Export helper object from FreeCAD: grasp poses, part's zero positions, planar (tables, surfaces) and volumetric zones (storage, boxes)

cg/freecad/Frames/AuxObjCreation.py

@@ -0,0 +1,286 @@
+
+
+
+    "
+    #Создаем объект, к которому привязываем вспомогательную информацию:
+    1. Выбираем элемент в модели:
+        1.1. Поверхность - можем создать призматический объект. Соответствует точке захвата, рабочей зоне, опорной поверхности, поверхности базирования
+            1.1.1 Выбираем тип объкта, который нам нужно построить. 
+            1.1.2 В зависимости от выбора, предлагается указать объект для ориентации осей.   
+            1.1.3 Указать размеры зоны построения. Для захвата соответствует габаритам пальца, для рабочей зоны - координатам. Полуавтоматическое (ручное???) создание эскиза?
+            1.1.4 Для захвата выбираем вытягивание объекта на нужную длину до параллельной поверхности
+            1.1.5 - Результат - построенный параллелограмм с размерами и привязкой к моделям. Его мы экспортируем в json через существующий функционал
+            
+        1.2. Цилиндрическая поверхность - осесимметричный объект. Захват двухпальцевый, трехпальцевый, четырехпальцевый, цилиндрическая зона установки, отверстия сопряжения
+            1.2.1 Выбираем тип объекта
+            1.2.2. Выбираем ориентацию главной оси. //Потенциально, мы можем захватить цилиндрический объект в любой ориентации, нужно ли добавлять конкретное указание?
+                    видимо, только если геометрия обязывает нас придерживаться ее (напр. не дает поставить 4 палец)
+                    указание требуется, если есть фиксаторы, опорные площадки или что-то иное, что приводит к однозначному позиционированию
+            1.2.3. Вытягиваем зону до привязки. Пальцы ставим как цилиндрический массив( нужно ли??)
+            1.2.4 Результат - цилиндрическая зона с радиусом, ориентациями осей. 
+    2. К размеченным объектам необходимо привязать метаданные, содержащие связи с конкретными моделями. STEP-файл захвата, step-файл входной детали и/или выходной. 
+        2.1 Нужно ли привязывать захват? Да, но в некоем обобщенном виде. Позиция захвата - характеристика способа воздействия, а не объекта.
+        2.2 Для станков входы и выходы необходимы. 
+        2.3 
+    "
+    
+    
+    #!/usr/bin/env python3
+# coding: utf-8
+#
+# LGPL
+# Copyright HUBERT Zoltán
+#
+# newDatumCmd.py 
+
+
+import os
+
+from PySide import QtGui, QtCore
+import FreeCADGui as Gui
+import FreeCAD as App
+from FreeCAD import Console as FCC
+
+import Asm4_libs as Asm4
+
+
+
+
+"""
+    +-----------------------------------------------+
+    |      a class to create all Datum objects      |
+    +-----------------------------------------------+
+"""
+class newDatum:
+    "My tool object"
+    def __init__(self, datumName):
+        self.datumName = datumName
+        # recognised containers (not the same as Asm4.containerTypes !)
+        self.containers = [ 'App::Part', 'PartDesign::Body', 'App::DocumentObjectGroup']
+        if self.datumName   == 'Point':
+            self.datumType   = 'PartDesign::Point'
+            self.menutext    = "New Point"
+            self.tooltip     = "Create a new Datum Point in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Point.svg')
+            self.datumColor  = (0.00,0.00,0.00)
+            self.datumAlpha  = []
+        elif self.datumName == 'Axis':
+            self.datumType   = 'PartDesign::Line'
+            self.menutext    = "New Axis"
+            self.tooltip     = "Create a new Datum Axis in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Axis.svg')
+            self.datumColor  = (0.00,0.00,0.50)
+            self.datumAlpha  = []
+        elif self.datumName == 'Plane':
+            self.datumType   = 'PartDesign::Plane'
+            self.menutext    = "New Plane"
+            self.tooltip     = "Create a new Datum Plane in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Plane.svg')
+            self.datumColor  = (0.50,0.50,0.50)
+            self.datumAlpha  = 80
+        elif self.datumName == 'LCS':
+            self.datumType   = 'PartDesign::CoordinateSystem'
+            self.menutext    = "New Coordinate System"
+            self.tooltip     = "Create a new Coordinate System in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_CoordinateSystem.svg')
+            self.datumColor  = []
+            self.datumAlpha  = []
+        elif self.datumName == 'Sketch':
+            self.datumType   = 'Sketcher::SketchObject'
+            self.menutext    = "New Sketch"
+            self.tooltip     = "Create a new Sketch in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Sketch.svg')
+            self.datumColor  = []
+            self.datumAlpha  = []
+
+
+    def GetResources(self):
+        return {"MenuText": self.menutext,
+                "ToolTip": self.tooltip,
+                "Pixmap" : self.icon }
+
+
+    def IsActive(self):
+        if App.ActiveDocument:
+            # is something correct selected ?
+            if self.checkSelection():
+                return(True)
+        return(False)
+
+
+    def checkSelection(self):
+        # if something is selected ...
+        if Gui.Selection.getSelection():
+            selectedObj = Gui.Selection.getSelection()[0]
+            # ... and it's an App::Part or an datum object
+            selType = selectedObj.TypeId
+            if selType in self.containers or selType in Asm4.datumTypes or selType=='Sketcher::SketchObject':
+                return(selectedObj)
+        # or of nothing is selected ...
+        elif Asm4.getAssembly():
+            # ... but there is as assembly:
+            return Asm4.getAssembly()
+        # if we're here it's because we didn't find a good reason to not be here
+        return None
+
+
+
+    """
+    +-----------------------------------------------+
+    |                 the real stuff                |
+    +-----------------------------------------------+
+    """
+    def Activated(self):
+        # check that we have somewhere to put our stuff
+        selectedObj = self.checkSelection()
+        # default name increments the datum type's end numeral
+        proposedName = Asm4.nextInstance( self.datumName, startAtOne=True )
+
+        parentContainer = None
+        # check whether we have selected a container
+        if selectedObj.TypeId in self.containers:
+            parentContainer = selectedObj
+        # if a datum object is selected
+        elif selectedObj.TypeId in Asm4.datumTypes or selectedObj.TypeId=='Sketcher::SketchObject':
+            # see whether it's in a container
+            parent = selectedObj.getParentGeoFeatureGroup()
+            if parent.TypeId in self.containers:
+                parentContainer = parent
+        # if there is an assembly
+        elif Asm4.getAssembly():
+            parentContainer = Asm4.getAssembly()
+        # something went wrong
+        else:
+            Asm4.warningBox("I can't create a "+self.datumType+" with the current selections")
+            
+        # check whether there is already a similar datum, and increment the instance number 
+        # instanceNum = 1
+        #while App.ActiveDocument.getObject( self.datumName+'_'+str(instanceNum) ):
+        #    instanceNum += 1
+        #datumName = self.datumName+'_'+str(instanceNum)
+        if parentContainer:
+            # input dialog to ask the user the name of the Sketch:
+            #proposedName = Asm4.nextInstance( self.datumName + '_' + selectedObj.Label, startAtOne=True )
+            text,ok = QtGui.QInputDialog.getText(None,'Create new '+self.datumName,
+                    'Enter '+self.datumName+' name :'+' '*40, text = proposedName)
+            if ok and text:
+                # App.activeDocument().getObject('Model').newObject( 'Sketcher::SketchObject', text )
+                createdDatum = App.ActiveDocument.addObject( self.datumType, text )
+                parentContainer.addObject( createdDatum )
+                createdDatum.Label = text
+                # automatic resizing of datum Plane sucks, so we set it to manual
+                if self.datumType=='PartDesign::Plane':
+                    createdDatum.ResizeMode = 'Manual'
+                    createdDatum.Length = 100
+                    createdDatum.Width = 100
+                elif self.datumType=='PartDesign::Line':
+                    createdDatum.ResizeMode = 'Manual'
+                    createdDatum.Length = 200
+                # if color or transparency is specified for this datum type
+                if self.datumColor:
+                    Gui.ActiveDocument.getObject(createdDatum.Name).ShapeColor = self.datumColor
+                if self.datumAlpha:
+                    Gui.ActiveDocument.getObject(createdDatum.Name).Transparency = self.datumAlpha
+                # highlight the created datum object
+                Gui.Selection.clearSelection()
+                Gui.Selection.addSelection( App.ActiveDocument.Name, parentContainer.Name, createdDatum.Name+'.' )
+                Gui.runCommand('Part_EditAttachment')
+
+
+
+"""
+    +-----------------------------------------------+
+    |      a class to create an LCS on a hole       |
+    +-----------------------------------------------+
+"""
+class newHole:
+    def GetResources(self):
+        return {"MenuText": "New Hole Axis",
+                "ToolTip": "Create a Datum Axis attached to a hole",
+                "Pixmap" : os.path.join( Asm4.iconPath , 'Asm4_Hole.svg')
+                }
+
+    def IsActive(self):
+        selection = self.getSelectedEdges()
+        if selection is None:
+            return False
+        else:
+            return True
+
+
+    """
+    +-----------------------------------------------+
+    |                 the real stuff                |
+    +-----------------------------------------------+
+    """
+    def getSelectedEdges(self):
+        # check that we have selected only circular edges
+        selection = None
+        parent = None
+        edges = []
+        # 1 selection means a single parent        
+        if App.ActiveDocument and len(Gui.Selection.getSelection()) == 1:
+            parent = Gui.Selection.getSelection()[0]
+            # parse all sub-elemets of the selection
+            for i in range(len(Gui.Selection.getSelectionEx()[0].SubObjects)):
+                edgeObj  = Gui.Selection.getSelectionEx()[0].SubObjects[i]
+                edgeName = Gui.Selection.getSelectionEx()[0].SubElementNames[i]                    
+                # if the edge is circular
+                if Asm4.isCircle(edgeObj):
+                    edges.append( [edgeObj,edgeName] )
+        # if we found circular edges
+        if len(edges) > 0:
+            selection = ( parent, edges )
+        return selection
+
+
+    def Activated(self):
+        ( selectedObj, edges ) = self.getSelectedEdges()
+        for i in range(len(edges)):
+            edgeObj    = edges[i][0]
+            edgeName   = edges[i][1]
+            parentPart = selectedObj.getParentGeoFeatureGroup()
+            # we can create a datum only in a container
+            if parentPart:
+                parentDoc  = parentPart.Document
+                # if the solid having the edge is indeed in an App::Part
+                if parentPart and (parentPart.TypeId=='App::Part' or parentPart.TypeId=='PartDesign::Body'):
+                    # check whether there is already a similar datum, and increment the instance number 
+                    instanceNum = 1
+                    while parentDoc.getObject( 'HoleAxis_'+str(instanceNum) ):
+                        instanceNum += 1
+                    axis             = parentPart.newObject('PartDesign::Line','HoleAxis_'+str(instanceNum))
+                    axis.Support     = [( selectedObj, (edgeName,) )]
+                    axis.MapMode     = 'AxisOfCurvature'
+                    axis.MapReversed = False
+                    axis.ResizeMode  = 'Manual'
+                    axis.Length      = edgeObj.BoundBox.DiagonalLength
+                    axis.ViewObject.ShapeColor = (0.0,0.0,1.0)
+                    axis.ViewObject.Transparency = 50
+                    axis.recompute()
+                    parentPart.recompute()
+            # 
+            else:
+                FCC.PrintMessage('Datum objects can only be created inside Part or Body containers')
+
+
+
+"""
+    +-----------------------------------------------+
+    |       add the commands to the workbench       |
+    +-----------------------------------------------+
+"""
+Gui.addCommand( 'Asm4_newPoint', newDatum('Point') )
+Gui.addCommand( 'Asm4_newAxis',  newDatum('Axis')  )
+Gui.addCommand( 'Asm4_newPlane', newDatum('Plane') )
+Gui.addCommand( 'Asm4_newLCS',   newDatum('LCS')   )
+Gui.addCommand( 'Asm4_newSketch',newDatum('Sketch'))
+Gui.addCommand( 'Asm4_newHole',  newHole()         )
+
+# defines the drop-down button for Datum objects
+createDatumList = [     'Asm4_newLCS', 
+                        'Asm4_newPlane', 
+                        'Asm4_newAxis', 
+                        'Asm4_newPoint', 
+                        'Asm4_newHole' ]
+Gui.addCommand( 'Asm4_createDatum', Asm4.dropDownCmd( createDatumList, 'Create Datum Object'))

cg/freecad/Frames/BoMList.py

@@ -0,0 +1,110 @@
+from helper.is_solid import is_object_solid
+import FreeCAD as App
+import Spreadsheet
+
+
+def createSpreadsheet():
+
+    if App.ActiveDocument.getObject("BoM_List") == None:
+
+        sheet = App.activeDocument().addObject('Spreadsheet::Sheet', 'BoM_List')
+        sheet.set('A1', 'п.п.')
+        sheet.set('B1', 'Наименование детали')
+        sheet.set('C1', 'Количество')
+    else:
+
+        sheet = App.ActiveDocument.getObject("BoM_List")
+        App.ActiveDocument.BoM_List.clear('A1:ZZ16384')
+        sheet.set('A1', 'п.п.')
+        sheet.set('B1', 'Наименование детали')
+        sheet.set('C1', 'Количество')
+
+    return (sheet)
+
+
+class SolidBodiesParcer:
+    _asmThere = []
+
+    def __init__(self) -> None:
+        if (self._asmThere.__len__() == 0):
+
+            self.initParse()
+        pass
+
+    def initParse(self):
+        for el in App.ActiveDocument.RootObjects:
+            if (is_object_solid(el) and hasattr(el, 'Group')):
+                self.getSubPartsLink(el.Group, el.Label)
+
+    def getSubPartsLink(self, group, label):
+        groupLink = {label: []}
+        for el in group:
+            if (is_object_solid(el)):
+                groupLink[label].append(
+                    {'label': el.Label, 'isGroup': hasattr(el, 'Group'), 'solid': el})
+
+        for el in groupLink[label]:
+            if ('isGroup' in el):
+                if (el['isGroup'] == False):
+                    self._asmThere.append(el['solid'].Label)
+                if (el['isGroup']):
+                    self.getSubPartsLink(el['solid'].Group, el['label']),
+
+        return groupLink
+
+
+def uniquePartsSort(labelParts):
+
+    uniquePartsLabels = {}
+
+    for el in labelParts:
+        for k in labelParts:
+            if (App.ActiveDocument.getObjectsByLabel(str(el))[0].Shape.isPartner(App.ActiveDocument.getObjectsByLabel(str(k))[0].Shape)):
+
+                if uniquePartsLabels.get(el) == None:
+                    uniquePartsLabels[el] = k
+
+    sortedParts = {}
+
+    for k, v in uniquePartsLabels.items():
+
+        if sortedParts.get(v) == None:
+            sortedParts[v] = [k]
+        else:
+            sortedParts[v].append(k)
+
+    return sortedParts
+
+
+def countForUniques(sortedParts):
+    countedParts = {}
+    for k in sortedParts:
+        countedParts[k] = len(sortedParts[k])
+    return countedParts
+
+
+def fillInBoMList(sheet, countedParts):
+
+    a = 1
+
+    for label, count in countedParts.items():
+        a += 1
+        b = label
+        c = count
+        sheet.set('A' + str(a), str(a-1))
+        sheet.set('B' + str(a), str(b))
+        sheet.set('C' + str(a), str(c))
+
+    total_count = sum(countedParts.values())
+    sheet.set('B'+str(a+1), 'Итого')
+
+    sheet.set('C' + str(a+1), str(total_count))
+
+
+def run_BoM_list():
+    createSpreadsheet()
+    sheet = App.ActiveDocument.getObject("BoM_List")
+    labelParts = SolidBodiesParcer()._asmThere
+    sortedParts = uniquePartsSort(labelParts)
+    countedParts = countForUniques(sortedParts)
+    fillInBoMList(sheet, countedParts)

cg/freecad/Frames/DatumCommand.py

@@ -0,0 +1,49 @@
+import FreeCAD
+import FreeCADGui
+from PySide import QtGui, QtCore
+
+class DatumTool:
+    """
+    A tool for creating datums in existing models
+    """
+    def __init__(self):
+        self.active = False
+
+    def activate(self):
+        self.active = True
+        FreeCAD.Console.PrintMessage("Datum tool activatedn")
+
+    def deactivate(self):
+        self.active = False
+        FreeCAD.Console.PrintMessage("Datum tool deactivatedn")
+
+    def mousePressEvent(self, event):
+        if self.active:
+            # Create a datum at the position of the mouse click
+            pos = FreeCADGui.ActiveDocument.ActiveView.getCursorPos()
+            point = FreeCADGui.ActiveDocument.ActiveView.getPoint(pos)
+            datum = FreeCAD.ActiveDocument.addObject("Part::Datum", "Datum")
+            datum.Placement.Base = point
+            datum.ViewObject.ShapeColor = (0.0, 1.0, 0.0) # Set the color of the datum to green
+            FreeCAD.ActiveDocument.recompute()
+
+class DatumCommand:
+    """
+    A command for activating and deactivating the datum tool
+    """
+    def __init__(self):
+        self.tool = DatumTool()
+
+    def Activated(self):
+        self.tool.activate()
+        FreeCADGui.ActiveDocument.ActiveView.addEventCallback("SoMouseButtonEvent", self.tool.mousePressEvent)
+
+    def Deactivated(self):
+        self.tool.deactivate()
+        FreeCADGui.ActiveDocument.ActiveView.removeEventCallback("SoMouseButtonEvent", self.tool.mousePressEvent)
+
+    def GetResources(self):
+        return {'Pixmap': 'path/to/icon.png', 'MenuText': 'Datum Tool', 'ToolTip': 'Creates datum elements in existing models'}
+
+# Add the command to the Draft Workbench
+FreeCADGui.addCommand('DatumCommand', DatumCommand())

cg/freecad/Frames/Frames.py

@@ -11,9 +11,11 @@
 # Lesser General Public License for more details.
 # You should have received a copy of the GNU Lesser General Public
 # License along with this library. If not, see <http://www.gnu.org/licenses/>.
+from BoMList import run_BoM_list
 import FreeCAD
 import Tools
-from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario
+from usecases.asm4parser_usecase import Asm4StructureParseUseCase
+
 
 if FreeCAD.GuiUp:
     import FreeCADGui
@@ -298,6 +300,13 @@ def spawnFeatureFrameCreator():
     ffpanel = FeatureFramePanel()
     FreeCADGui.Control.showDialog(ffpanel)
     
+def BoMGeneration(part):
+    
+    
+    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython",
+                                           "FeatureFrame")
+    print(obj)
+
 
 ###################################################################
 # GUI Related
@@ -306,6 +315,12 @@ uidir = os.path.join(FreeCAD.getUserAppDataDir(),
                      "Mod", __workbenchname__, "UI")
 icondir = os.path.join(uidir, "icons")
 
+
+Tools.spawnClassCommand("BoMGeneration", 
+                          run_BoM_list,
+                          {"Pixmap": str(os.path.join(icondir, "BoMList.svg")),
+                           "MenuText": "Generate Bill of Materials",
+                           "ToolTip": "Press the button to create big BoM"})
 Tools.spawnClassCommand("FrameCommand",
                           makeFrame,
                           {"Pixmap": str(os.path.join(icondir, "frame.svg")),

cg/freecad/Frames/ImportExportEntities.py

@@ -0,0 +1,105 @@
+import os
+import json
+import FreeCAD
+import Tools
+
+def export_coordinate_systems():
+    # Получение активного документа FreeCAD
+    doc = FreeCAD.ActiveDocument
+    if not doc:
+        raise ValueError("Нет активного документа FreeCAD.")
+
+    # Получение имени активного документа
+    doc_name = doc.Name
+
+
+    # Получение пути к папке и имя файла активного документа
+    folder_path, file_name = os.path.split(doc.FileName)
+
+    # Создание папки для экспорта, если она не существует
+    output_folder = os.path.join(folder_path, 'entities')
+    if not os.path.exists(output_folder):
+        os.makedirs(output_folder)
+
+
+
+    # Создание копии активного документа 
+    # надо сохраняться, а не копироваться
+    
+    doc.save()
+
+
+
+    # Получение списка объектов документа
+    objects = doc.Objects
+
+    # Обход объектов для сохранения локальных систем координат
+    for obj in objects:
+        if  obj.TypeId == 'PartDesign::CoordinateSystem':
+            
+            partprops = Tools.getLocalPartProps(obj)
+            
+
+            output_file_path = os.path.join(output_folder, f"{obj.Label}.json")
+            with open(output_file_path, "w", encoding="utf8") as propfile:
+                json.dump(partprops, propfile, indent=1, separators=(',', ': '))
+
+
+    print("Экспорт обьектов завершен.")
+
+export_coordinate_systems()
+
+
+#работает
+
+
+# def import_coordinate_systems():
+#     # Получение активного документа FreeCAD
+#     doc = FreeCAD.ActiveDocument
+#     if not doc:
+#         raise ValueError("Нет активного документа FreeCAD.")
+
+#     # Получение имени активного документа
+#     doc_name = doc.Name
+
+#     # Получение пути к папке активного документа
+#     folder_path, _ = os.path.split(doc.FileName)
+
+#     # Получение пути к папке с файлами JSON
+#     json_folder_path = os.path.join(folder_path, doc_name)
+
+#     # Проверка существования папки с файлами JSON
+#     if not os.path.exists(json_folder_path):
+#         raise ValueError(f"Папка {json_folder_path} не существует.")
+
+#     # Получение списка файлов JSON в папке
+#     json_files = [f for f in os.listdir(json_folder_path) if f.endswith(".json")]
+
+#     # Обход файлов JSON для создания локальных систем координат
+#     for json_file in json_files:
+#         json_file_path = os.path.join(json_folder_path, json_file)
+#         with open(json_file_path, "r") as file:
+#             json_data = json.load(file)
+
+#             # Извлечение информации о локальной системе координат из файла JSON
+#             name = json_data.get("Name")
+#             x = json_data.get("X")
+#             y = json_data.get("Y")
+#             z = json_data.get("Z")
+
+#             # Создание локальной системы координат
+#             placement = FreeCAD.Placement()
+#             placement.Base = FreeCAD.Vector(x, y, z)
+#             part = doc.addObject("Part::Feature", name)
+#             part.Placement = placement
+
+#             # Добавление дополнительных свойств из файла JSON
+#             for key, value in json_data.items():
+#                 if key not in ["Name", "X", "Y", "Z"]:
+#                     setattr(part, key, value)
+
+#     print("Импорт локальных систем координат завершен.")
+
+
+# #import_coordinate_systems()
+

cg/freecad/Frames/InitGui.py

@@ -36,10 +36,13 @@ class Frames(Workbench):
         """This function is executed when FreeCAD starts"""
         import Frames
         self.framecommands = [
+            "BoMGeneration",
             "FrameCommand",
+            
             "SelectedPartFrameCommand",
             "AllPartFramesCommand",
-            "FeatureFrameCommand"
+            "FeatureFrameCommand",
+            
             ]
         self.toolcommands = [
             "ExportPlacementAndPropertiesCommand",

cg/freecad/Frames/Sheet_addition_test.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+#  Sheet_addition_test.py
+#  
+#  Copyright 2015 Ulrich Brammer <ulrich@Pauline>
+#  
+#  This program is free software; you can redistribute it and/or modify
+#  it under the terms of the GNU General Public License as published by
+#  the Free Software Foundation; either version 2 of the License, or
+#  (at your option) any later version.
+#  
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+#  
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA 02110-1301, USA.
+#  
+#  
+
+theDoc = App.newDocument("SheetTest")
+App.setActiveDocument("SheetTest")
+#App.activeDocument("SheetTest")
+
+
+p=App.ParamGet("User parameter:BaseApp/Preferences/General")
+thePath = p.GetString('FileOpenSavePath')
+
+
+mySheet = theDoc.addObject('Spreadsheet::Sheet','Spreadsheet')
+
+mySheet.set('A1', '1')
+mySheet.set('A2', '2')
+theDoc.recompute()
+mySheet.set('A3', '=A1+A2')
+mySheet.setPosition('A4')
+#theDoc.saveAs("/home/ulrich/FreeCAD/Spreadsheet/Sheet_4.fcstd")
+theDoc.saveAs(thePath + '/Sheet_5.fcstd')
+mySheet.set('A4', '=A3')
+theDoc.recompute()
+
+if mySheet.State == ['Invalid']:
+  print "Invalid Spreadsheet"
+else:
+  print "No error found"
+
+
+
+
+def main():
+	
+	return 0
+
+if __name__ == '__main__':
+	main()
+

cg/freecad/Frames/Tools.py

@@ -184,11 +184,23 @@ def getLocalPartProps(obj):
         "label": obj.Label,
         "parent_label": obj_parent_label,
         "placement": placement2pose(old_placement),
+        # "grip properties": { "grip open": obj.GripOpen, "grip depth": obj.GripDepth, "grip width": obj.GripWidth}
         # "boundingbox": boundingBox2list(obj.Shape.BoundBox),
         # "volume": obj.Shape.Volume*1e-9,
         # "centerofmass": vector2list(obj.Shape.CenterOfMass),
         # "principalproperties": principalProperties2dict(obj.Shape.PrincipalProperties)
     }
+    
+    if obj.Type == 'grip':
+        partprops["grip properties"] =  { "grip open": obj.GripOpen, "grip depth": obj.GripDepth, "grip width": obj.GripWidth}
+        
+    elif obj.Type == 'area':
+        partprops["area dim"] =  { } #свойства, описывающие размер
+    
+    elif obj.Type == 'vol':
+        partprops["vol dim"] =  { } #свойства, описывающие размер области
+            
+        
     # obj.Placement = old_placement
     return partprops
 

cg/freecad/Frames/UI/icons/BoMList.svg

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+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:cc="http://creativecommons.org/ns#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:svg="http://www.w3.org/2000/svg" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" width="32px" height="32px" id="svg3085" version="1.1" inkscape:version="0.92.4 (5da689c313, 2019-01-14)" sodipodi:docname="a2p_PartsList.svg">
+  <defs id="defs3087">
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+    <linearGradient inkscape:collect="always" id="linearGradient7597">
+      <stop style="stop-color:#000003;stop-opacity:1;" offset="0" id="stop7599"/>
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+  </g>
+</svg>

cg/freecad/Frames/UI/icons/auxDatum.svg

@@ -0,0 +1,240 @@
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+<svg
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+   xmlns:cc="http://creativecommons.org/ns#"
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+   inkscape:output_extension="org.inkscape.output.svg.inkscape"
+   version="1.1"
+   inkscape:export-filename="/home/normand/Images/Icônes/PartDesign_Std_Plane_nc1.png"
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+        <dc:type
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+        <dc:title />
+        <dc:creator>
+          <cc:Agent>
+            <dc:title>[wmayer]</dc:title>
+          </cc:Agent>
+        </dc:creator>
+        <dc:title>Sketcher_Sketch</dc:title>
+        <dc:date>2011-10-10</dc:date>
+        <dc:relation>http://www.freecadweb.org/wiki/index.php?title=Artwork</dc:relation>
+        <dc:publisher>
+          <cc:Agent>
+            <dc:title>FreeCAD</dc:title>
+          </cc:Agent>
+        </dc:publisher>
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+        <dc:rights>
+          <cc:Agent>
+            <dc:title>FreeCAD LGPL2+</dc:title>
+          </cc:Agent>
+        </dc:rights>
+        <cc:license>https://www.gnu.org/copyleft/lesser.html</cc:license>
+        <dc:contributor>
+          <cc:Agent>
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+        </g>
+      </g>
+    </g>
+  </g>
+</svg>

cg/freecad/Frames/file.py

@@ -0,0 +1,31 @@
+
+import os
+import subprocess
+import time
+import subprocess
+# import FreeCAD
+# import Mesh
+
+
+import gcoder
+
+
+# gcode_path = '/home/mark-voltov/Winder/axis.gcode'
+
+# gcode.main(gcode)
+
+
+
+file_path = '/home/mark-voltov/Winder/axis.gcode'
+gcoder_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/gcoder.py'
+
+
+with open(file_path, 'r') as file:
+    gcode = file.readlines()
+
+# print(gcode)
+
+(gcoder.LightGCode(gcode))
+cmd = [file_path gcoder_path]
+subprocess.run(cmd)
+# subprocess.run( '/home/mark-voltov/Winder/axis.gcode', '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/gcoder.py')

cg/freecad/Frames/freecad2pddl.py

@@ -0,0 +1,60 @@
+# import FreeCAD as App
+
+
+# doc = App.ActiveDocument
+
+
+#генерируем pddl
+#импортируем кучу обьектов из дерева построения freecad
+
+#задаем шаблон на действие 
+
+predicates = ';; Предикаты \n(:predicates \n(at ?c - component ?location - component) \n(printed ?c - component) \n(has-material ?m - material) \n(compatible ?m - material ?c - component))'
+
+# print(predicates)
+
+
+predicates = 
+
+
+(" ;; Предикаты \
+    '(:predicates (at ?c - component ?location - component)' \
+    '(printed ?c - component)' \
+    '(printed ?c - component))'
+
+
+print(predicates)
+
+#   (:predicates
+#     (at ?c - component ?location - component)
+#     (printed ?c - component)
+#     (has-material ?m - material)
+#     (compatible ?m - material ?c - component))''
+
+
+
+#   ;; Предикаты
+#   (:predicates
+#     (at ?c - component ?location - component)
+#     (printed ?c - component)
+#     (has-material ?m - material)
+#     (compatible ?m - material ?c - component))
+  
+#     ;; Действия
+#   (:action load-material
+#     :parameters (?m - material ?c - component)
+#     :precondition (and (at ?m ?c) (compatible ?m ?c))
+#     :effect (has-material ?m))
+
+#   (:action unload-material
+#     :parameters (?m - material ?c - component)
+#     :precondition (has-material ?m)
+#     :effect (and (not (has-material ?m)) (at ?m ?c)))
+
+#   (:action print-component
+#     :parameters (?c - component)
+#     :precondition (and (at ?c ?printer) (has-material ?m) (compatible ?m ?c))
+#     :effect (printed ?c))
+
+#   ;; Цель
+#   (:goal (forall (?c - component) (printed ?c))))

cg/freecad/Frames/gcoder.py

@@ -0,0 +1,769 @@
+#!/usr/bin/env python3
+#
+# This file is part of the Printrun suite.
+#
+# Printrun is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Printrun is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# # along with Printrun.  If not, see <http://www.gnu.org/licenses/>.
+# Добавлен файл программы, проводящей анализ файла .gcode и на основе полученных данных вычисляющая материальные и временные затраты на 3д-печать.
+# Программа вычисляет габариты задания, длину затрачиваемой нити филамента, длительность маршрута движения головки принтера и длительность печати.
+# Эксперименты показывают, что на данный момент есть расхождение между реальным временем и вычисленным с помощью программы,0 в зависимости от файла, на 20-40% (недооценка вычисленной длительности в сравнении с реальной). Остальные результаты выглядят адекватными, но проверить их сложнее.
+
+
+
+import sys
+import re
+import math
+import datetime
+import logging
+from array import array
+
+gcode_parsed_args = ["x", "y", "e", "f", "z", "i", "j"]
+gcode_parsed_nonargs = 'gtmnd'
+to_parse = "".join(gcode_parsed_args) + gcode_parsed_nonargs
+gcode_exp = re.compile("\([^\(\)]*\)|;.*|[/\*].*\n|([%s])\s*([-+]?[0-9]*\.?[0-9]*)" % to_parse)
+gcode_strip_comment_exp = re.compile("\([^\(\)]*\)|;.*|[/\*].*\n")
+m114_exp = re.compile("\([^\(\)]*\)|[/\*].*\n|([XYZ]):?([-+]?[0-9]*\.?[0-9]*)")
+specific_exp = "(?:\([^\(\)]*\))|(?:;.*)|(?:[/\*].*\n)|(%s[-+]?[0-9]*\.?[0-9]*)"
+move_gcodes = ["G0", "G1", "G2", "G3"]
+
+class PyLine:
+
+    __slots__ = ('x', 'y', 'z', 'e', 'f', 'i', 'j',
+                 'raw', 'command', 'is_move',
+                 'relative', 'relative_e',
+                 'current_x', 'current_y', 'current_z', 'extruding',
+                 'current_tool',
+                 'gcview_end_vertex')
+
+    def __init__(self, l):
+        self.raw = l
+
+    def __getattr__(self, name):
+        return None
+
+class PyLightLine:
+
+    __slots__ = ('raw', 'command')
+
+    def __init__(self, l):
+        self.raw = l
+
+    def __getattr__(self, name):
+        return None
+
+try:
+    from . import gcoder_line
+    Line = gcoder_line.GLine
+    LightLine = gcoder_line.GLightLine
+except Exception as e:
+    logging.warning("Memory-efficient GCoder implementation unavailable: %s" % e)
+    Line = PyLine
+    LightLine = PyLightLine
+
+def find_specific_code(line, code):
+    exp = specific_exp % code
+    bits = [bit for bit in re.findall(exp, line.raw) if bit]
+    if not bits: return None
+    else: return float(bits[0][1:])
+
+def S(line):
+    return find_specific_code(line, "S")
+
+def P(line):
+    return find_specific_code(line, "P")
+
+def split(line):
+    split_raw = gcode_exp.findall(line.raw.lower())
+    if split_raw and split_raw[0][0] == "n":
+        del split_raw[0]
+    if not split_raw:
+        line.command = line.raw
+        line.is_move = False
+        logging.warning("raw G-Code line \"%s\" could not be parsed" % line.raw)
+        return [line.raw]
+    command = split_raw[0]
+    line.command = command[0].upper() + command[1]
+    line.is_move = line.command in move_gcodes
+    return split_raw
+
+def parse_coordinates(line, split_raw, imperial = False, force = False):
+    # Not a G-line, we don't want to parse its arguments
+    if not force and line.command[0] != "G":
+        return
+    unit_factor = 25.4 if imperial else 1
+    for bit in split_raw:
+        code = bit[0]
+        if code not in gcode_parsed_nonargs and bit[1]:
+            setattr(line, code, unit_factor * float(bit[1]))
+
+class Layer(list):
+
+    __slots__ = ("duration", "z")
+
+    def __init__(self, lines, z = None):
+        super(Layer, self).__init__(lines)
+        self.z = z
+        self.duration = 0
+
+class GCode:
+
+    line_class = Line
+
+    lines = None
+    layers = None
+    all_layers = None
+    layer_idxs = None
+    line_idxs = None
+    append_layer = None
+    append_layer_id = None
+
+    imperial = False
+    cutting = False
+    relative = False
+    relative_e = False
+    current_tool = 0
+    # Home position: current absolute position counted from machine origin
+    home_x = 0
+    home_y = 0
+    home_z = 0
+    # Current position: current absolute position counted from machine origin
+    current_x = 0
+    current_y = 0
+    current_z = 0
+    # For E this is the absolute position from machine start
+    current_e = 0
+    current_e_multi=[0]
+    total_e = 0
+    total_e_multi=[0]
+    max_e = 0
+    max_e_multi=[0]
+    # Current feedrate
+    current_f = 0
+    # Offset: current offset between the machine origin and the machine current
+    # absolute coordinate system (as shifted by G92s)
+    offset_x = 0
+    offset_y = 0
+    offset_z = 0
+    offset_e = 0
+    offset_e_multi = [0]
+
+    # Expected behavior:
+    # - G28 X => X axis is homed, offset_x <- 0, current_x <- home_x
+    # - G92 Xk => X axis does not move, so current_x does not change
+    #             and offset_x <- current_x - k,
+    # - absolute G1 Xk => X axis moves, current_x <- offset_x + k
+    # How to get...
+    # current abs X from machine origin: current_x
+    # current abs X in machine current coordinate system: current_x - offset_x
+
+    filament_length = None
+    filament_length_multi=[0]
+    duration = None
+    xmin = None
+    xmax = None
+    ymin = None
+    ymax = None
+    zmin = None
+    zmax = None
+    width = None
+    depth = None
+    height = None
+
+    est_layer_height = None
+
+    # abs_x is the current absolute X in machine current coordinate system
+    # (after the various G92 transformations) and can be used to store the
+    # absolute position of the head at a given time
+    def _get_abs_x(self):
+        return self.current_x - self.offset_x
+    abs_x = property(_get_abs_x)
+
+    def _get_abs_y(self):
+        return self.current_y - self.offset_y
+    abs_y = property(_get_abs_y)
+
+    def _get_abs_z(self):
+        return self.current_z - self.offset_z
+    abs_z = property(_get_abs_z)
+
+    def _get_abs_e(self):
+        return self.current_e - self.offset_e
+    abs_e = property(_get_abs_e)
+
+    def _get_abs_e_multi(self,i):
+        return self.current_e_multi[i] - self.offset_e_multi[i]
+    abs_e = property(_get_abs_e)
+
+    def _get_abs_pos(self):
+        return (self.abs_x, self.abs_y, self.abs_z)
+    abs_pos = property(_get_abs_pos)
+
+    def _get_current_pos(self):
+        return (self.current_x, self.current_y, self.current_z)
+    current_pos = property(_get_current_pos)
+
+    def _get_home_pos(self):
+        return (self.home_x, self.home_y, self.home_z)
+
+    def _set_home_pos(self, home_pos):
+        if home_pos:
+            self.home_x, self.home_y, self.home_z = home_pos
+    home_pos = property(_get_home_pos, _set_home_pos)
+
+    def _get_layers_count(self):
+        return len(self.all_zs)
+    layers_count = property(_get_layers_count)
+
+    def __init__(self, data = None, home_pos = None,
+                 layer_callback = None, deferred = False,
+                 cutting_as_extrusion = False):
+        self.cutting_as_extrusion = cutting_as_extrusion
+        if not deferred:
+            self.prepare(data, home_pos, layer_callback)
+
+    def prepare(self, data = None, home_pos = None, layer_callback = None):
+        self.home_pos = home_pos
+        if data:
+            line_class = self.line_class
+            self.lines = [line_class(l2) for l2 in
+                          (l.strip() for l in data)
+                          if l2]
+            self._preprocess(build_layers = True,
+                             layer_callback = layer_callback)
+        else:
+            self.lines = []
+            self.append_layer_id = 0
+            self.append_layer = Layer([])
+            self.all_layers = [self.append_layer]
+            self.all_zs = set()
+            self.layers = {}
+            self.layer_idxs = array('I', [])
+            self.line_idxs = array('I', [])
+
+    def has_index(self, i):
+        return i < len(self)
+    def __len__(self):
+        return len(self.line_idxs)
+
+    def __iter__(self):
+        return self.lines.__iter__()
+
+    def prepend_to_layer(self, commands, layer_idx):
+        # Prepend commands in reverse order
+        commands = [c.strip() for c in commands[::-1] if c.strip()]
+        layer = self.all_layers[layer_idx]
+        # Find start index to append lines
+        # and end index to append new indices
+        start_index = self.layer_idxs.index(layer_idx)
+        for i in range(start_index, len(self.layer_idxs)):
+            if self.layer_idxs[i] != layer_idx:
+                end_index = i
+                break
+        else:
+            end_index = i + 1
+        end_line = self.line_idxs[end_index - 1]
+        for i, command in enumerate(commands):
+            gline = Line(command)
+            # Split to get command
+            split(gline)
+            # Force is_move to False
+            gline.is_move = False
+            # Insert gline at beginning of layer
+            layer.insert(0, gline)
+            # Insert gline at beginning of list
+            self.lines.insert(start_index, gline)
+            # Update indices arrays & global gcodes list
+            self.layer_idxs.insert(end_index + i, layer_idx)
+            self.line_idxs.insert(end_index + i, end_line + i + 1)
+        return commands[::-1]
+
+    def rewrite_layer(self, commands, layer_idx):
+        # Prepend commands in reverse order
+        commands = [c.strip() for c in commands[::-1] if c.strip()]
+        layer = self.all_layers[layer_idx]
+        # Find start index to append lines
+        # and end index to append new indices
+        start_index = self.layer_idxs.index(layer_idx)
+        for i in range(start_index, len(self.layer_idxs)):
+            if self.layer_idxs[i] != layer_idx:
+                end_index = i
+                break
+        else:
+            end_index = i + 1
+        self.layer_idxs = self.layer_idxs[:start_index] + array('I', len(commands) * [layer_idx]) + self.layer_idxs[end_index:]
+        self.line_idxs = self.line_idxs[:start_index] + array('I', range(len(commands))) + self.line_idxs[end_index:]
+        del self.lines[start_index:end_index]
+        del layer[:]
+        for i, command in enumerate(commands):
+            gline = Line(command)
+            # Split to get command
+            split(gline)
+            # Force is_move to False
+            gline.is_move = False
+            # Insert gline at beginning of layer
+            layer.insert(0, gline)
+            # Insert gline at beginning of list
+            self.lines.insert(start_index, gline)
+        return commands[::-1]
+
+    def append(self, command, store = True):
+        command = command.strip()
+        if not command:
+            return
+        gline = Line(command)
+        self._preprocess([gline])
+        if store:
+            self.lines.append(gline)
+            self.append_layer.append(gline)
+            self.layer_idxs.append(self.append_layer_id)
+            self.line_idxs.append(len(self.append_layer)-1)
+        return gline
+
+    def _preprocess(self, lines = None, build_layers = False,
+                    layer_callback = None):
+        """Checks for imperial/relativeness settings and tool changes"""
+        if not lines:
+            lines = self.lines
+        imperial = self.imperial
+        relative = self.relative
+        relative_e = self.relative_e
+        current_tool = self.current_tool
+        current_x = self.current_x
+        current_y = self.current_y
+        current_z = self.current_z
+        offset_x = self.offset_x
+        offset_y = self.offset_y
+        offset_z = self.offset_z
+
+        # Extrusion computation
+        current_e = self.current_e
+        offset_e = self.offset_e
+        total_e = self.total_e
+        max_e = self.max_e
+        cutting = self.cutting
+
+        current_e_multi = self.current_e_multi[current_tool]
+        offset_e_multi = self.offset_e_multi[current_tool]
+        total_e_multi = self.total_e_multi[current_tool]
+        max_e_multi = self.max_e_multi[current_tool]
+
+        # Store this one out of the build_layers scope for efficiency
+        cur_layer_has_extrusion = False
+
+        # Initialize layers and other global computations
+        if build_layers:
+            # Bounding box computation
+            xmin = float("inf")
+            ymin = float("inf")
+            zmin = 0
+            xmax = float("-inf")
+            ymax = float("-inf")
+            zmax = float("-inf")
+            # Also compute extrusion-only values
+            xmin_e = float("inf")
+            ymin_e = float("inf")
+            xmax_e = float("-inf")
+            ymax_e = float("-inf")
+
+            # Duration estimation
+            # TODO:
+            # get device caps from firmware: max speed, acceleration/axis
+            # (including extruder)
+            # calculate the maximum move duration accounting for above ;)
+            lastx = lasty = lastz = None
+            laste = lastf = 0
+            lastdx = 0
+            lastdy = 0
+            x = y = e = f = 0.0
+            currenttravel = 0.0
+            moveduration = 0.0
+            totalduration = 0.0
+            acceleration = 2000.0  # mm/s^2
+            layerbeginduration = 0.0
+
+            # Initialize layers
+            all_layers = self.all_layers = []
+            all_zs = self.all_zs = set()
+            layer_idxs = self.layer_idxs = []
+            line_idxs = self.line_idxs = []
+
+
+            last_layer_z = None
+            prev_z = None
+            cur_z = None
+            cur_lines = []
+
+            def append_lines(lines, isEnd):
+                if not build_layers:
+                    return
+                nonlocal layerbeginduration, last_layer_z
+                if cur_layer_has_extrusion and prev_z != last_layer_z \
+                        or not all_layers:
+                    layer = Layer([], prev_z)
+                    last_layer_z = prev_z
+                    finished_layer = len(all_layers)-1 if all_layers else None
+                    all_layers.append(layer)
+                    all_zs.add(prev_z)
+                else:
+                    layer = all_layers[-1]
+                    finished_layer = None
+                layer_id = len(all_layers)-1
+                layer_line = len(layer)
+                for i, ln in enumerate(lines):
+                    layer.append(ln)
+                    layer_idxs.append(layer_id)
+                    line_idxs.append(layer_line+i)
+                layer.duration += totalduration - layerbeginduration
+                layerbeginduration = totalduration
+                if layer_callback:
+                    # we finish a layer when inserting the next
+                    if finished_layer is not None:
+                        layer_callback(self, finished_layer)
+                    # notify about end layer, there will not be next
+                    if isEnd:
+                        layer_callback(self, layer_id)
+
+        if self.line_class != Line:
+            get_line = lambda l: Line(l.raw)
+        else:
+            get_line = lambda l: l
+        for true_line in lines:
+            # # Parse line
+            # Use a heavy copy of the light line to preprocess
+            line = get_line(true_line)
+            split_raw = split(line)
+            if line.command:
+                # Update properties
+                if line.is_move:
+                    line.relative = relative
+                    line.relative_e = relative_e
+                    line.current_tool = current_tool
+                elif line.command == "G20":
+                    imperial = True
+                elif line.command == "G21":
+                    imperial = False
+                elif line.command == "G90":
+                    relative = False
+                    relative_e = False
+                elif line.command == "G91":
+                    relative = True
+                    relative_e = True
+                elif line.command == "M82":
+                    relative_e = False
+                elif line.command == "M83":
+                    relative_e = True
+                elif line.command[0] == "T":
+                    try:
+                        current_tool = int(line.command[1:])
+                    except:
+                        pass #handle T? by treating it as no tool change
+                    while current_tool+1 > len(self.current_e_multi):
+                        self.current_e_multi+=[0]
+                        self.offset_e_multi+=[0]
+                        self.total_e_multi+=[0]
+                        self.max_e_multi+=[0]
+                elif line.command == "M3" or line.command == "M4":
+                    cutting = True
+                elif line.command == "M5":
+                    cutting = False
+
+                current_e_multi = self.current_e_multi[current_tool]
+                offset_e_multi = self.offset_e_multi[current_tool]
+                total_e_multi = self.total_e_multi[current_tool]
+                max_e_multi = self.max_e_multi[current_tool]
+
+
+                if line.command[0] == "G":
+                    parse_coordinates(line, split_raw, imperial)
+
+                # Compute current position
+                if line.is_move:
+                    x = line.x
+                    y = line.y
+                    z = line.z
+
+                    if line.f is not None:
+                        self.current_f = line.f
+
+                    if line.relative:
+                        x = current_x + (x or 0)
+                        y = current_y + (y or 0)
+                        z = current_z + (z or 0)
+                    else:
+                        if x is not None: x = x + offset_x
+                        if y is not None: y = y + offset_y
+                        if z is not None: z = z + offset_z
+
+                    if x is not None: current_x = x
+                    if y is not None: current_y = y
+                    if z is not None: current_z = z
+
+                elif line.command == "G28":
+                    home_all = not any([line.x, line.y, line.z])
+                    if home_all or line.x is not None:
+                        offset_x = 0
+                        current_x = self.home_x
+                    if home_all or line.y is not None:
+                        offset_y = 0
+                        current_y = self.home_y
+                    if home_all or line.z is not None:
+                        offset_z = 0
+                        current_z = self.home_z
+
+                elif line.command == "G92":
+                    if line.x is not None: offset_x = current_x - line.x
+                    if line.y is not None: offset_y = current_y - line.y
+                    if line.z is not None: offset_z = current_z - line.z
+
+                line.current_x = current_x
+                line.current_y = current_y
+                line.current_z = current_z
+
+                # # Process extrusion
+                if line.e is not None:
+                    if line.is_move:
+                        if line.relative_e:
+                            line.extruding = line.e > 0
+                            total_e += line.e
+                            current_e += line.e
+                            total_e_multi += line.e
+                            current_e_multi += line.e
+                        else:
+                            new_e = line.e + offset_e
+                            line.extruding = new_e > current_e
+                            total_e += new_e - current_e
+                            current_e = new_e
+                            new_e_multi = line.e + offset_e_multi
+                            total_e_multi += new_e_multi - current_e_multi
+                            current_e_multi = new_e_multi
+
+                        max_e = max(max_e, total_e)
+                        max_e_multi=max(max_e_multi, total_e_multi)
+                        cur_layer_has_extrusion |= line.extruding and (line.x is not None or line.y is not None)
+                    elif line.command == "G92":
+                        offset_e = current_e - line.e
+                        offset_e_multi = current_e_multi - line.e
+                if cutting and self.cutting_as_extrusion:
+                    line.extruding = True
+
+                self.current_e_multi[current_tool]=current_e_multi
+                self.offset_e_multi[current_tool]=offset_e_multi
+                self.max_e_multi[current_tool]=max_e_multi
+                self.total_e_multi[current_tool]=total_e_multi
+
+                # # Create layers and perform global computations
+                if build_layers:
+                    # Update bounding box
+                    if line.is_move:
+                        if line.extruding:
+                            if line.current_x is not None:
+                                # G0 X10 ; G1 X20 E5 results in 10..20 even as G0 is not extruding
+                                xmin_e = min(xmin_e, line.current_x, xmin_e if lastx is None else lastx)
+                                xmax_e = max(xmax_e, line.current_x, xmax_e if lastx is None else lastx)
+                            if line.current_y is not None:
+                                ymin_e = min(ymin_e, line.current_y, ymin_e if lasty is None else lasty)
+                                ymax_e = max(ymax_e, line.current_y, ymax_e if lasty is None else lasty)
+                        if max_e <= 0:
+                            if line.current_x is not None:
+                                xmin = min(xmin, line.current_x)
+                                xmax = max(xmax, line.current_x)
+                            if line.current_y is not None:
+                                ymin = min(ymin, line.current_y)
+                                ymax = max(ymax, line.current_y)
+
+                    # Compute duration
+                    if line.command == "G0" or line.command == "G1":
+                        x = line.x if line.x is not None else (lastx or 0)
+                        y = line.y if line.y is not None else (lasty or 0)
+                        z = line.z if line.z is not None else (lastz or 0)
+                        e = line.e if line.e is not None else laste
+                        # mm/s vs mm/m => divide by 60
+                        f = line.f / 60.0 if line.f is not None else lastf
+
+                        # given last feedrate and current feedrate calculate the
+                        # distance needed to achieve current feedrate.
+                        # if travel is longer than req'd distance, then subtract
+                        # distance to achieve full speed, and add the time it took
+                        # to get there.
+                        # then calculate the time taken to complete the remaining
+                        # distance
+
+                        # FIXME: this code has been proven to be super wrong when 2
+                        # subsquent moves are in opposite directions, as requested
+                        # speed is constant but printer has to fully decellerate
+                        # and reaccelerate
+                        # The following code tries to fix it by forcing a full
+                        # reacceleration if this move is in the opposite direction
+                        # of the previous one
+                        dx = x - (lastx or 0)
+                        dy = y - (lasty or 0)
+                        if dx * lastdx + dy * lastdy <= 0:
+                            lastf = 0
+
+                        currenttravel = math.hypot(dx, dy)
+                        if currenttravel == 0:
+                            if line.z is not None:
+                                currenttravel = abs(line.z) if line.relative else abs(line.z - (lastz or 0))
+                            elif line.e is not None:
+                                currenttravel = abs(line.e) if line.relative_e else abs(line.e - laste)
+                        # Feedrate hasn't changed, no acceleration/decceleration planned
+                        if f == lastf:
+                            moveduration = currenttravel / f if f != 0 else 0.
+                        else:
+                            # FIXME: review this better
+                            # this looks wrong : there's little chance that the feedrate we'll decelerate to is the previous feedrate
+                            # shouldn't we instead look at three consecutive moves ?
+                            distance = 2 * abs(((lastf + f) * (f - lastf) * 0.5) / acceleration)  # multiply by 2 because we have to accelerate and decelerate
+                            if distance <= currenttravel and lastf + f != 0 and f != 0:
+                                moveduration = 2 * distance / (lastf + f)  # This is distance / mean(lastf, f)
+                                moveduration += (currenttravel - distance) / f
+                            else:
+                                moveduration = 2 * currenttravel / (lastf + f)  # This is currenttravel / mean(lastf, f)
+                                # FIXME: probably a little bit optimistic, but probably a much better estimate than the previous one:
+                                # moveduration = math.sqrt(2 * distance / acceleration) # probably buggy : not taking actual travel into account
+
+                        lastdx = dx
+                        lastdy = dy
+
+                        totalduration += moveduration
+
+                        lastx = x
+                        lasty = y
+                        lastz = z
+                        laste = e
+                        lastf = f
+                    elif line.command == "G4":
+                        moveduration = P(line)
+                        if moveduration:
+                            moveduration /= 1000.0
+                            totalduration += moveduration
+
+                    # FIXME : looks like this needs to be tested with "lift Z on move"
+                    if line.z is not None:
+                        if line.command == "G92":
+                            cur_z = line.z
+                        elif line.is_move:
+                            if line.relative and cur_z is not None:
+                                cur_z += line.z
+                            else:
+                                cur_z = line.z
+
+                    if cur_z != prev_z and cur_layer_has_extrusion:
+                        append_lines(cur_lines, False)
+                        cur_lines = []
+                        cur_layer_has_extrusion = False
+
+            if build_layers:
+                cur_lines.append(true_line)
+                prev_z = cur_z
+            # ## Loop done
+
+        # Store current status
+        self.imperial = imperial
+        self.relative = relative
+        self.relative_e = relative_e
+        self.current_tool = current_tool
+        self.current_x = current_x
+        self.current_y = current_y
+        self.current_z = current_z
+        self.offset_x = offset_x
+        self.offset_y = offset_y
+        self.offset_z = offset_z
+        self.current_e = current_e
+        self.offset_e = offset_e
+        self.max_e = max_e
+        self.total_e = total_e
+        self.current_e_multi[current_tool]=current_e_multi
+        self.offset_e_multi[current_tool]=offset_e_multi
+        self.max_e_multi[current_tool]=max_e_multi
+        self.total_e_multi[current_tool]=total_e_multi
+        self.cutting = cutting
+
+
+        # Finalize layers
+        if build_layers:
+            if cur_lines:
+                append_lines(cur_lines, True)
+
+            self.append_layer_id = len(all_layers)
+            self.append_layer = Layer([])
+            self.append_layer.duration = 0
+            all_layers.append(self.append_layer)
+            self.layer_idxs = array('I', layer_idxs)
+            self.line_idxs = array('I', line_idxs)
+
+            # Compute bounding box
+            all_zs = self.all_zs.union({zmin}).difference({None})
+            zmin = min(all_zs)
+            zmax = max(all_zs)
+
+            self.filament_length = self.max_e
+            while len(self.filament_length_multi)<len(self.max_e_multi):
+                    self.filament_length_multi+=[0]
+            for i in enumerate(self.max_e_multi):
+                self.filament_length_multi[i[0]]=i[1]
+
+
+            if self.filament_length > 0:
+                self.xmin = xmin_e if not math.isinf(xmin_e) else 0
+                self.xmax = xmax_e if not math.isinf(xmax_e) else 0
+                self.ymin = ymin_e if not math.isinf(ymin_e) else 0
+                self.ymax = ymax_e if not math.isinf(ymax_e) else 0
+            else:
+                self.xmin = xmin if not math.isinf(xmin) else 0
+                self.xmax = xmax if not math.isinf(xmax) else 0
+                self.ymin = ymin if not math.isinf(ymin) else 0
+                self.ymax = ymax if not math.isinf(ymax) else 0
+            self.zmin = zmin if not math.isinf(zmin) else 0
+            self.zmax = zmax if not math.isinf(zmax) else 0
+            self.width = self.xmax - self.xmin
+            self.depth = self.ymax - self.ymin
+            self.height = self.zmax - self.zmin
+
+            # Finalize duration
+            totaltime = datetime.timedelta(seconds = int(totalduration))
+            self.duration = totaltime
+
+    def idxs(self, i):
+        return self.layer_idxs[i], self.line_idxs[i]
+
+    def estimate_duration(self):
+        return self.layers_count, self.duration
+
+class LightGCode(GCode):
+    line_class = LightLine
+
+def main():
+    if len(sys.argv) < 2:
+        print("usage: %s filename.gcode" % sys.argv[0])
+        return
+
+    print("Line object size:", sys.getsizeof(Line("G0 X0")))
+    print("Light line object size:", sys.getsizeof(LightLine("G0 X0")))
+    gcode = GCode(open(sys.argv[1], "rU"))
+
+    print("Dimensions:")
+    xdims = (gcode.xmin, gcode.xmax, gcode.width)
+    print("\tX: %0.02f - %0.02f (%0.02f)" % xdims)
+    ydims = (gcode.ymin, gcode.ymax, gcode.depth)
+    print("\tY: %0.02f - %0.02f (%0.02f)" % ydims)
+    zdims = (gcode.zmin, gcode.zmax, gcode.height)
+    print("\tZ: %0.02f - %0.02f (%0.02f)" % zdims)
+    print("Filament used: %0.02fmm" % gcode.filament_length)
+    for i in enumerate(gcode.filament_length_multi):
+        print("E%d %0.02fmm" % (i[0],i[1]))
+    print("Number of layers: %d" % gcode.layers_count)
+    print("Estimated duration: %s" % gcode.estimate_duration()[1])
+
+if __name__ == '__main__':
+    main()

cg/freecad/Frames/markupEntities.py

@@ -0,0 +1,131 @@
+import FreeCAD as App
+import FreeCADGui as Gui
+
+doc = App.ActiveDocument
+
+
+
+
+print('lcs - локальная система координат')
+print('grip - позиция захвата')
+print('area - плоскость')
+print('vol - зона')
+print('joint - соединение')
+entityType = input('Введите тип получаемого обьекта')
+
+def create(entityType):
+    
+    if entityType == 'grip':
+        print('задайте начальную точку захватной зоны. ')
+        print('Учтите, что ось X должна быть направлена вдоль направления раскрытия пальцев')
+        print('Ось Z должна быть направлена в противоположную сторону от направления кончика пальца захвата')	
+        objname = input('Введите название начальной точки' + "\n")
+        obj = doc.getObject(objname)        
+        
+        
+        poseGenerator(obj)
+        
+        
+        
+    elif entityType == 'area':
+        print('задайте плоскость')
+        objname = input('Введите название плоскости'+ "\n")
+        obj = doc.getObject(objname)
+        
+        areaProps(obj) 
+        
+    elif entityType == 'vol':
+        print('задайте обьем')
+        objname = input('Введите название обьема'+ "\n")
+        obj = doc.getObject(objname)
+        
+        volProps(obj)
+    
+    elif entityType == 'joint':
+        print('Задайте позицию соединения')
+        objname = input('Введите название соединения'+ "\n")
+        part1 = input('укажите название первой детали'+ "\n")
+        part2 = input('укажите название второй детали'+ "\n")
+        
+        jointGenerator(objname, part1, part2)
+        
+    obj.addProperty("App::PropertyString", "Type").Type = entityType 
+    
+        
+        
+## заглушки функций на случай, если что-то придумаю полезное для них
+
+        
+def areaProps(area):
+    #здесь нужно отметить свойства зоны
+    #в принципе, Placement и размеры тут есть, больше ничего особо не нужно
+    #добавить характеристику entityType
+    
+    print(area.Label)
+    
+def volProps(vol):
+    #желательно указать координаты, габариты, позицию привязки
+    #но думаю, что это все уже есть
+    print(vol.Label)
+
+
+def jointGenerator(jointName, part1, part2):
+    
+    #получаем относительные координаты для первой детали и для второй детали
+    #создаем две сущности - точка входа и точка выхода (??????)
+    #в работе сейчас
+    print(jointName.Label)
+    print(part1.Label)
+    print(part2.Label)
+    
+
+
+
+
+
+
+# Эта функция работает нормально
+
+
+def poseGenerator(lcs):
+    
+    box = doc.addObject("Part::Box", "gripSpace")
+    box.Length = 62 #раскрытие
+    box.Width = 10 #ширина пальца
+    box.Height = 40 #глубина
+    
+    box.Placement = lcs.Placement
+
+    
+    #есть смысл создавать привязку прямо здесь же. благодаря параметризации, при подстройке куба все точки сместятся как надо
+    gripPose = App.ActiveDocument.addObject('PartDesign::CoordinateSystem', 'GripPose')
+    gripPose.Support = box
+    gripPose.positionBySupport()
+    gripPose.MapMode = 'ObjectXY'
+    gripPose.AttachmentOffset.Base = [str(box.Label) + '.Length' + '/2', str(box.Label) + '.Length'+ '/2', 0] #здесь должна быть активная привязка, не просто значения координат
+    
+    gripPose.addProperty("App::PropertyFloat", "GripOpen")
+    gripPose.addProperty("App::PropertyFloat", "GripDepth")
+    gripPose.addProperty("App::PropertyFloat", "GripWidth")
+    gripPose.setExpression('GripDepth', str(box.Label) + '.Height')
+    gripPose.setExpression('GripOpen', str(box.Label) + '.Length')
+    gripPose.setExpression('GripWidth', str(box.Label) + '.Width')
+
+
+
+    
+    
+    #нужно создавать внутри Part, а не внутри главного документа. сбиваются привязки !!!
+    
+    
+    print('Установите захватную зону вручную, растянув обьект GripSpace')
+    doc.recompute()   
+    
+    
+#теперь нужно производить экспорт
+#он делается через Tools.py или через импорт-экспорт
+   
+    
+create(entityType)
+
+

cg/freecad/Frames/newDatumCmd.py

@@ -0,0 +1,259 @@
+#!/usr/bin/env python3
+# coding: utf-8
+#
+# LGPL
+# Copyright HUBERT Zoltán
+#
+# newDatumCmd.py 
+
+
+import os
+
+from PySide import QtGui, QtCore
+import FreeCADGui as Gui
+import FreeCAD as App
+from FreeCAD import Console as FCC
+
+import Asm4_libs as Asm4
+
+
+
+
+"""
+    +-----------------------------------------------+
+    |      a class to create all Datum objects      |
+    +-----------------------------------------------+
+"""
+class newDatum:
+    "My tool object"
+    def __init__(self, datumName):
+        self.datumName = datumName
+        # recognised containers (not the same as Asm4.containerTypes !)
+        self.containers = [ 'App::Part', 'PartDesign::Body', 'App::DocumentObjectGroup']
+        if self.datumName   == 'Point':
+            self.datumType   = 'PartDesign::Point'
+            self.menutext    = "New Point"
+            self.tooltip     = "Create a new Datum Point in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Point.svg')
+            self.datumColor  = (0.00,0.00,0.00)
+            self.datumAlpha  = []
+        elif self.datumName == 'Axis':
+            self.datumType   = 'PartDesign::Line'
+            self.menutext    = "New Axis"
+            self.tooltip     = "Create a new Datum Axis in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Axis.svg')
+            self.datumColor  = (0.00,0.00,0.50)
+            self.datumAlpha  = []
+        elif self.datumName == 'Plane':
+            self.datumType   = 'PartDesign::Plane'
+            self.menutext    = "New Plane"
+            self.tooltip     = "Create a new Datum Plane in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Plane.svg')
+            self.datumColor  = (0.50,0.50,0.50)
+            self.datumAlpha  = 80
+        elif self.datumName == 'LCS':
+            self.datumType   = 'PartDesign::CoordinateSystem'
+            self.menutext    = "New Coordinate System"
+            self.tooltip     = "Create a new Coordinate System in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_CoordinateSystem.svg')
+            self.datumColor  = []
+            self.datumAlpha  = []
+        elif self.datumName == 'Sketch':
+            self.datumType   = 'Sketcher::SketchObject'
+            self.menutext    = "New Sketch"
+            self.tooltip     = "Create a new Sketch in a Part"
+            self.icon        = os.path.join( Asm4.iconPath , 'Asm4_Sketch.svg')
+            self.datumColor  = []
+            self.datumAlpha  = []
+
+
+    def GetResources(self):
+        return {"MenuText": self.menutext,
+                "ToolTip": self.tooltip,
+                "Pixmap" : self.icon }
+
+
+    def IsActive(self):
+        if App.ActiveDocument:
+            # is something correct selected ?
+            if self.checkSelection():
+                return(True)
+        return(False)
+
+
+    def checkSelection(self):
+        # if something is selected ...
+        if Gui.Selection.getSelection():
+            selectedObj = Gui.Selection.getSelection()[0]
+            # ... and it's an App::Part or an datum object
+            selType = selectedObj.TypeId
+            if selType in self.containers or selType in Asm4.datumTypes or selType=='Sketcher::SketchObject':
+                return(selectedObj)
+        # or of nothing is selected ...
+        elif Asm4.getAssembly():
+            # ... but there is as assembly:
+            return Asm4.getAssembly()
+        # if we're here it's because we didn't find a good reason to not be here
+        return None
+
+
+
+    """
+    +-----------------------------------------------+
+    |                 the real stuff                |
+    +-----------------------------------------------+
+    """
+    def Activated(self):
+        # check that we have somewhere to put our stuff
+        selectedObj = self.checkSelection()
+        # default name increments the datum type's end numeral
+        proposedName = Asm4.nextInstance( self.datumName, startAtOne=True )
+
+        parentContainer = None
+        # check whether we have selected a container
+        if selectedObj.TypeId in self.containers:
+            parentContainer = selectedObj
+        # if a datum object is selected
+        elif selectedObj.TypeId in Asm4.datumTypes or selectedObj.TypeId=='Sketcher::SketchObject':
+            # see whether it's in a container
+            parent = selectedObj.getParentGeoFeatureGroup()
+            if parent.TypeId in self.containers:
+                parentContainer = parent
+        # if there is an assembly
+        elif Asm4.getAssembly():
+            parentContainer = Asm4.getAssembly()
+        # something went wrong
+        else:
+            Asm4.warningBox("I can't create a "+self.datumType+" with the current selections")
+            
+        # check whether there is already a similar datum, and increment the instance number 
+        # instanceNum = 1
+        #while App.ActiveDocument.getObject( self.datumName+'_'+str(instanceNum) ):
+        #    instanceNum += 1
+        #datumName = self.datumName+'_'+str(instanceNum)
+        if parentContainer:
+            # input dialog to ask the user the name of the Sketch:
+            #proposedName = Asm4.nextInstance( self.datumName + '_' + selectedObj.Label, startAtOne=True )
+            text,ok = QtGui.QInputDialog.getText(None,'Create new '+self.datumName,
+                    'Enter '+self.datumName+' name :'+' '*40, text = proposedName)
+            if ok and text:
+                # App.activeDocument().getObject('Model').newObject( 'Sketcher::SketchObject', text )
+                createdDatum = App.ActiveDocument.addObject( self.datumType, text )
+                parentContainer.addObject( createdDatum )
+                createdDatum.Label = text
+                # automatic resizing of datum Plane sucks, so we set it to manual
+                if self.datumType=='PartDesign::Plane':
+                    createdDatum.ResizeMode = 'Manual'
+                    createdDatum.Length = 100
+                    createdDatum.Width = 100
+                elif self.datumType=='PartDesign::Line':
+                    createdDatum.ResizeMode = 'Manual'
+                    createdDatum.Length = 200
+                # if color or transparency is specified for this datum type
+                if self.datumColor:
+                    Gui.ActiveDocument.getObject(createdDatum.Name).ShapeColor = self.datumColor
+                if self.datumAlpha:
+                    Gui.ActiveDocument.getObject(createdDatum.Name).Transparency = self.datumAlpha
+                # highlight the created datum object
+                Gui.Selection.clearSelection()
+                Gui.Selection.addSelection( App.ActiveDocument.Name, parentContainer.Name, createdDatum.Name+'.' )
+                Gui.runCommand('Part_EditAttachment')
+
+
+
+"""
+    +-----------------------------------------------+
+    |      a class to create an LCS on a hole       |
+    +-----------------------------------------------+
+"""
+class newHole:
+    def GetResources(self):
+        return {"MenuText": "New Hole Axis",
+                "ToolTip": "Create a Datum Axis attached to a hole",
+                "Pixmap" : os.path.join( Asm4.iconPath , 'Asm4_Hole.svg')
+                }
+
+    def IsActive(self):
+        selection = self.getSelectedEdges()
+        if selection is None:
+            return False
+        else:
+            return True
+
+
+    """
+    +-----------------------------------------------+
+    |                 the real stuff                |
+    +-----------------------------------------------+
+    """
+    def getSelectedEdges(self):
+        # check that we have selected only circular edges
+        selection = None
+        parent = None
+        edges = []
+        # 1 selection means a single parent        
+        if App.ActiveDocument and len(Gui.Selection.getSelection()) == 1:
+            parent = Gui.Selection.getSelection()[0]
+            # parse all sub-elemets of the selection
+            for i in range(len(Gui.Selection.getSelectionEx()[0].SubObjects)):
+                edgeObj  = Gui.Selection.getSelectionEx()[0].SubObjects[i]
+                edgeName = Gui.Selection.getSelectionEx()[0].SubElementNames[i]                    
+                # if the edge is circular
+                if Asm4.isCircle(edgeObj):
+                    edges.append( [edgeObj,edgeName] )
+        # if we found circular edges
+        if len(edges) > 0:
+            selection = ( parent, edges )
+        return selection
+
+
+    def Activated(self):
+        ( selectedObj, edges ) = self.getSelectedEdges()
+        for i in range(len(edges)):
+            edgeObj    = edges[i][0]
+            edgeName   = edges[i][1]
+            parentPart = selectedObj.getParentGeoFeatureGroup()
+            # we can create a datum only in a container
+            if parentPart:
+                parentDoc  = parentPart.Document
+                # if the solid having the edge is indeed in an App::Part
+                if parentPart and (parentPart.TypeId=='App::Part' or parentPart.TypeId=='PartDesign::Body'):
+                    # check whether there is already a similar datum, and increment the instance number 
+                    instanceNum = 1
+                    while parentDoc.getObject( 'HoleAxis_'+str(instanceNum) ):
+                        instanceNum += 1
+                    axis             = parentPart.newObject('PartDesign::Line','HoleAxis_'+str(instanceNum))
+                    axis.Support     = [( selectedObj, (edgeName,) )]
+                    axis.MapMode     = 'AxisOfCurvature'
+                    axis.MapReversed = False
+                    axis.ResizeMode  = 'Manual'
+                    axis.Length      = edgeObj.BoundBox.DiagonalLength
+                    axis.ViewObject.ShapeColor = (0.0,0.0,1.0)
+                    axis.ViewObject.Transparency = 50
+                    axis.recompute()
+                    parentPart.recompute()
+            # 
+            else:
+                FCC.PrintMessage('Datum objects can only be created inside Part or Body containers')
+
+
+
+"""
+    +-----------------------------------------------+
+    |       add the commands to the workbench       |
+    +-----------------------------------------------+
+"""
+Gui.addCommand( 'Asm4_newPoint', newDatum('Point') )
+Gui.addCommand( 'Asm4_newAxis',  newDatum('Axis')  )
+Gui.addCommand( 'Asm4_newPlane', newDatum('Plane') )
+Gui.addCommand( 'Asm4_newLCS',   newDatum('LCS')   )
+Gui.addCommand( 'Asm4_newSketch',newDatum('Sketch'))
+Gui.addCommand( 'Asm4_newHole',  newHole()         )
+
+# defines the drop-down button for Datum objects
+createDatumList = [     'Asm4_newLCS', 
+                        'Asm4_newPlane', 
+                        'Asm4_newAxis', 
+                        'Asm4_newPoint', 
+                        'Asm4_newHole' ]
+Gui.addCommand( 'Asm4_createDatum', Asm4.dropDownCmd( createDatumList, 'Create Datum Object'))

cg/freecad/Frames/newLabel.py

@@ -0,0 +1,17 @@
+import FreeCAD as App
+
+
+def is_object_solid(obj):
+    """If obj is solid return True"""
+    if not isinstance(obj, FreeCAD.DocumentObject):
+        return False
+
+    if not hasattr(obj, 'Shape'):
+        return False
+
+    return obj.Shape.isClosed()
+
+def addProperty():
+    for obj in App.ActiveDocument().Objects:
+        if is_object_solid(obj):
+            

cg/freecad/Frames/poseGenerator.py

@@ -0,0 +1,53 @@
+import FreeCAD as App
+import FreeCADGui as Gui
+
+# App.newDocument()
+doc = App.ActiveDocument
+
+
+print('задайте начальную точку захватной зоны. ')
+print('Учтите, что ось X должна быть направлена вдоль направления раскрытия пальцев')
+print('Ось Z должна быть направлена в противоположную сторону от направления кончика пальца захвата')
+lcsname = input('Введите название начальной точки' + "\n")
+
+lcs = doc.getObject(lcsname)
+
+def poseGenerator(lcs):
+    
+    box = doc.addObject("Part::Box", "gripSpace")
+    box.Length = 62 #раскрытие
+    box.Width = 10 #ширина пальца
+    box.Height = 40 #глубина
+    
+    box.Placement = lcs.Placement
+    #box.Transparency = 80  #не работает, хз почему
+    
+
+    
+    #есть смысл создавать привязку прямо здесь же. благодаря параметризации, при подстройке куба все точки сместятся как надо
+    gripPose = App.ActiveDocument.addObject('PartDesign::CoordinateSystem', 'GripPose')
+    gripPose.Support = box
+    gripPose.MapMode = 'ObjectXY'
+    gripPose.AttachmentOffset.Base = [box.Length/2, box.Width/2, 0] #здесь должна быть активная привязка, не просто значения координат
+    
+    gripPose.addProperty("App::PropertyFloat", "GripOpen")
+    gripPose.addProperty("App::PropertyFloat", "GripDepth")
+    gripPose.addProperty("App::PropertyFloat", "GripWidth")
+    gripPose.GripOpen = box.Length.Value
+    gripPose.GripWidth = box.Width.Value
+    gripPose.GripDepth = box.Height.Value
+
+
+    
+    
+    #нужно создавать обьект внутри Part, а не внутри главного документа. сбиваются привязки !!!
+    
+    
+    print('Установите захватную зону вручную, растянув обьект GripSpace')
+    doc.recompute()   
+    
+    #вроде как работает
+    
+    
+poseGenerator(lcs)
+

cg/freecad/Frames/printETA.py

@@ -0,0 +1,98 @@
+
+import os
+import subprocess
+import time
+
+import FreeCAD
+import Mesh
+
+
+import gcoder 
+
+
+def export_to_stl(doc, output_dir):
+    objects = doc.Objects
+
+    for obj in objects:
+        if isinstance(obj, Part.Feature):
+            stl_path = os.path.join(output_dir, obj.Label + ".stl")
+            mesh = obj.Shape.tessellate(0.1)
+
+            # Создаем меш из геометрии объекта
+            mesh_obj = Mesh.Mesh(mesh)
+            
+            # Проверяем, что меш содержит данные
+            if len(mesh_obj.Points) > 0:
+                # Экспортируем меш в формат STL
+                mesh_obj.write(stl_path)
+
+            
+def create_gcode(stl_dir, output_dir):
+    stl_files = [f for f in os.listdir(stl_dir) if f.endswith(".stl")]
+
+    for stl_file in stl_files:
+        stl_path = os.path.join(stl_dir, stl_file)
+
+        gcode_file = stl_file.replace(".stl", ".gcode")
+        gcode_path = os.path.join(output_dir, gcode_file)
+
+        # Команда для запуска Slic3r (в Ubuntu используется slic3r-пакет)
+        cmd = ["slic3r", "--load", "/home/mark-voltov/my_config.ini", "-o", gcode_path, stl_path]
+
+        # Запускаем Slic3r
+        subprocess.run(cmd)
+
+def get_print_duration(gcode_dir):
+    
+    gcoder.G    
+    gcode_files = [f for f in os.listdir(gcode_dir) if f.endswith(".gcode")]
+
+    total_duration = 0
+
+    for gcode_file in gcode_files:
+        gcode_path = os.path.join(gcode_dir, gcode_file)
+
+        with open(gcode_path, "r") as file:
+            lines = file.readlines()
+
+            for line in lines:
+                if line.startswith("; estimated printing time"):
+                    duration = float(line.split(":")[1].strip()) * 60
+                    total_duration += duration
+                    break
+
+    return total_duration
+
+
+file_location = App.ActiveDocument.FileName
+file_name = os.path.basename(file_location )  #eds_report.csv
+location = os.path.dirname(file_location )
+
+
+# Путь к документу FreeCAD
+doc_path = file_location
+
+# Каталог для сохранения STL-файлов
+stl_dir = location + '/stl'
+
+# Каталог для сохранения G-code файлов
+gcode_dir = location + '/gcode'
+
+# Открываем документ FreeCAD
+doc = FreeCAD.open(doc_path)
+
+# Экспортируем модель в файлы STL
+export_to_stl(doc, stl_dir)
+print("STL файлы успешно созданы.")
+
+# Создаем G-code файлы с помощью Slic3r
+create_gcode(stl_dir, gcode_dir)
+print("G-code файлы успешно созданы.")
+
+# Получаем оценочную длительность печати
+print_duration = get_print_duration(gcode_dir)
+print("Оценочная длительность печати: {} секунд.".format(print_duration))
+
+# Закрываем документ FreeCAD
+FreeCAD.closeDocument(doc)
+

cg/freecad/Frames/testSpread2.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+#  faculSpread.py
+#  
+#  Copyright 2015 ulrich1a
+#  
+#  This program is free software; you can redistribute it and/or modify
+#  it under the terms of the GNU General Public License as published by
+#  the Free Software Foundation; either version 2 of the License, or
+#  (at your option) any later version.
+#  
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+#  
+#  You should have received a copy of the GNU General Public License
+#  along with this program; if not, write to the Free Software
+#  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+#  MA 02110-1301, USA.
+#  
+#  
+
+
+
+p=App.ParamGet("User parameter:BaseApp/Preferences/General")
+thePath = p.GetString('FileOpenSavePath')
+
+
+theDoc = App.newDocument("SheetTest2")
+App.setActiveDocument("SheetTest2")
+
+mySheet = theDoc.addObject('Spreadsheet::Sheet','Spreadsheet')
+
+
+col = 'A'
+mySheet.setColumnWidth(col, 125)
+theDoc.recompute()
+
+startRow = 3
+
+for i in range(20):
+  print "i: ", i
+  if i == 0:
+    print "setting start"
+    mySheet.set(col+str(startRow+i), '1')
+    #App.activeDocument().recompute()
+  else:
+    mySheet.set(col + str(startRow+i), '='+col+str(startRow+i-1)+'*'+str(i))
+    #App.activeDocument().recompute()
+
+#mySheet.show()    
+#App.activeDocument().recompute()
+
+mySheet.set('A1', 'This is the very long Titel, which needs more space!')
+mySheet.set('A2', '=A1')
+
+# mySheet.setDisplayUnit('A10:A11', 'mm')
+
+theDoc.recompute()
+mySheet.setAlias('A1', 'Title')
+mySheet.set('D1', '=Title')
+
+theDoc.recompute()
+
+theDoc.saveAs(thePath + '/Sheet_6.fcstd')
+mySheet.set('B4','=A4')
+mySheet.set('E1', '=D1')
+theDoc.recompute()
+mySheet.setAlias('A2', 'huhu')
+theDoc.recompute()
+
+if mySheet.State == ['Invalid']:
+  print "Invalid Spreadsheet"
+else:
+  print "No error found"

cg/freecad/Frames/usecases/asm4parser_usecase.py

@@ -0,0 +1,53 @@
+import FreeCAD as App
+
+class Asm4StructureParseUseCase:
+    _parts = []
+    _label = []
+
+    def getSubPartsLabel(self, group):
+        groupLabel = []
+        for el in group:
+            if str(el) == '<Part::PartFeature>':
+                groupLabel.append(el.Label)
+        return groupLabel
+
+    def parseLabel(self, nextGroup, label, level=2, nextGroupParse=0):
+        if nextGroup.__len__() == nextGroupParse:
+            return
+        else:
+            groupParts = []
+
+            for el in nextGroup:
+                if str(el) == '<App::Link object>':
+                    groupParts.append(el)
+
+            for el in groupParts:
+                if str(el) == '<App::Link object>':
+                    label.append({
+                        "level": level,
+                        "attachedTo": el.AttachedTo.split('#'),
+                        "label": el.Label,
+                        "axis": self.getSubPartsLabel(el.Group)
+                    })
+
+    def initParse(self):
+
+        model = App.ActiveDocument.RootObjects[1]
+        self._label.append({
+            "level": 1,
+            "attachedTo": "Parent Assembly",
+            "label": model.Label,
+            "axis": self.getSubPartsLabel(model.Group)
+        })
+        for parent in model.Group:
+            if str(parent) == '<App::Link object>':
+                self._label.append({
+                    "level": 1,
+                    "attachedTo": parent.AttachedTo.split('#'),
+                    "label": parent.Label,
+                    "axis": self.getSubPartsLabel(parent.Group)
+                })
+        print(self._label)
+
+
+ 

cg/freecad/Frames/Модуль технологической подготовки.md

@@ -0,0 +1,60 @@
+
+
+# Модуль технологической подготовки
+
+На вход: - step-модель описываемого оборудования. 
+
+1. Описание имеющихся сущностей:
+   - Мы можем создать описание действий со станком и его состояниями для связи с окружающим миром нужен некий обобщенный объект
+   его свойством будет возможность воздействовать на состояния, но сам он будет любым. Думаю, нужно описать сами рычаги, а не того, кто будет их нажимать.
+
+   - Описать объекты можно созданием зон вокруг них и/или созданием призрака геометрии оборудования (может быть сложно и избыточно).
+   - Для этого возможно создать параллелепипед/цилиндр, сопоставимый по габаритам с рассматриваемой зоной. С помощью инструментов верстака Part создается объект, имеющий желаемое название (Станок, рабочая зона, etc). Эта зона с помощью отношений parent привязана к геометрии станка.
+
+2. Описание действий
+   - Создается папка actions, в которую сохраняются создаваемые действия
+   - Интерфейс создания действий аналогичен интерфейсу задания других сущностей. Через него мы задаем ссылки на существующие действия и элементы и указываем их тип: триггеры, рабочие органы, конечные состояния, начальные состояния. Указываем их статус (выбор "да/нет")
+   - Указываем ссылки на привязываемую к этим действиям геометрию. (катушки, статоры, расходники и тд) Для этого их геометрия должна быть импортирована в модель. Ссылка будет указывать на конкретный импортированный файл. Если существует идентификатор детали, можно ссылаться на него.
+
+3. Задание состояний и переменных
+   - Переменные задаются средствами параметризации FreeCAD, инструменты для этого можно взять из ASM4, используя функционал переменных (Variables) и панели конфигураций. 
+   - Для состояний переменных аналогично создается (в ASM4 уже имеется при создании модели) отдельная директория.
+  
+4. Результатом описания будет модель, имеющая дерево объектов, в свойствах которых мы имеем всю необходимую информацию. Геометрические характеристики мы сохраняем как json и отправляем в среды, работающие с геометрией и физикой. Действия и геометрия подставляются в шаблон pddl в соответствующие абзацы. 
+
+## Пример описания объекта
+
+Action - "Заправка 3д-принтера пластиком"
+   
+   - |- Объекты: 
+   - - 3d-принтер [printer_id]  /прямоугольная зона по габаритам принтера. Зона привязана к геометрии оборудования
+     - Workzone [printer_id] / прямоугольная зона. Указание на объект workzone, который содержит в себе габариты и позиционирование рабочей зоны относительно 3d-принтера.
+     - Wirenest [printer_id] /цилиндрическая зона. Указание на объект wirenest (цилиндр), хранящий информацию об ориентации и положении гнезда для катушки с пластиком
+     - Filament [filament_id] /катушка с пластиком требуемой модели, формы и габаритов. 
+     - Observer [observer_id] / некая сущность(манипулятор, человек, камера), к которой обращается станок, чтобы с ним провели внешние манипуляции
+   - |- Длительность действия, с
+   
+
+   - |- Стартовые состояния:
+     - Пластика достаточно (нет)
+     - Наблюдатель свободен (да)
+   - |- Во время действия:
+     - Наблюдатель[observer_id] свободен (нет)
+     - Катушка пластика установлена (нет)
+   - |- После окончания:
+     - Катушка пластика установлена (да)
+     - Наблюдатель [observer_id] свободен (да)
+     - Пластика достаточно (да)
+
+
+--В раздел Variables мы можем (должны ли?) полуавтоматически/автоматически указать подобные состояния, привязанные к значениям да/нет.-- (Указывать стартовые значения по умолчанию?)
+
+
+Указанные отдельно состояния пригодились бы, чтобы ссылаться на них при задавании действий, поскольку действия сообщаются между собой не напрямую, а через выполнение определенного набора состояний. 
+
+
+
+
+Пример размеченной модели:
+
+![Разметка](img/qXX7sBMbsvA.jpg)