------------------------------
# Define raw workpiece dimensions
x_cube, y_cube, z_cube = 2 * WPR_X, 2 * WPR_Y, WPR_Z
vertices_raw = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
[0, 0, WPR_Z], [x_cube, 0, WPR_Z], [x_cube, y_cube, WPR_Z], [0, y_cube, WPR_Z]])
faces_raw = [vertices_raw[[0, 1, 2, 3]], vertices_raw[[4, 5, 6, 7]], vertices_raw[[0, 3, 7, 4]],
vertices_raw[[1, 2, 6, 5]], vertices_raw[[0, 1, 5, 4]], vertices_raw[[2, 3, 7, 6]]]
# Achsen-Einstellungen zusammenfassen
# Set axis properties
ax.set_box_aspect([x_cube, y_cube, z_cube])
ax.set(xticks=[], yticks=[], zticks=[])
# KOS WP zeichnen
# Draw WP coordinate system
axis_len = max(x_cube, y_cube, z_cube) * 0.2
colors = ['r', 'g', 'b']
origin_x = 0
@ -35,13 +33,13 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
origin_z = 0
for i, vec in enumerate(np.eye(3)):
ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
ax.text(origin_x, origin_y, origin_z-axis_len*0.3, 'WP', color='black', fontsize=9, weight='bold')
ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'WP', color='black', fontsize=9, weight='bold', ha='center',
va='top')
# WP
# Draw WP
ax.add_collection3d(Poly3DCollection(faces_raw, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
# GRIFFPUNKT
# Draw gripping point
u, v = np.mgrid[0:2 * np.pi:20j, 0:np.pi:20j]
ball_radius = min(WPR_X, WPR_Y, WPR_Z) * 0.1
ax.plot_surface(
@ -51,7 +49,7 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
color='r'
)
# GREIFER
# Draw gripper
gripper_thickness = max(x_cube, y_cube, z_cube) * 0.1
gripper_wide = WPR_X * 0.4
GRP_ALPHA = .40
@ -66,10 +64,10 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
color='r', alpha=GRP_ALPHA, edgecolor='k', linewidth=0.5
)
# -------------------- wpfin---------------------------------------------------------------------------------
# Define finished workpiece dimensions
x_cube2, y_cube2, z_cube2 = 2 * WPF_X, 2 * WPF_Y, WPF_Z
# GRIFFPUNKT
# Draw gripping point for finished workpiece
u, v = np.mgrid[0:2 * np.pi:20j, 0:np.pi:20j]
ball_radius = min(WPF_X, WPF_Y, WPF_Z) * 0.08
ax.plot_surface(
@ -79,13 +77,11 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
color='g'
)
# GREIFER
# Draw gripper for finished workpiece
gripper_thickness2 = max(x_cube, y_cube, z_cube) * 0.05
gripper_wide2 = WPR_X * 0.4
GRP_ALPHA2 = .25
# wpf_y_offs = (np.sign(WPF_Y-WPR_Y)/2+.5) * (WPF_Y-WPR_Y)
yyy2 = [-gripper_thickness2, y_cube2] if WPF_Y < WPR_Y else [-gripper_thickness2+(WPF_Y-WPR_Y)*2, y_cube]
yyy2 = [-gripper_thickness2, y_cube2] if WPF_Y < WPR_Y else [-gripper_thickness2 + (WPF_Y - WPR_Y) * 2, y_cube]
bars = [
((x_cube2 - gripper_wide2) * 0.5, yyy2[0], WPF_Z - WP_GRP_OFFSET_Z),
((x_cube2 - gripper_wide2) * 0.5, yyy2[1], WPF_Z - WP_GRP_OFFSET_Z),
@ -97,9 +93,7 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
color='g', alpha=GRP_ALPHA2, edgecolor='k', linewidth=0.5
)
# -------------------- clp -------------------------------------------------------------------------------------
# KOS CLP zeichnen
# Draw CLP coordinate system
axis_len = max(x_cube, y_cube, z_cube) * 0.15
colors = ['r', 'g', 'b']
origin_x = WPR_X - WP_CLP_OFFSET_X
@ -107,88 +101,65 @@ def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
origin_z = 0
for i, vec in enumerate(np.eye(3)):
ax.quiver(origin_x, origin_y, origin_z, *(axis_len * vec), color=colors[i], linewidth=3)
ax.text(origin_x, origin_y, origin_z-axis_len*0.3, 'CLP', color='blue', fontsize=9, weight='bold')
# Add two black blocks on the Y-faces in the middle of the cube height
ax.text(origin_x, origin_y, origin_z - axis_len * 0.3, 'CLP', color='blue', fontsize=9, weight='bold', ha='center',
va='top')
# Define clamping block dimensions
clp_height = z_cube * 0.2
clp_width = 0.6 * x_cube
clp_deep = y_cube * 0.3 # Scale the arrows relative to the smallest dimension
clp_supportdeep = 3 # Scale the arrows relative to the smallest dimension
base_x = WPR_X - clp_width/2
clp_deep = y_cube * 0.3
clp_supportdeep = 3
base_x = WPR_X - clp_width / 2
alpha = 0.35
color = 'blue'
linewidth = 0
linewidth = 1
# Replace the bar3d calls with plot_merged_cubes_trimesh
# Draw clamping blocks
x = base_x - WP_CLP_OFFSET_X
dx = clp_width
y = 0
dy1 = clp_deep
dy2 = clp_supportdeep
z = 0
dz = clp_height
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz, color=color,
dz1 = z_cube * 0.2
dz2 = z_cube * 0.6
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
alpha=alpha, linewidth=linewidth)
y = y_cube
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz, color=color,
plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color=color,
alpha=alpha, linewidth=linewidth, inverty=True)
# -------------------- view -------------------------------------------------------------------------------------
ax.view_init(elev=18, azim=-130)
# ax.view_init(elev=45, azim=-160)
ax.set_xlim([0, x_cube]); ax.set_ylim([0, y_cube]); ax.set_zlim([0, WPR_Z])
# Set view properties
z_trans = WPR_Z*0.2
zoom_factor = 1.1 # Adjust this factor to zoom out more or less
ax.view_init(elev=30, azim=-160)
ax.set_xlim([-x_cube * zoom_factor * 0.1, x_cube * zoom_factor])
ax.set_ylim([-y_cube * zoom_factor * 0.1, y_cube * zoom_factor])
ax.set_zlim([-WPR_Z * zoom_factor * 0.1 - z_trans, WPR_Z * zoom_factor - z_trans])
ax.set_aspect('auto')
ax.grid(False) # Remove grid lines
ax.set_xticks([])
ax.set_yticks([])
ax.set_zticks([])
for axis in [ax.xaxis, ax.yaxis, ax.zaxis]:
axis.set_pane_color((1, 1, 1, 0)) # Hide background panes
axis.line.set_color((1, 1, 1, 0)) # Hide axis lines
# Save or display the plot
if not DEBUG:
fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
else:
plt.show()
plt.close()
# except Exception as e:
# print(f"An error occurred: {e}")
def plot_clamping(ax, x, y, z, dx, dy1, dy2, dz, color='blue', alpha=0.5,
linewidth=1, inverty=False):
"""Plots merged cubes using trimesh, hiding mesh edges and drawing specific edges manually."""
dyy1 = y - dy1 / 2 if not inverty else y + dy1 / 2
dyy2 = y - (dy1-dy2) / 2 if not inverty else y + (dy1-dy2)/2
# Create and translate Cube 1
cube1 = trimesh.creation.box(extents=[dx, dy1, dz])
cube1.apply_translation([x + dx / 2, dyy1, z + dz / 2])
# Create and translate Cube 2
cube2 = trimesh.creation.box(extents=[dx, dy2+dy1, dz])
cube2.apply_translation([x + dx / 2, dyy2, z - dz / 2])
try:
# Perform boolean union
merged = trimesh.boolean.union([cube1, cube2])
# Create Poly3DCollection with NO edges
ax.add_collection3d(Poly3DCollection(
merged.vertices[merged.faces],
facecolors=color, alpha=alpha, edgecolors=color, linewidth=linewidth
))
except Exception as e:
print(f"Trimesh union failed: {e}")
if __name__ == "__main__":
vars = {'WPR_X': 20, 'WPR_Y': 15, 'WPR_Z': 20, 'WPF_X': 10, 'WPF_Y': 18, 'WPF_Z': 10, 'WP_CLP_OFFSET_X': 3, 'WP_GRP_OFFSET_Z': 5}
vars = {'WPR_X': 20,
'WPR_Y': 15,
'WPR_Z': 20,
'WPF_X': 10,
'WPF_Y': 18,
'WPF_Z': 15,
'WP_CLP_OFFSET_X': 3,
'WP_GRP_OFFSET_Z': 5}
generate_picture_wp({'wp': vars}, "cfg_picture/TEST_wpraw.jpg", DEBUG=True)
# vars = {'x_wpfin': 10, 'y_wpfin': 20, 'z_wpfin': 20, 'l_wpfin': 10}
# generate_picture_wpfin({'wp_fin': vars}, "cfg_picture/TEST_wpfin.jpg", DEBUG=True)

40
functions.py
View File

@ -5,6 +5,9 @@ from PIL import Image, ImageTk
from tkinter import ttk, filedialog, messagebox
import tkinter as tk
import os
import trimesh
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
import numpy as np
# Function to load object definitions from YAML
@ -87,3 +90,40 @@ def create_new_param_popup(root, group_name, input_vars, param_values, param_dro
new_window.destroy()
tk.Button(new_window, text="Create", command=create_param_set).pack(pady=10)
# -------------------------------------------------------------------------------------------------------
def plot_clamping(ax, x, y, z, dx, dy1, dy2, dz1, dz2, color='blue', alpha=0.5, linewidth=1, inverty=False):
"""Efficiently plots an L-shaped merged cube structure and draws only axis-aligned edges."""
# Compute Y offsets
dyy1, dyy2 = (y - dy1 / 2, y - (dy1 - dy2) / 2) if not inverty else (y + dy1 / 2, y + (dy1 - dy2) / 2)
# Create and position both cubes
cubes = [
trimesh.creation.box(extents=[dx, dy1, dz1]).apply_translation([x + dx / 2, dyy1, z + dz1 / 2]),
trimesh.creation.box(extents=[dx, dy1 + dy2, dz2]).apply_translation([x + dx / 2, dyy2, z - dz2 / 2])
]
try:
# Perform boolean union on merged cubes
merged = trimesh.boolean.union(cubes)
# Extract vertices and edges
vertices = np.array(merged.vertices)
edges = merged.edges_unique
# Add merged faces without visible edges
ax.add_collection3d(Poly3DCollection(
vertices[merged.faces], facecolors=color, alpha=alpha, edgecolors=None, linewidth=0
))
# Draw only axis-aligned edges
for edge in edges:
v1, v2 = vertices[edge]
if np.isclose(v1, v2, atol=1e-6).sum() == 2: # Only one coordinate changes
ax.plot(*zip(*[v1, v2]), color='black', linewidth=linewidth)
except Exception as e:
print(f"Trimesh union failed: {e}")