Cura/cura/BuildVolume.py

# Copyright (c) 2015 Ultimaker B.V.
# Cura is released under the terms of the AGPLv3 or higher.

from cura.Settings.ExtruderManager import ExtruderManager
from UM.i18n import i18nCatalog
from UM.Scene.Platform import Platform
from UM.Scene.SceneNode import SceneNode
from UM.Application import Application
from UM.Resources import Resources
from UM.Mesh.MeshBuilder import MeshBuilder
from UM.Math.Vector import Vector
from UM.Math.Color import Color
from UM.Math.AxisAlignedBox import AxisAlignedBox
from UM.Math.Polygon import Polygon
from UM.Message import Message
from UM.Signal import Signal

from UM.View.RenderBatch import RenderBatch
from UM.View.GL.OpenGL import OpenGL
catalog = i18nCatalog("cura")

import numpy
import copy


# Setting for clearance around the prime
PRIME_CLEARANCE = 10


def approximatedCircleVertices(r):
    """
    Return vertices from an approximated circle.
    :param r: radius
    :return: numpy 2-array with the vertices
    """

    return numpy.array([
        [-r, 0],
        [-r * 0.707, r * 0.707],
        [0, r],
        [r * 0.707, r * 0.707],
        [r, 0],
        [r * 0.707, -r * 0.707],
        [0, -r],
        [-r * 0.707, -r * 0.707]
    ], numpy.float32)


##  Build volume is a special kind of node that is responsible for rendering the printable area & disallowed areas.
class BuildVolume(SceneNode):
    VolumeOutlineColor = Color(12, 169, 227, 255)

    raftThicknessChanged = Signal()

    def __init__(self, parent = None):
        super().__init__(parent)

        self._width = 0
        self._height = 0
        self._depth = 0

        self._shader = None

        self._grid_mesh = None
        self._grid_shader = None

        self._disallowed_areas = []
        self._disallowed_area_mesh = None

        self.setCalculateBoundingBox(False)
        self._volume_aabb = None

        self._raft_thickness = 0.0
        self._adhesion_type = None
        self._platform = Platform(self)

        self._global_container_stack = None
        Application.getInstance().globalContainerStackChanged.connect(self._onGlobalContainerStackChanged)
        self._onGlobalContainerStackChanged()

        self._active_extruder_stack = None
        ExtruderManager.getInstance().activeExtruderChanged.connect(self._onActiveExtruderStackChanged)
        self._onActiveExtruderStackChanged()

    def setWidth(self, width):
        if width: self._width = width

    def setHeight(self, height):
        if height: self._height = height

    def setDepth(self, depth):
        if depth: self._depth = depth

    def getDisallowedAreas(self):
        return self._disallowed_areas

    def setDisallowedAreas(self, areas):
        self._disallowed_areas = areas

    def render(self, renderer):
        if not self.getMeshData():
            return True

        if not self._shader:
            self._shader = OpenGL.getInstance().createShaderProgram(Resources.getPath(Resources.Shaders, "default.shader"))
            self._grid_shader = OpenGL.getInstance().createShaderProgram(Resources.getPath(Resources.Shaders, "grid.shader"))

        renderer.queueNode(self, mode = RenderBatch.RenderMode.Lines)
        renderer.queueNode(self, mesh = self._grid_mesh, shader = self._grid_shader, backface_cull = True)
        if self._disallowed_area_mesh:
            renderer.queueNode(self, mesh = self._disallowed_area_mesh, shader = self._shader, transparent = True, backface_cull = True, sort = -9)

        return True

    ##  Recalculates the build volume & disallowed areas.
    def rebuild(self):
        if not self._width or not self._height or not self._depth:
            return

        min_w = -self._width / 2
        max_w = self._width / 2
        min_h = 0.0
        max_h = self._height
        min_d = -self._depth / 2
        max_d = self._depth / 2

        mb = MeshBuilder()

        # Outline 'cube' of the build volume
        mb.addLine(Vector(min_w, min_h, min_d), Vector(max_w, min_h, min_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(min_w, min_h, min_d), Vector(min_w, max_h, min_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(min_w, max_h, min_d), Vector(max_w, max_h, min_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(max_w, min_h, min_d), Vector(max_w, max_h, min_d), color = self.VolumeOutlineColor)

        mb.addLine(Vector(min_w, min_h, max_d), Vector(max_w, min_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(min_w, min_h, max_d), Vector(min_w, max_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(min_w, max_h, max_d), Vector(max_w, max_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(max_w, min_h, max_d), Vector(max_w, max_h, max_d), color = self.VolumeOutlineColor)

        mb.addLine(Vector(min_w, min_h, min_d), Vector(min_w, min_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(max_w, min_h, min_d), Vector(max_w, min_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(min_w, max_h, min_d), Vector(min_w, max_h, max_d), color = self.VolumeOutlineColor)
        mb.addLine(Vector(max_w, max_h, min_d), Vector(max_w, max_h, max_d), color = self.VolumeOutlineColor)

        self.setMeshData(mb.build())

        mb = MeshBuilder()
        mb.addQuad(
            Vector(min_w, min_h - 0.2, min_d),
            Vector(max_w, min_h - 0.2, min_d),
            Vector(max_w, min_h - 0.2, max_d),
            Vector(min_w, min_h - 0.2, max_d)
        )

        for n in range(0, 6):
            v = mb.getVertex(n)
            mb.setVertexUVCoordinates(n, v[0], v[2])
        self._grid_mesh = mb.build()

        disallowed_area_height = 0.1
        disallowed_area_size = 0
        if self._disallowed_areas:
            mb = MeshBuilder()
            color = Color(0.0, 0.0, 0.0, 0.15)
            for polygon in self._disallowed_areas:
                points = polygon.getPoints()
                first = Vector(self._clamp(points[0][0], min_w, max_w), disallowed_area_height, self._clamp(points[0][1], min_d, max_d))
                previous_point = Vector(self._clamp(points[0][0], min_w, max_w), disallowed_area_height, self._clamp(points[0][1], min_d, max_d))
                for point in points:
                    new_point = Vector(self._clamp(point[0], min_w, max_w), disallowed_area_height, self._clamp(point[1], min_d, max_d))
                    mb.addFace(first, previous_point, new_point, color = color)
                    previous_point = new_point

                # Find the largest disallowed area to exclude it from the maximum scale bounds.
                # This is a very nasty hack. This pretty much only works for UM machines.
                # This disallowed area_size needs a -lot- of rework at some point in the future: TODO
                if numpy.min(points[:, 1]) >= 0: # This filters out all areas that have points to the left of the centre. This is done to filter the skirt area.
                    size = abs(numpy.max(points[:, 1]) - numpy.min(points[:, 1]))
                else:
                    size = 0
                disallowed_area_size = max(size, disallowed_area_size)

            self._disallowed_area_mesh = mb.build()
        else:
            self._disallowed_area_mesh = None

        self._volume_aabb = AxisAlignedBox(
            minimum = Vector(min_w, min_h - 1.0, min_d),
            maximum = Vector(max_w, max_h - self._raft_thickness, max_d))

        bed_adhesion_size = 0.0

        container_stack = Application.getInstance().getGlobalContainerStack()
        if container_stack:
            bed_adhesion_size = self._getBedAdhesionSize(container_stack)

        # As this works better for UM machines, we only add the disallowed_area_size for the z direction.
        # This is probably wrong in all other cases. TODO!
        # The +1 and -1 is added as there is always a bit of extra room required to work properly.
        scale_to_max_bounds = AxisAlignedBox(
            minimum = Vector(min_w + bed_adhesion_size + 1, min_h, min_d + disallowed_area_size - bed_adhesion_size + 1),
            maximum = Vector(max_w - bed_adhesion_size - 1, max_h - self._raft_thickness, max_d - disallowed_area_size + bed_adhesion_size - 1)
        )

        Application.getInstance().getController().getScene()._maximum_bounds = scale_to_max_bounds

    def getBoundingBox(self):
        return self._volume_aabb

    def _buildVolumeMessage(self):
        Message(catalog.i18nc(
            "@info:status",
            "The build volume height has been reduced due to the value of the"
            " \"Print Sequence\" setting to prevent the gantry from colliding"
            " with printed models.")).show()

    def getRaftThickness(self):
        return self._raft_thickness

    def _updateRaftThickness(self):
        old_raft_thickness = self._raft_thickness
        self._adhesion_type = self._global_container_stack.getProperty("adhesion_type", "value")
        self._raft_thickness = 0.0
        if self._adhesion_type == "raft":
            self._raft_thickness = (
                self._global_container_stack.getProperty("raft_base_thickness", "value") +
                self._global_container_stack.getProperty("raft_interface_thickness", "value") +
                self._global_container_stack.getProperty("raft_surface_layers", "value") *
                    self._global_container_stack.getProperty("raft_surface_thickness", "value") +
                self._global_container_stack.getProperty("raft_airgap", "value"))

        # Rounding errors do not matter, we check if raft_thickness has changed at all
        if old_raft_thickness != self._raft_thickness:
            self.setPosition(Vector(0, -self._raft_thickness, 0), SceneNode.TransformSpace.World)
            self.raftThicknessChanged.emit()

    def _onGlobalContainerStackChanged(self):
        if self._global_container_stack:
            self._global_container_stack.propertyChanged.disconnect(self._onSettingPropertyChanged)

        self._global_container_stack = Application.getInstance().getGlobalContainerStack()

        if self._global_container_stack:
            self._global_container_stack.propertyChanged.connect(self._onSettingPropertyChanged)

            self._width = self._global_container_stack.getProperty("machine_width", "value")
            machine_height = self._global_container_stack.getProperty("machine_height", "value")
            if self._global_container_stack.getProperty("print_sequence", "value") == "one_at_a_time":
                self._height = min(self._global_container_stack.getProperty("gantry_height", "value"), machine_height)
                if self._height < machine_height:
                    self._buildVolumeMessage()
            else:
                self._height = self._global_container_stack.getProperty("machine_height", "value")
            self._depth = self._global_container_stack.getProperty("machine_depth", "value")

            self._updateDisallowedAreas()
            self._updateRaftThickness()

            self.rebuild()

    def _onActiveExtruderStackChanged(self):
        if self._active_extruder_stack:
            self._active_extruder_stack.propertyChanged.disconnect(self._onSettingPropertyChanged)
        self._active_extruder_stack = ExtruderManager.getInstance().getActiveExtruderStack()
        if self._active_extruder_stack:
            self._active_extruder_stack.propertyChanged.connect(self._onSettingPropertyChanged)

    def _onSettingPropertyChanged(self, setting_key, property_name):
        if property_name != "value":
            return

        rebuild_me = False
        if setting_key == "print_sequence":
            machine_height = self._global_container_stack.getProperty("machine_height", "value")
            if Application.getInstance().getGlobalContainerStack().getProperty("print_sequence", "value") == "one_at_a_time":
                self._height = min(self._global_container_stack.getProperty("gantry_height", "value"), machine_height)
                if self._height < machine_height:
                    self._buildVolumeMessage()
            else:
                self._height = self._global_container_stack.getProperty("machine_height", "value")
            rebuild_me = True

        if setting_key in self._skirt_settings or setting_key in self._prime_settings or setting_key in self._tower_settings or setting_key == "print_sequence":
            self._updateDisallowedAreas()
            rebuild_me = True

        if setting_key in self._raft_settings:
            self._updateRaftThickness()
            rebuild_me = True

        if rebuild_me:
            self.rebuild()

    def _updateDisallowedAreas(self):
        if not self._global_container_stack:
            return

        disallowed_areas = copy.deepcopy(
            self._global_container_stack.getProperty("machine_disallowed_areas", "value"))
        areas = []

        machine_width = self._global_container_stack.getProperty("machine_width", "value")
        machine_depth = self._global_container_stack.getProperty("machine_depth", "value")

        # Add prime tower location as disallowed area.
        if self._global_container_stack.getProperty("prime_tower_enable", "value") == True:
            prime_tower_size = self._global_container_stack.getProperty("prime_tower_size", "value")
            prime_tower_x = self._global_container_stack.getProperty("prime_tower_position_x", "value") - machine_width / 2
            prime_tower_y = - self._global_container_stack.getProperty("prime_tower_position_y", "value") + machine_depth / 2

            disallowed_areas.append([
                [prime_tower_x - prime_tower_size, prime_tower_y - prime_tower_size],
                [prime_tower_x, prime_tower_y - prime_tower_size],
                [prime_tower_x, prime_tower_y],
                [prime_tower_x - prime_tower_size, prime_tower_y],
            ])

        # Add extruder prime locations as disallowed areas.
        # Probably needs some rework after coordinate system change.
        extruder_manager = ExtruderManager.getInstance()
        extruders = extruder_manager.getMachineExtruders(self._global_container_stack.getId())
        for single_extruder in extruders:
            extruder_prime_pos_x = single_extruder.getProperty("extruder_prime_pos_x", "value")
            extruder_prime_pos_y = single_extruder.getProperty("extruder_prime_pos_y", "value")
            # TODO: calculate everything in CuraEngine/Firmware/lower left as origin coordinates.
            # Here we transform the extruder prime pos (lower left as origin) to Cura coordinates
            # (center as origin, y from back to front)
            prime_x = extruder_prime_pos_x - machine_width / 2
            prime_y = machine_depth / 2 - extruder_prime_pos_y
            disallowed_areas.append([
                [prime_x - PRIME_CLEARANCE, prime_y - PRIME_CLEARANCE],
                [prime_x + PRIME_CLEARANCE, prime_y - PRIME_CLEARANCE],
                [prime_x + PRIME_CLEARANCE, prime_y + PRIME_CLEARANCE],
                [prime_x - PRIME_CLEARANCE, prime_y + PRIME_CLEARANCE],
            ])

        bed_adhesion_size = self._getBedAdhesionSize(self._global_container_stack)

        if disallowed_areas:
            # Extend every area already in the disallowed_areas with the skirt size.
            for area in disallowed_areas:
                poly = Polygon(numpy.array(area, numpy.float32))
                poly = poly.getMinkowskiHull(Polygon(approximatedCircleVertices(bed_adhesion_size)))

                areas.append(poly)

        # Add the skirt areas around the borders of the build plate.
        if bed_adhesion_size > 0:
            half_machine_width = self._global_container_stack.getProperty("machine_width", "value") / 2
            half_machine_depth = self._global_container_stack.getProperty("machine_depth", "value") / 2

            areas.append(Polygon(numpy.array([
                [-half_machine_width, -half_machine_depth],
                [-half_machine_width, half_machine_depth],
                [-half_machine_width + bed_adhesion_size, half_machine_depth - bed_adhesion_size],
                [-half_machine_width + bed_adhesion_size, -half_machine_depth + bed_adhesion_size]
            ], numpy.float32)))

            areas.append(Polygon(numpy.array([
                [half_machine_width, half_machine_depth],
                [half_machine_width, -half_machine_depth],
                [half_machine_width - bed_adhesion_size, -half_machine_depth + bed_adhesion_size],
                [half_machine_width - bed_adhesion_size, half_machine_depth - bed_adhesion_size]
            ], numpy.float32)))

            areas.append(Polygon(numpy.array([
                [-half_machine_width, half_machine_depth],
                [half_machine_width, half_machine_depth],
                [half_machine_width - bed_adhesion_size, half_machine_depth - bed_adhesion_size],
                [-half_machine_width + bed_adhesion_size, half_machine_depth - bed_adhesion_size]
            ], numpy.float32)))

            areas.append(Polygon(numpy.array([
                [half_machine_width, -half_machine_depth],
                [-half_machine_width, -half_machine_depth],
                [-half_machine_width + bed_adhesion_size, -half_machine_depth + bed_adhesion_size],
                [half_machine_width - bed_adhesion_size, -half_machine_depth + bed_adhesion_size]
            ], numpy.float32)))

        self._disallowed_areas = areas

    ##  Convenience function to calculate the size of the bed adhesion in directions x, y.
    def _getBedAdhesionSize(self, container_stack):
        skirt_size = 0.0

        # If we are printing one at a time, we need to add the bed adhesion size to the disallowed areas of the objects
        if container_stack.getProperty("print_sequence", "value") == "one_at_a_time":
            return 0.1  # Return a very small value, so we do draw disallowed area's near the edges.

        adhesion_type = container_stack.getProperty("adhesion_type", "value")
        if adhesion_type == "skirt":
            skirt_distance = container_stack.getProperty("skirt_gap", "value")
            skirt_line_count = container_stack.getProperty("skirt_line_count", "value")
            skirt_size = skirt_distance + (skirt_line_count * container_stack.getProperty("skirt_brim_line_width", "value"))
        elif adhesion_type == "brim":
            skirt_size = container_stack.getProperty("brim_line_count", "value") * container_stack.getProperty("skirt_brim_line_width", "value")
        elif adhesion_type == "raft":
            skirt_size = container_stack.getProperty("raft_margin", "value")

        if container_stack.getProperty("draft_shield_enabled", "value"):
            skirt_size += container_stack.getProperty("draft_shield_dist", "value")

        if container_stack.getProperty("xy_offset", "value"):
            skirt_size += container_stack.getProperty("xy_offset", "value")

        return skirt_size

    def _clamp(self, value, min_value, max_value):
        return max(min(value, max_value), min_value)

    _skirt_settings = ["adhesion_type", "skirt_gap", "skirt_line_count", "skirt_brim_line_width", "brim_width", "brim_line_count", "raft_margin", "draft_shield_enabled", "draft_shield_dist", "xy_offset"]
    _raft_settings = ["adhesion_type", "raft_base_thickness", "raft_interface_thickness", "raft_surface_layers", "raft_surface_thickness", "raft_airgap"]
    _prime_settings = ["extruder_prime_pos_x", "extruder_prime_pos_y", "extruder_prime_pos_z"]
    _tower_settings = ["prime_tower_enable", "prime_tower_size", "prime_tower_position_x", "prime_tower_position_y"]