ça marche putain

clock.svg

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?><!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+<svg width="800px" height="800px" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M3 5.5L5 3.5M21 5.5L19 3.5M12 8.5V12.5L14 14.5M20 12.5C20 16.9183 16.4183 20.5 12 20.5C7.58172 20.5 4 16.9183 4 12.5C4 8.08172 7.58172 4.5 12 4.5C16.4183 4.5 20 8.08172 20 12.5Z" stroke="#000000" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"/>
+</svg>

main.py

@@ -1,17 +1,23 @@
 import hardware as hw
 import controller as ctl
 import GCode_Interpreterdc as gci
+import svgtroppagcode as sgc
+
+instr = sgc.svg_to_gcode("test.svg").split("\n")
+
 
 b = "socket.sock"
 sh = hw.SimuHardware(b)
 ctrl = ctl.DummyController()
 gtm1 = gci.GCodeToMotors(ctrl, sh)
-gtm1.instruction_converter("G1 X25.000 Y25.000 F2.000")
-gtm1.instruction_converter("G1 X30.000 Y25.000 F2.000")
-gtm1.instruction_converter("G3 X30.000 Y45.000 I0 J10 F0.100")
+for i in instr:
+    gtm1.instruction_converter(i)
+# gtm1.instruction_converter("G1 X25.000 Y25.000 F2.000")
+# gtm1.instruction_converter("G1 X30.000 Y25.000 F2.000")
+# gtm1.instruction_converter("G3 X30.000 Y45.000 I0 J10 F0.100")
 #  gtm1.instruction_converter("G5 X50.000 Y45.000 I-5 J-5 P10 J5 F0.5000")
-gtm1.instruction_converter("G1 X50.000 Y50.000 F2.000")
-gtm1.instruction_converter("G1 X50.000 Y100.000 F2.000")
-gtm1.instruction_converter("G1 X100.000 Y-50.000 F2.000")
+# gtm1.instruction_converter("G1 X50.000 Y50.000 F2.000")
+# gtm1.instruction_converter("G1 X50.000 Y100.000 F2.000")
+# gtm1.instruction_converter("G1 X100.000 Y-50.000 F2.000")
 gtm1.instruction_converter("G1 X-50.000 Y-100.000 F2.000")
 gtm1.instruction_converter("G1 X-100.000 Y50.000 F2.000")

svgtroppagcode.py

@@ -5,31 +5,52 @@ import toppra.algorithm as algo
 import numpy as np
 
 
-# Function to extract paths from an SVG file
+# Function to extract and subdivide paths into continuous subpaths
 def extract_svg_paths(svg_file):
-    paths, *attributes = svgpathtools.svg2paths(svg_file)
-    return paths
+    paths, attributes = svgpathtools.svg2paths(svg_file)
+    continuous_paths = []
+
+    for path in paths:
+        subpath = []
+        last_point = None
+        for seg in path:
+            if last_point is not None and seg.start != last_point:
+                continuous_paths.append(svgpathtools.Path(*subpath))
+                subpath = []
+            subpath.append(seg)
+            last_point = seg.end
+        if subpath:
+            continuous_paths.append(svgpathtools.Path(*subpath))
+
+    return continuous_paths
 
 
 # Function to compute time-reparametrized velocities using toppra based on segment type
 def compute_reparametrized_speeds(path, velocity_limit=100, acceleration_limit=500):
     sampled_points = []
     ss = []
-    current_s = 0
+    current_s = 0.0
 
-    for seg in path:
+    for k, seg in enumerate(path):
         num_samples = 20 if isinstance(seg, svgpathtools.CubicBezier) else 10
-        segment_points = [seg.point(t) for t in np.linspace(0, 1, num_samples)]
-        sampled_points.extend(segment_points)
-        ss.extend(np.linspace(current_s, current_s + 1, num_samples))
-        current_s += 1
+        n = len(path)
+        if k < n - 1:
+            segment_points = np.array([[seg.point(t).real, seg.point(t).imag] for t in np.linspace(0, 1, num_samples)][:-1])
+            sampled_points.append(segment_points)
+            ss.extend(list(np.linspace(current_s, current_s + 1, num_samples))[:-1])
+            current_s += 1
+        else:
+            segment_points = np.array([[seg.point(t).real, seg.point(t).imag] for t in np.linspace(0, 1, num_samples)])
+            sampled_points.append(segment_points)
+            ss.extend(np.linspace(current_s, current_s + 1, num_samples))
+            current_s += 1
 
-    waypoints = np.array([(p.real, p.imag) for p in sampled_points])
-    ss = np.array(ss)
-    velocity_limits = np.array([[-velocity_limit, velocity_limit]] * len(ss))
-    acceleration_limits = np.array([[-acceleration_limit, acceleration_limit]] * len(ss))
+    sampled_points = np.vstack(sampled_points)
+    ss = np.array(ss)  # Ensure correct shape
+    velocity_limits = np.array([[-velocity_limit, velocity_limit]] * sampled_points.shape[1])
+    acceleration_limits = np.array([[-acceleration_limit, acceleration_limit]] * sampled_points.shape[1])
 
-    pc = ta.SplineInterpolator(ss, waypoints)
+    pc = ta.SplineInterpolator(ss, sampled_points)
     constraints = [
         constraint.JointVelocityConstraint(velocity_limits),
         constraint.JointAccelerationConstraint(acceleration_limits)
@@ -37,16 +58,12 @@ def compute_reparametrized_speeds(path, velocity_limit=100, acceleration_limit=5
 
     instance = algo.TOPPRA(constraints, pc, solver_wrapper="seidel")
     sd_sq = instance.compute_parameterization(0, 0)
-
-    return list(sd_sq)
+    return list(np.sqrt(sd_sq[1]))
+
 
 
-# Function to convert a path to G-code using computed speeds
 def path_to_gcode(path, speeds):
     gcode = []
-    gcode.append("G21 ; Set units to mm")
-    gcode.append("G90 ; Absolute positioning")
-
     speed_index = 0
     for seg in path:
         num_samples = 20 if isinstance(seg, svgpathtools.CubicBezier) else 10
@@ -55,7 +72,6 @@ def path_to_gcode(path, speeds):
             speed = speeds[speed_index] if speed_index < len(speeds) else 1000
             gcode.append(f"G1 X{point.real:.3f} Y{point.imag:.3f} F{speed}")
             speed_index += 1
-        gcode.append("M05 ; Stop spindle")
 
     return '\n'.join(gcode)
 
@@ -63,14 +79,17 @@ def path_to_gcode(path, speeds):
 # Main function to process SVG to G-code
 def svg_to_gcode(svg_file):
     paths = extract_svg_paths(svg_file)
-    gcode_output = []
+    gcode_output = ["G21 ; Set units to mm", "G90 ; Absolute positioning"]
 
     for path in paths:
+        p_start = path.point(0)
+        gcode_output.append(f"G0 X{p_start.real:.3f} Y{p_start.imag:.3f}")
         speeds = compute_reparametrized_speeds(path)
         gcode_output.append(path_to_gcode(path, speeds))
 
     return '\n'.join(gcode_output)
 
+print(svg_to_gcode("clock.svg"))
 
 # Example usage
 # print(svg_to_gcode("drawing.svg"))