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Revert the OneAtATimeIterator to the pre 06-2018 implementation.
This seems like a better starting point to fix print head collisions, because we got less bug reports for it compared to the 2018 rewrite. CURA-6785
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Nino van Hooff
parent
7db44ac789
commit
e9965ab2a6
@ -1,149 +1,112 @@
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# Copyright (c) 2018 Ultimaker B.V.
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# Copyright (c) 2015 Ultimaker B.V.
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# Cura is released under the terms of the LGPLv3 or higher.
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import sys
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from shapely import affinity
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from shapely.geometry import Polygon
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from UM.Scene.Iterator.Iterator import Iterator
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from UM.Scene.Iterator import Iterator
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from UM.Scene.SceneNode import SceneNode
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from functools import cmp_to_key
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from UM.Application import Application
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# Iterator that determines the object print order when one-at a time mode is enabled.
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#
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# In one-at-a-time mode, only one extruder can be enabled to print. In order to maximize the number of objects we can
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# print, we need to print from the corner that's closest to the extruder that's being used. Here is an illustration:
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#
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# +--------------------------------+
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# | |
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# | |
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# | | - Rectangle represents the complete print head including fans, etc.
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# | X X | y - X's are the nozzles
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# | (1) (2) | ^
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# | | |
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# +--------------------------------+ +--> x
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#
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# In this case, the nozzles are symmetric, nozzle (1) is closer to the bottom left corner while (2) is closer to the
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# bottom right. If we use nozzle (1) to print, then we better off printing from the bottom left corner so the print
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# head will not collide into an object on its top-right side, which is a very large unused area. Following the same
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# logic, if we are printing with nozzle (2), then it's better to print from the bottom-right side.
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#
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# This iterator determines the print order following the rules above.
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#
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class OneAtATimeIterator(Iterator):
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## Iterator that returns a list of nodes in the order that they need to be printed
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# If there is no solution an empty list is returned.
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# Take note that the list of nodes can have children (that may or may not contain mesh data)
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class OneAtATimeIterator(Iterator.Iterator):
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def __init__(self, scene_node):
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from cura.CuraApplication import CuraApplication
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self._global_stack = CuraApplication.getInstance().getGlobalContainerStack()
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super().__init__(scene_node) # Call super to make multiple inheritence work.
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self._hit_map = [[]]
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self._original_node_list = []
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super().__init__(scene_node) # Call super to make multiple inheritance work.
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def getMachineNearestCornerToExtruder(self, global_stack):
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head_and_fans_coordinates = global_stack.getHeadAndFansCoordinates()
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used_extruder = None
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for extruder in global_stack.extruders.values():
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if extruder.isEnabled:
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used_extruder = extruder
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break
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extruder_offsets = [used_extruder.getProperty("machine_nozzle_offset_x", "value"),
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used_extruder.getProperty("machine_nozzle_offset_y", "value")]
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# find the corner that's closest to the origin
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min_distance2 = sys.maxsize
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min_coord = None
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for coord in head_and_fans_coordinates:
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x = coord[0] - extruder_offsets[0]
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y = coord[1] - extruder_offsets[1]
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distance2 = x**2 + y**2
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if distance2 <= min_distance2:
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min_distance2 = distance2
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min_coord = coord
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return min_coord
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def _checkForCollisions(self) -> bool:
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all_nodes = []
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for node in self._scene_node.getChildren():
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if not issubclass(type(node), SceneNode):
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continue
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convex_hull = node.callDecoration("getConvexHullHead")
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if not convex_hull:
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continue
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bounding_box = node.getBoundingBox()
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if not bounding_box:
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continue
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from UM.Math.Polygon import Polygon
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bounding_box_polygon = Polygon([[bounding_box.left, bounding_box.front],
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[bounding_box.left, bounding_box.back],
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[bounding_box.right, bounding_box.back],
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[bounding_box.right, bounding_box.front]])
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all_nodes.append({"node": node,
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"bounding_box": bounding_box_polygon,
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"convex_hull": convex_hull})
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has_collisions = False
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for i, node_dict in enumerate(all_nodes):
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for j, other_node_dict in enumerate(all_nodes):
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if i == j:
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continue
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if node_dict["bounding_box"].intersectsPolygon(other_node_dict["convex_hull"]):
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has_collisions = True
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break
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if has_collisions:
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break
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return has_collisions
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def _fillStack(self):
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min_coord = self.getMachineNearestCornerToExtruder(self._global_stack)
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transform_x = -int(round(min_coord[0] / abs(min_coord[0])))
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transform_y = -int(round(min_coord[1] / abs(min_coord[1])))
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machine_size = [self._global_stack.getProperty("machine_width", "value"),
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self._global_stack.getProperty("machine_depth", "value")]
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def flip_x(polygon):
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tm2 = [-1, 0, 0, 1, 0, 0]
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return affinity.affine_transform(affinity.translate(polygon, xoff = -machine_size[0]), tm2)
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def flip_y(polygon):
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tm2 = [1, 0, 0, -1, 0, 0]
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return affinity.affine_transform(affinity.translate(polygon, yoff = -machine_size[1]), tm2)
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if self._checkForCollisions():
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self._node_stack = []
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return
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node_list = []
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for node in self._scene_node.getChildren():
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if not issubclass(type(node), SceneNode):
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continue
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convex_hull = node.callDecoration("getConvexHull")
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if convex_hull:
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xmin = min(x for x, _ in convex_hull._points)
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xmax = max(x for x, _ in convex_hull._points)
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ymin = min(y for _, y in convex_hull._points)
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ymax = max(y for _, y in convex_hull._points)
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if node.callDecoration("getConvexHull"):
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node_list.append(node)
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convex_hull_polygon = Polygon.from_bounds(xmin, ymin, xmax, ymax)
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if transform_x < 0:
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convex_hull_polygon = flip_x(convex_hull_polygon)
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if transform_y < 0:
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convex_hull_polygon = flip_y(convex_hull_polygon)
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node_list.append({"node": node,
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"min_coord": [convex_hull_polygon.bounds[0], convex_hull_polygon.bounds[1]],
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})
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if len(node_list) < 2:
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self._node_stack = node_list[:]
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return
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node_list = sorted(node_list, key = lambda d: d["min_coord"])
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# Copy the list
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self._original_node_list = node_list[:]
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## Initialise the hit map (pre-compute all hits between all objects)
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self._hit_map = [[self._checkHit(i,j) for i in node_list] for j in node_list]
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# Check if we have to files that block eachother. If this is the case, there is no solution!
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for a in range(0,len(node_list)):
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for b in range(0,len(node_list)):
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if a != b and self._hit_map[a][b] and self._hit_map[b][a]:
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return
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# Sort the original list so that items that block the most other objects are at the beginning.
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# This does not decrease the worst case running time, but should improve it in most cases.
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sorted(node_list, key = cmp_to_key(self._calculateScore))
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todo_node_list = [_ObjectOrder([], node_list)]
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while len(todo_node_list) > 0:
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current = todo_node_list.pop()
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for node in current.todo:
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# Check if the object can be placed with what we have and still allows for a solution in the future
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if not self._checkHitMultiple(node, current.order) and not self._checkBlockMultiple(node, current.todo):
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# We found a possible result. Create new todo & order list.
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new_todo_list = current.todo[:]
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new_todo_list.remove(node)
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new_order = current.order[:] + [node]
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if len(new_todo_list) == 0:
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# We have no more nodes to check, so quit looking.
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todo_node_list = None
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self._node_stack = new_order
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return
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todo_node_list.append(_ObjectOrder(new_order, new_todo_list))
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self._node_stack = [] #No result found!
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# Check if first object can be printed before the provided list (using the hit map)
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def _checkHitMultiple(self, node, other_nodes):
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node_index = self._original_node_list.index(node)
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for other_node in other_nodes:
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other_node_index = self._original_node_list.index(other_node)
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if self._hit_map[node_index][other_node_index]:
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return True
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return False
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def _checkBlockMultiple(self, node, other_nodes):
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node_index = self._original_node_list.index(node)
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for other_node in other_nodes:
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other_node_index = self._original_node_list.index(other_node)
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if self._hit_map[other_node_index][node_index] and node_index != other_node_index:
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return True
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return False
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## Calculate score simply sums the number of other objects it 'blocks'
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def _calculateScore(self, a, b):
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score_a = sum(self._hit_map[self._original_node_list.index(a)])
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score_b = sum(self._hit_map[self._original_node_list.index(b)])
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return score_a - score_b
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# Checks if A can be printed before B
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def _checkHit(self, a, b):
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if a == b:
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return False
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overlap = a.callDecoration("getConvexHullBoundary").intersectsPolygon(b.callDecoration("getConvexHullHeadFull"))
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if overlap:
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return True
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else:
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return False
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## Internal object used to keep track of a possible order in which to print objects.
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class _ObjectOrder():
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def __init__(self, order, todo):
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"""
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:param order: List of indexes in which to print objects, ordered by printing order.
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:param todo: List of indexes which are not yet inserted into the order list.
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"""
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self.order = order
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self.todo = todo
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self._node_stack = [d["node"] for d in node_list]
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