From 83aa8eae68a82569110c51e995b090e45f711e9f Mon Sep 17 00:00:00 2001 From: Jeremy Rose Date: Wed, 16 Sep 2020 17:45:52 -0700 Subject: [PATCH 1/2] wip: cli-driven plotting --- package-lock.json | 877 +++++++++++++++++++++++++++++++++++++++++++--- package.json | 1 + src/cli.ts | 115 ++++-- src/global.d.ts | 24 ++ 4 files changed, 939 insertions(+), 78 deletions(-) diff --git a/package-lock.json b/package-lock.json index 15ffc8a7..7e871db8 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1504,6 +1504,33 @@ "integrity": "sha512-HJ7CfNHrfJLlNTzIEUTj43LNWGkqpRLxm3YjAlcD0ACydk9XynzYsCBHxut+iqt+1aBXkx9UP/w/ZqMr13XIzg==", "dev": true }, + "acorn-node": { + "version": "1.8.2", + "resolved": "https://registry.npmjs.org/acorn-node/-/acorn-node-1.8.2.tgz", + "integrity": "sha512-8mt+fslDufLYntIoPAaIMUe/lrbrehIiwmR3t2k9LljIzoigEPF27eLk2hy8zSGzmR/ogr7zbRKINMo1u0yh5A==", + "requires": { + "acorn": "^7.0.0", + "acorn-walk": "^7.0.0", + "xtend": "^4.0.2" + }, + "dependencies": { + "acorn": { 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true + "integrity": "sha1-hnrHTjhkGHsdPUfZlqeOxciDB3c=" }, "typedarray-to-buffer": { "version": "3.1.5", @@ -9738,6 +10476,47 @@ } } }, + "unicode-properties": { + "version": "1.3.1", + "resolved": "https://registry.npmjs.org/unicode-properties/-/unicode-properties-1.3.1.tgz", + "integrity": "sha512-nIV3Tf3LcUEZttY/2g4ZJtGXhWwSkuLL+rCu0DIAMbjyVPj+8j5gNVz4T/sVbnQybIsd5SFGkPKg/756OY6jlA==", + "requires": { + "base64-js": "^1.3.0", + "unicode-trie": "^2.0.0" + }, + "dependencies": { + "pako": { + "version": "0.2.9", + "resolved": "https://registry.npmjs.org/pako/-/pako-0.2.9.tgz", + "integrity": "sha1-8/dSL073gjSNqBYbrZ7P1Rv4OnU=" + }, + "unicode-trie": { + "version": "2.0.0", + "resolved": "https://registry.npmjs.org/unicode-trie/-/unicode-trie-2.0.0.tgz", + "integrity": "sha512-x7bc76x0bm4prf1VLg79uhAzKw8DVboClSN5VxJuQ+LKDOVEW9CdH+VY7SP+vX7xCYQqzzgQpFqz15zeLvAtZQ==", + "requires": { + "pako": "^0.2.5", + "tiny-inflate": "^1.0.0" + } + } + } + }, + "unicode-trie": { + "version": "0.3.1", + "resolved": "https://registry.npmjs.org/unicode-trie/-/unicode-trie-0.3.1.tgz", + "integrity": "sha1-1nHd3YkQGgi6w3tqUWEBBgIFIIU=", + "requires": { + "pako": "^0.2.5", + "tiny-inflate": "^1.0.0" + }, + "dependencies": { + "pako": { + "version": "0.2.9", + "resolved": "https://registry.npmjs.org/pako/-/pako-0.2.9.tgz", + "integrity": "sha1-8/dSL073gjSNqBYbrZ7P1Rv4OnU=" + } + } + }, "union-value": { "version": "1.0.1", "resolved": "https://registry.npmjs.org/union-value/-/union-value-1.0.1.tgz", @@ -10339,8 +11118,7 @@ "wordwrap": { "version": "1.0.0", "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-1.0.0.tgz", - "integrity": "sha1-J1hIEIkUVqQXHI0CJkQa3pDLyus=", - "dev": true + "integrity": "sha1-J1hIEIkUVqQXHI0CJkQa3pDLyus=" }, "worker-farm": { "version": "1.7.0", @@ -10467,8 +11245,7 @@ "xtend": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz", - "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68=", - "dev": true + "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68=" }, "y18n": { "version": "4.0.0", diff --git a/package.json b/package.json index 88fd91d2..92886fb1 100644 --- a/package.json +++ b/package.json @@ -64,6 +64,7 @@ "express": "^4.16.4", "flatten-svg": "^0.2.1", "serialport": "^8.0.7", + "svgdom": "0.0.21", "wake-lock": "^0.2.0", "ws": "^6.1.3", "yargs": "^15.4.1" diff --git a/src/cli.ts b/src/cli.ts index 0b61ad65..804e86a8 100644 --- a/src/cli.ts +++ b/src/cli.ts @@ -1,40 +1,99 @@ import yargs from "yargs"; import {connectEBB, startServer} from "./server"; +import {plan, AxidrawFast} from "./planning"; +import {Window} from "svgdom"; +import * as fs from "fs"; +import {flattenSVG} from "flatten-svg"; +import { Vec2 } from "./vec"; +import { formatDuration } from "./util"; + +function parseSvg(svg: string) { + const window = new Window + window.document.documentElement.innerHTML = svg + return window.document.documentElement +} export function cli(argv: string[]): void { - const args = yargs.strict() - .option("port", { - alias: "p", - default: Number(process.env.PORT || 9080), - describe: "TCP port on which to listen", - type: "number" - }) + yargs.strict() .option("device", { alias: "d", describe: "device to connect to", type: "string" }) - .option("enable-cors", { - describe: "enable cross-origin resource sharing (CORS)", - type: "boolean" - }) - .option("firmware-version", { - describe: "print the device's firmware version and exit", - type: "boolean" - }) + .command('$0', 'run the saxi web server', + yargs => yargs + .option("port", { + alias: "p", + default: Number(process.env.PORT || 9080), + describe: "TCP port on which to listen", + type: "number" + }) + .option("enable-cors", { + describe: "enable cross-origin resource sharing (CORS)", + type: "boolean" + }) + .option("firmware-version", { + describe: "print the device's firmware version and exit", + type: "boolean" + }), + args => { + if (args["firmware-version"]) { + connectEBB(args.device).then(async (ebb) => { + if (!ebb) { + console.error(`No EBB connected`); + return process.exit(1); + } + const fwv = await ebb.firmwareVersion(); + console.log(fwv); + await ebb.close(); + }); + } else { + startServer(args.port, args.device, args["enable-cors"]); + } + } + ) + .command('plot ', 'plot an svg, then exit', + yargs => yargs + .positional("file", { + type: 'string', + description: "File to plot", + }) + .option("paper-size", { + alias: "s", + describe: "Paper size to use", + type: "boolean", + required: true + }), + async args => { + console.log("reading svg...") + const svg = fs.readFileSync(args.file, 'utf8') + console.log("parsing svg...") + const parsed = parseSvg(svg) + console.log("flattening svg...") + const lines = flattenSVG(parsed, {}) + console.log("generating motion plan...") + const profile = AxidrawFast + const p = plan(linesToVecs(lines), profile) + console.log(`${p.motions.length} motions, estimated duration: ${formatDuration(p.duration())}`) + console.log("connecting to plotter...") + const ebb = await connectEBB(args.device) + if (!ebb) { + console.error("Couldn't connect to device!") + process.exit(1) + } + console.log("plotting...") + ebb.executePlan(p) + console.log("done!") + } + ) .parse(argv); +} - if (args["firmware-version"]) { - connectEBB(args.device).then(async (ebb) => { - if (!ebb) { - console.error(`No EBB connected`); - return process.exit(1); - } - const fwv = await ebb.firmwareVersion(); - console.log(fwv); - await ebb.close(); - }); - } else { - startServer(args.port, args.device, args["enable-cors"]); - } +function linesToVecs(lines: any[]): Vec2[][] { + return lines.map((line) => { + const a = line.points.map(([x, y]: [number, number]) => ({x, y})); + (a as any).stroke = line.stroke; + (a as any).groupId = line.groupId; + return a; + }); } diff --git a/src/global.d.ts b/src/global.d.ts index a4c723f9..23d13485 100644 --- a/src/global.d.ts +++ b/src/global.d.ts @@ -1,3 +1,27 @@ declare module '*.svg'; +declare module 'svgdom'; declare module 'wake-lock'; declare module '@serialport/binding-mock'; + +declare module 'flatten-svg/index' { + export { flattenSVG } from "flatten-svg/svg-to-paths"; + +} +declare module 'flatten-svg/svg-to-paths' { + interface Options { + maxError: number; + } + type Point = [number, number]; + interface Line { + points: Point[]; + stroke?: string; + groupId?: string; + } + export function flattenSVG(svg: SVGElement, options?: Partial): Line[]; + export {}; + +} +declare module 'flatten-svg' { + import main = require('flatten-svg/index'); + export = main; +} From 5e039059c12c7bf1ea9d135ab301287a503d500b Mon Sep 17 00:00:00 2001 From: Jeremy Apthorp Date: Tue, 22 Sep 2020 23:15:08 -0700 Subject: [PATCH 2/2] better planning, plan options on cli --- src/background-planner.ts | 85 +-------------------- src/cli.ts | 157 ++++++++++++++++++++++++++++++++++++-- src/massager.ts | 84 ++++++++++++++++++++ src/planning.ts | 2 +- src/ui.tsx | 6 +- 5 files changed, 241 insertions(+), 93 deletions(-) create mode 100644 src/massager.ts diff --git a/src/background-planner.ts b/src/background-planner.ts index a09023ea..2fd69169 100644 --- a/src/background-planner.ts +++ b/src/background-planner.ts @@ -1,8 +1,4 @@ -import * as Optimization from "./optimization"; -import * as Planning from "./planning"; -import {Device, Plan, PlanOptions} from "./planning"; -import {dedupPoints, scaleToPaper, cropToMargins} from "./util"; -import {Vec2, vmul} from "./vec"; +import { replan } from './massager'; self.addEventListener("message", (m) => { const {paths, planOptions} = m.data; @@ -13,85 +9,6 @@ self.addEventListener("message", (m) => { (self as any).postMessage(serialized); }); -// CSS, and thus SVG, defines 1px = 1/96th of 1in -// https://www.w3.org/TR/css-values-4/#absolute-lengths -const svgUnitsPerInch = 96 -const mmPerInch = 25.4 -const mmPerSvgUnit = mmPerInch / svgUnitsPerInch - -function replan(inPaths: Vec2[][], planOptions: PlanOptions): Plan { - let paths = inPaths; - // Compute scaling using _all_ the paths, so it's the same no matter what - // layers are selected. - if (planOptions.fitPage) { - paths = scaleToPaper(paths, planOptions.paperSize, planOptions.marginMm); - } else { - paths = paths.map(ps => ps.map(p => vmul(p, mmPerSvgUnit))) - if (planOptions.cropToMargins) { - paths = cropToMargins(paths, planOptions.paperSize, planOptions.marginMm) - } - } - - // Rescaling loses the stroke info, so refer back to the original paths to - // filter based on the stroke. Rescaling doesn't change the number or order - // of the paths. - if (planOptions.layerMode === 'group') { - paths = paths.filter((path, i) => planOptions.selectedGroupLayers.has((inPaths[i] as any).groupId)); - } else { - paths = paths.filter((path, i) => planOptions.selectedStrokeLayers.has((inPaths[i] as any).stroke)); - } - - if (planOptions.pointJoinRadius > 0) { - paths = paths.map((p) => dedupPoints(p, planOptions.pointJoinRadius)); - } - - if (planOptions.sortPaths) { - console.time("sorting paths"); - paths = Optimization.optimize(paths); - console.timeEnd("sorting paths"); - } - - if (planOptions.minimumPathLength > 0) { - console.time("eliding short paths"); - paths = Optimization.elideShortPaths(paths, planOptions.minimumPathLength); - console.timeEnd("eliding short paths"); - } - - if (planOptions.pathJoinRadius > 0) { - console.time("joining nearby paths"); - paths = Optimization.joinNearby( - paths, - planOptions.pathJoinRadius - ); - console.timeEnd("joining nearby paths"); - } - - // Convert the paths to units of "steps". - paths = paths.map((ps) => ps.map((p) => vmul(p, Device.Axidraw.stepsPerMm))); - - // And finally, motion planning. - console.time("planning pen motions"); - const plan = Planning.plan(paths, { - penUpPos: Device.Axidraw.penPctToPos(planOptions.penUpHeight), - penDownPos: Device.Axidraw.penPctToPos(planOptions.penDownHeight), - penDownProfile: { - acceleration: planOptions.penDownAcceleration * Device.Axidraw.stepsPerMm, - maximumVelocity: planOptions.penDownMaxVelocity * Device.Axidraw.stepsPerMm, - corneringFactor: planOptions.penDownCorneringFactor * Device.Axidraw.stepsPerMm, - }, - penUpProfile: { - acceleration: planOptions.penUpAcceleration * Device.Axidraw.stepsPerMm, - maximumVelocity: planOptions.penUpMaxVelocity * Device.Axidraw.stepsPerMm, - corneringFactor: 0, - }, - penDropDuration: planOptions.penDropDuration, - penLiftDuration: planOptions.penLiftDuration, - }); - console.timeEnd("planning pen motions"); - - return plan; -} - // eslint-disable-next-line @typescript-eslint/no-object-literal-type-assertion export default {} as typeof Worker & { new(): Worker; diff --git a/src/cli.ts b/src/cli.ts index dac4c988..31b40198 100644 --- a/src/cli.ts +++ b/src/cli.ts @@ -1,11 +1,13 @@ import yargs from "yargs"; import {connectEBB, startServer} from "./server"; -import {plan, AxidrawFast} from "./planning"; +import {replan} from "./massager"; import {Window} from "svgdom"; import * as fs from "fs"; import {flattenSVG} from "flatten-svg"; import { Vec2 } from "./vec"; import { formatDuration } from "./util"; +import { PlanOptions } from "./planning"; +import { PaperSize } from "./paper-size"; function parseSvg(svg: string) { const window = new Window @@ -13,6 +15,34 @@ function parseSvg(svg: string) { return window.document.documentElement } +const defaultPlanOptions: PlanOptions = { + penUpHeight: 50, + penDownHeight: 60, + pointJoinRadius: 0, + pathJoinRadius: 0.5, + paperSize: PaperSize.standard.ArchA.landscape, + marginMm: 20, + selectedGroupLayers: new Set(), + selectedStrokeLayers: new Set(), + layerMode: 'stroke', + + penDownAcceleration: 200, + penDownMaxVelocity: 50, + penDownCorneringFactor: 0.127, + + penUpAcceleration: 400, + penUpMaxVelocity: 200, + + penDropDuration: 0.12, + penLiftDuration: 0.12, + + sortPaths: true, + fitPage: true, + cropToMargins: true, + + minimumPathLength: 0, +}; + export function cli(argv: string[]): void { yargs.strict() .option("device", { @@ -60,14 +90,104 @@ export function cli(argv: string[]): void { .command('plot ', 'plot an svg, then exit', yargs => yargs .positional("file", { - type: 'string', + type: "string", description: "File to plot", }) .option("paper-size", { alias: "s", describe: "Paper size to use", + type: "string", + required: false + }) + .option("margin", { + describe: "Margin (mm)", + type: "number", + default: defaultPlanOptions.marginMm, + required: false + }) + .option("pen-down-height", { + describe: "Pen down height (%)", + type: "number", + default: defaultPlanOptions.penDownHeight, + required: false + }) + .option("pen-up-height", { + describe: "Pen up height (%)", + type: "number", + default: defaultPlanOptions.penUpHeight, + required: false + }) + .option("pen-down-acceleration", { + describe: "Acceleration when the pen is down (in mm/s^2)", + type: "number", + default: defaultPlanOptions.penDownAcceleration, + required: false + }) + .option("pen-down-max-velocity", { + describe: "Maximum velocity when the pen is down (in mm/s)", + type: "number", + default: defaultPlanOptions.penDownMaxVelocity, + required: false + }) + .option("pen-down-cornering-factor", { + describe: "Cornering factor when the pen is down", + type: "number", + default: defaultPlanOptions.penDownCorneringFactor, + required: false + }) + .option("pen-up-acceleration", { + describe: "Acceleration when the pen is up (in mm/s^2)", + type: "number", + default: defaultPlanOptions.penUpAcceleration, + required: false + }) + .option("pen-up-max-velocity", { + describe: "Maximum velocity when the pen is up (in mm/s)", + type: "number", + default: defaultPlanOptions.penUpMaxVelocity, + required: false + }) + .option("pen-drop-duration", { + describe: "How long the pen takes to drop (in seconds)", + type: "number", + default: defaultPlanOptions.penDropDuration, + required: false + }) + .option("pen-lift-duration", { + describe: "How long the pen takes to lift (in seconds)", + type: "number", + default: defaultPlanOptions.penLiftDuration, + required: false + }) + .option("sort-paths", { + describe: "Re-order paths to minimize pen-up travel time", + type: "boolean", + default: true, + }) + .option("fit-page", { + describe: "Re-scale and position the image to fit on the page", + type: "boolean", + default: true, + }) + .option("crop-to-margins", { + describe: "Remove lines that fall outside the margins", type: "boolean", - required: true + default: true, + }) + .option("minimum-path-length", { + describe: "Remove paths that are shorter than this length (in mm)", + type: "number", + default: defaultPlanOptions.minimumPathLength + }) + .option("point-join-radius", { + describe: "Point-joining radius (in mm)", + type: "number", + default: defaultPlanOptions.pointJoinRadius + }) + .option("path-join-radius", { + describe: "Path-joining radius (in mm)", + type: "number", + default: defaultPlanOptions.pathJoinRadius }), async args => { console.log("reading svg...") @@ -77,8 +197,35 @@ export function cli(argv: string[]): void { console.log("flattening svg...") const lines = flattenSVG(parsed, {}) console.log("generating motion plan...") - const profile = AxidrawFast - const p = plan(linesToVecs(lines), profile) + const planOptions: PlanOptions = { + paperSize: defaultPlanOptions.paperSize, // TODO + marginMm: args.margin, + + selectedGroupLayers: new Set([]), // TODO + selectedStrokeLayers: new Set([]), // TODO + layerMode: "all", // TODO + + penUpHeight: args["pen-up-height"], + penDownHeight: args["pen-down-height"], + + penDownAcceleration: args["pen-down-acceleration"], + penDownMaxVelocity: args["pen-down-max-velocity"], + penDownCorneringFactor: args["pen-down-cornering-factor"], + penUpAcceleration: args["pen-up-acceleration"], + penUpMaxVelocity: args["pen-up-max-velocity"], + + penDropDuration: args["pen-drop-duration"], + penLiftDuration: args["pen-lift-duration"], + + sortPaths: args["sort-paths"], + fitPage: args["fit-page"], + cropToMargins: args["crop-to-margins"], + + minimumPathLength: args["minimum-path-length"], + pathJoinRadius: args["path-join-radius"], + pointJoinRadius: args["point-join-radius"], + } + const p = replan(linesToVecs(lines), planOptions) console.log(`${p.motions.length} motions, estimated duration: ${formatDuration(p.duration())}`) console.log("connecting to plotter...") const ebb = await connectEBB(args.device) diff --git a/src/massager.ts b/src/massager.ts new file mode 100644 index 00000000..38b7b8b3 --- /dev/null +++ b/src/massager.ts @@ -0,0 +1,84 @@ +import * as Optimization from "./optimization"; +import * as Planning from "./planning"; +import {Device, Plan, PlanOptions} from "./planning"; +import {dedupPoints, scaleToPaper, cropToMargins} from "./util"; +import {Vec2, vmul} from "./vec"; + +// CSS, and thus SVG, defines 1px = 1/96th of 1in +// https://www.w3.org/TR/css-values-4/#absolute-lengths +const svgUnitsPerInch = 96 +const mmPerInch = 25.4 +const mmPerSvgUnit = mmPerInch / svgUnitsPerInch + +export function replan(inPaths: Vec2[][], planOptions: PlanOptions): Plan { + let paths = inPaths; + // Compute scaling using _all_ the paths, so it's the same no matter what + // layers are selected. + if (planOptions.fitPage) { + paths = scaleToPaper(paths, planOptions.paperSize, planOptions.marginMm); + } else { + paths = paths.map(ps => ps.map(p => vmul(p, mmPerSvgUnit))) + if (planOptions.cropToMargins) { + paths = cropToMargins(paths, planOptions.paperSize, planOptions.marginMm) + } + } + + // Rescaling loses the stroke info, so refer back to the original paths to + // filter based on the stroke. Rescaling doesn't change the number or order + // of the paths. + if (planOptions.layerMode === 'group') { + paths = paths.filter((path, i) => planOptions.selectedGroupLayers.has((inPaths[i] as any).groupId)); + } else if (planOptions.layerMode === 'stroke') { + paths = paths.filter((path, i) => planOptions.selectedStrokeLayers.has((inPaths[i] as any).stroke)); + } + + if (planOptions.pointJoinRadius > 0) { + paths = paths.map((p) => dedupPoints(p, planOptions.pointJoinRadius)); + } + + if (planOptions.sortPaths) { + console.time("sorting paths"); + paths = Optimization.optimize(paths); + console.timeEnd("sorting paths"); + } + + if (planOptions.minimumPathLength > 0) { + console.time("eliding short paths"); + paths = Optimization.elideShortPaths(paths, planOptions.minimumPathLength); + console.timeEnd("eliding short paths"); + } + + if (planOptions.pathJoinRadius > 0) { + console.time("joining nearby paths"); + paths = Optimization.joinNearby( + paths, + planOptions.pathJoinRadius + ); + console.timeEnd("joining nearby paths"); + } + + // Convert the paths to units of "steps". + paths = paths.map((ps) => ps.map((p) => vmul(p, Device.Axidraw.stepsPerMm))); + + // And finally, motion planning. + console.time("planning pen motions"); + const plan = Planning.plan(paths, { + penUpPos: Device.Axidraw.penPctToPos(planOptions.penUpHeight), + penDownPos: Device.Axidraw.penPctToPos(planOptions.penDownHeight), + penDownProfile: { + acceleration: planOptions.penDownAcceleration * Device.Axidraw.stepsPerMm, + maximumVelocity: planOptions.penDownMaxVelocity * Device.Axidraw.stepsPerMm, + corneringFactor: planOptions.penDownCorneringFactor * Device.Axidraw.stepsPerMm, + }, + penUpProfile: { + acceleration: planOptions.penUpAcceleration * Device.Axidraw.stepsPerMm, + maximumVelocity: planOptions.penUpMaxVelocity * Device.Axidraw.stepsPerMm, + corneringFactor: 0, + }, + penDropDuration: planOptions.penDropDuration, + penLiftDuration: planOptions.penLiftDuration, + }); + console.timeEnd("planning pen motions"); + + return plan; +} diff --git a/src/planning.ts b/src/planning.ts index 2269c5d5..03dbadd3 100644 --- a/src/planning.ts +++ b/src/planning.ts @@ -10,7 +10,7 @@ export interface PlanOptions { marginMm: number; selectedStrokeLayers: Set; selectedGroupLayers: Set; - layerMode: 'group' | 'stroke'; + layerMode: 'group' | 'stroke' | 'all'; penUpHeight: number; penDownHeight: number; diff --git a/src/ui.tsx b/src/ui.tsx index bf2fff16..d9dfc5b1 100644 --- a/src/ui.tsx +++ b/src/ui.tsx @@ -658,7 +658,7 @@ function PlanOptions({state}: {state: State}) { fit page {!state.planOptions.fitPage ? -