diff --git a/cg/freecad/Frames/Frames.py b/cg/freecad/Frames/Frames.py index dda4886..cd5ab2f 100644 --- a/cg/freecad/Frames/Frames.py +++ b/cg/freecad/Frames/Frames.py @@ -323,11 +323,11 @@ Tools.spawnClassCommand("FrameCommand", "MenuText": "Make a free frame", "ToolTip": "Make a freestanding reference frame."}) -Tools.spawnClassCommand("ASM4StructureParsing", - RobossemblerFreeCadExportScenario().call, - {"Pixmap": str(os.path.join(icondir, "assembly4.svg")), - "MenuText": "Make a ASM4 parsing", - "ToolTip": "Make a ASM4 1"}) +# Tools.spawnClassCommand("ASM4StructureParsing", +# RobossemblerFreeCadExportScenario().call, +# {"Pixmap": str(os.path.join(icondir, "assembly4.svg")), +# "MenuText": "Make a ASM4 parsing", +# "ToolTip": "Make a ASM4 1"}) Tools.spawnClassCommand("SelectedPartFrameCommand", makeSelectedPartFrames, {"Pixmap": str(os.path.join(icondir, "partframe.svg")), diff --git a/cg/freecad/Frames/GripPoseGenerator.py b/cg/freecad/Frames/GripPoseGenerator.py new file mode 100644 index 0000000..195014d --- /dev/null +++ b/cg/freecad/Frames/GripPoseGenerator.py @@ -0,0 +1,297 @@ +import FreeCAD +import Part + +doc = FreeCAD.ActiveDocument + + +def check_capture_positions(): + # Получаем активный документ + doc = FreeCAD.ActiveDocument + + # Список тел без позиций захвата + bodies_without_capture_positions = [] + + # Перебираем все объекты в документе + for obj in doc.Objects: + if obj.isDerivedFrom("Part::Feature"): + # Проверяем, есть ли атрибут "Placement" у объекта + if not hasattr(obj, "Placement"): + # Если нет, добавляем его в список + bodies_without_capture_positions.append(obj.Label) + + # Проверяем результат + if len(bodies_without_capture_positions) > 0: + print("Следующие тела не имеют позиции захвата:") + for body in bodies_without_capture_positions: + print(body) + else: + print("Все тела имеют позиции захвата.") + + +check_capture_positions() + + + + + + + +import FreeCAD as App +doc = App.ActiveDocument + +def check_capture_positions(): + bodies_without_grip_pose = [] + solid_bodies_list = [] + lcs_list = [] + bodies_with_grip_pose = [] + for obj in doc.Objects: + if hasattr(obj, 'Shape') and hasattr(obj.Shape, 'Volume') and obj.Shape.Volume: + # if obj.Shape and obj.Shape.Volume: + solid_bodies_list.append(obj) + print(solid_bodies_list) + + for obj in doc.Objects: + if obj.TypeId =='PartDesign::CoordinateSystem': + lcs_list.append(obj) + print(lcs_list) + + for body in solid_bodies_list: + checker = 0 + for lcs in lcs_list: + + print(checker) + if lcs.Attachment_ParentObject == body.Label: + checker =+1 + if checker == 0: + bodies_without_grip_pose.append(body) + print(bodies_without_grip_pose) + + if len(bodies_without_grip_pose) == 0: + print('Все тела имеют позиции захвата') + else: + print('Имеются тела без позиций захвата:') + for body in bodies_without_grip_pose: + print(body.Label) + +check_capture_positions() + + +def create_grip_positions(obj, face1, face2): + if not (face1 and face2): + App.Console.PrintError("Не выбраны обе грани\n") + return + + normal1 = face1.normalAt(0, 0) + normal2 = face2.normalAt(0, 0) + + if normal1.isParallel(normal2): + # Найдите центры граней + center1 = face1.CenterOfMass + center2 = face2.CenterOfMass + + # Вычислите расстояние между центрами граней + distance = center2 - center1 + distance = distance.Length + + # Создайте вспомогательную систему координат между гранями + coordinate_system = App.ActiveDocument.addObject("Part::CoordinateSystem", "CoordinateSystem") + coordinate_system.Placement.Base = center1 + 0.5 * distance * normal1 + coordinate_system.Placement.Rotation = normal1.getRotationTo(App.Vector(0, 0, 1)) + + # Выведите информацию о расстоянии + App.Console.PrintMessage(f"Расстояние межу гранью 1 и гранью 2: {distance} мм\n") + + # Обновите графический интерфейс FreeCAD + App.ActiveDocument.recompute() + else: + App.Console.PrintError("Выбранные грани не являются параллельными\n") + + + + + +create_grip_positions() + +# Добавление обзервера для касаний +v=Gui.activeDocument().activeView() + +#This class logs any mouse button events. As the registered callback function fires twice for 'down' and +#'up' events we need a boolean flag to handle this. +class ViewObserver: + def __init__(self, view): + self.view = view + + def logPosition(self, info): + down = (info["State"] == "DOWN") + pos = info["Position"] + if (down): + FreeCAD.Console.PrintMessage("Clicked on position: ("+str(pos[0])+", "+str(pos[1])+")\n") + pnt = self.view.getPoint(pos) + FreeCAD.Console.PrintMessage("World coordinates: " + str(pnt) + "\n") + info = self.view.getObjectInfo(pos) + FreeCAD.Console.PrintMessage("Object info: " + str(info) + "\n") + + + + + +o = ViewObserver(v) +c = v.addEventCallback("SoMouseButtonEvent",o.logPosition) + + + + +### getObjectInfo работает +import FreeCAD as App +import FreeCADGui as Gui + +def getFaceInfo(face): + if face: + App.Console.PrintMessage(f"Информация о грани: {face}\n") + + # Получите позицию (Base) и ориентацию (Rotation) грани в глобальных координатах + placement = face.Placement + position = App.Vector(placement.Base) + orientation = App.Rotation(placement.Rotation) + + App.Console.PrintMessage(f"Позиция грани: {position}\n") + App.Console.PrintMessage(f"Ориентация грани: {orientation}\n") + +def getObjectInfo(): + selection = Gui.Selection.getSelectionEx() + if selection: + selected_object = selection[0].Object + if selected_object: + subelement_name = selection[0].SubElementNames[0] + if "Face" in subelement_name: + face = selected_object.Shape.Faces[int(subelement_name.split("Face")[1])] + getFaceInfo(face) + else: + App.Console.PrintError("Выберите грань, а не тело или другой элемент\n") + else: + App.Console.PrintError("Объект не найден\n") + else: + App.Console.PrintError("Не выбраны объекты\n") + +getObjectInfo() + + + +import FreeCAD as App +import FreeCADGui as Gui +import Part + + + +# Функция для получения списка всех объектов с заданным свойством +def get_objects_with_property(property_name, property_value): + result = [] + for obj in FreeCAD.ActiveDocument.Objects: + if hasattr(obj, "PropertiesList") and property_name in obj.PropertiesList: + if obj.getPropertyByName(property_name) == property_value: + result.append(obj) + return result + +# Получение списка всех объектов с названием тела в свойстве +bodies = get_objects_with_property("BodyName", "Body") + +# Получение списка всех объектов +all_objects = FreeCAD.ActiveDocument.Objects + +# Поиск и вывод тел, у которых нет связанных вспомогательных объектов +for body in bodies: + linked_objects = [] + for obj in all_objects: + if obj.hasLinkOf(body): + linked_objects.append(obj.Name) + if not linked_objects: + print(f"Тело без связанных объектов: {body.Name}") + +# Пример использования: +# Убедитесь, что в FreeCAD активный документ содержит объекты с свойством "BodyName" и значением "Body" +# Затем запустите этот скрипт, и он выведет тела без связанных объектов в терминал + + + +def create_coordinate_system(surface1, surface2): + if surface1 is None or surface2 is None: + App.Console.PrintError("Не удалось найти одну из поверхностей\n") + return + + # Проверьте, являются ли поверхности плоскими + if surface1.Shape.Faces[0].Surface.TypeId == "Part::Plane" and surface2.Shape.Faces[0].Surface.TypeId == "Part::Plane": + # Проверьте, являются ли поверхности параллельными + normal1 = surface1.Shape.normalAt(0, 0) + normal2 = surface2.Shape.normalAt(0, 0) + + if normal1.isParallel(normal2): + # Найдите центры поверхностей + center1 = surface1.Shape.BoundBox.Center + center2 = surface2.Shape.BoundBox.Center + + # Вычислите расстояние между центрами поверхностей + distance = center2 - center1 + distance = distance.Length + + # Создайте вспомогательную систему координат между поверхностями + coordinate_system = App.ActiveDocument.addObject("Part::CoordinateSystem", "CoordinateSystem") + coordinate_system.Placement.Base = center1 + 0.5 * distance * normal1 + coordinate_system.Placement.Rotation = normal1.getRotationTo(App.Vector(0, 0, 1)) + + # Выведите информацию о расстоянии + App.Console.PrintMessage(f"Расстояние между поверхностью 1 и поверхностью 2: {distance} мм\n") + + # Обновите графический интерфейс FreeCAD + App.ActiveDocument.recompute() + else: + App.Console.PrintError("Выбранные поверхности не являются параллельными\n") + else: + App.Console.PrintError("Выбранные поверхности не являются плоскими\n") + +# Создайте пользовательский интерфейс кнопки для вызова функции +class CoordinateSystemTool: + def Activated(self): + selection = Gui.Selection.getSelectionEx() + if len(selection) == 2: + create_coordinate_system(selection[0].Object, selection[1].Object) + else: + App.Console.PrintError("Выберите две параллельные плоскости\n") + + def GetResources(self): + return { + 'Pixmap': 'path/to/your/icon.png', # Замените на путь к значку кнопки + 'MenuText': 'Создать вспомогательную систему координат', + 'ToolTip': 'Создать вспомогательную систему координат между двумя плоскостями' + } + +# Зарегистрируйте пользовательский инструмент +Gui.addCommand('My_Coordinate_System_Tool', CoordinateSystemTool()) + + +#### эта штука работает vvv + +# Функция для создания вспомогательного объекта и установки свойства "AttachmentType" +def create_helper_object_with_attribute(body, attribute_value): + helper_object = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "HelperObject") + helper_object.addProperty("App::PropertyString", "AttachmentType").AttachmentType = attribute_value + helper_object.addProperty("App::PropertyString", "AttachedObject") + helper_object.AttachedObject = body.Label + + +# Пример использования: +# Замените "MyBody" на имя тела, к которому вы хотите привязать вспомогательный объект +body_to_attach = FreeCAD.ActiveDocument.getObjectsByLabel("gear_frame_221213")[0] +if body_to_attach: + create_helper_object_with_attribute(body_to_attach, "Body") +else: + print("Тело не найдено в активном документе.") + + +#итого, план такой: + +0. Проверяем тело на наличие позиций захвата +0.1. Выводим список всех тел без позиции, иначе говорим что все ок +1. Создаем вспомогательную систему координат. у нее имеется свойство, привязывающее ее к определенному телу +1.1 Создаем ее с помощью выбора двух поверхностей, которые противоположно направлены друг к другу. Все данные вносим в созданный обьект +1.2 Опционально - проверяем ее с помощью призрака захвата +2. Экспортируем ее в json \ No newline at end of file diff --git a/cg/freecad/Frames/ImportExportEntities.py b/cg/freecad/Frames/ImportExportEntities.py index 7e56027..e65932d 100644 --- a/cg/freecad/Frames/ImportExportEntities.py +++ b/cg/freecad/Frames/ImportExportEntities.py @@ -47,7 +47,7 @@ def export_coordinate_systems(): print("Экспорт обьектов завершен.") -export_coordinate_systems() +# export_coordinate_systems() #работает diff --git a/cg/freecad/Frames/chekingEntities.py b/cg/freecad/Frames/chekingEntities.py new file mode 100644 index 0000000..baf69fe --- /dev/null +++ b/cg/freecad/Frames/chekingEntities.py @@ -0,0 +1,29 @@ +import FreeCAD + +# Функция для получения списка всех объектов с заданным свойством +def get_objects_with_property(property_name, property_value): + result = [] + for obj in FreeCAD.ActiveDocument.Objects: + if hasattr(obj, "PropertiesList") and property_name in obj.PropertiesList: + if obj.getPropertyByName(property_name) == property_value: + result.append(obj) + return result + +# Получение списка всех объектов с названием тела в свойстве +bodies = get_objects_with_property("BodyName", "Body") + +# Получение списка всех объектов +all_objects = FreeCAD.ActiveDocument.Objects + +# Поиск и вывод тел, у которых нет связанных вспомогательных объектов +for body in bodies: + linked_objects = [] + for obj in all_objects: + if obj.hasLinkOf(body): + linked_objects.append(obj.Name) + if not linked_objects: + print(f"Тело без связанных объектов: {body.Name}") + +# Пример использования: +# Убедитесь, что в FreeCAD активный документ содержит объекты с свойством "BodyName" и значением "Body" +# Затем запустите этот скрипт, и он выведет тела без связанных объектов в терминал diff --git a/cg/freecad/Frames/pddl/MillingMachine.FCStd1 b/cg/freecad/Frames/pddl/MillingMachine.FCStd1 new file mode 100644 index 0000000..c324eef Binary files /dev/null and b/cg/freecad/Frames/pddl/MillingMachine.FCStd1 differ diff --git a/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 b/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 new file mode 100644 index 0000000..09f22c4 Binary files /dev/null and b/cg/freecad/Frames/pddl/PartDesignExample.FCStd1 differ diff --git a/markup_workbench/.gitignore b/markup_workbench/.gitignore new file mode 100644 index 0000000..2b2f40c --- /dev/null +++ b/markup_workbench/.gitignore @@ -0,0 +1,95 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +env/ +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*,cover +.hypothesis/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule + +# SageMath parsed files +*.sage.py + +# dotenv +.env + +# virtualenv +.venv +venv/ +ENV/ + +# Spyder project settings +.spyderproject + +# Rope project settings +.ropeproject +env.json \ No newline at end of file diff --git a/markup_workbench/LICENSE b/markup_workbench/LICENSE new file mode 100644 index 0000000..5f2dd7f --- /dev/null +++ b/markup_workbench/LICENSE @@ -0,0 +1,505 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +(This is the first released version of the Lesser GPL. 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See the GNU + 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, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 + USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random + Hacker. + + {signature of Ty Coon}, 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! + diff --git a/markup_workbench/README.md b/markup_workbench/README.md new file mode 100644 index 0000000..d35d859 --- /dev/null +++ b/markup_workbench/README.md @@ -0,0 +1,11 @@ +Запуск фрикада с верстаком +../../../AppImages/FreeCAD_0.20.2.AppImage main.py + +Зависимости для env.json: + + Путь до ассетов сборки - "aspPath":"/home/mark-voltov/Рабочий стол/out/", + Имя используемого гриппера - "gripperName": "Gripper01" + +решить задачу определения размеченныъ и неразмеченных деталей +найти джсон со сборкой и сопоставить имена деталей с разметкой + diff --git a/markup_workbench/gui/__init__.py b/markup_workbench/gui/__init__.py new file mode 100644 index 0000000..f80dcdc --- /dev/null +++ b/markup_workbench/gui/__init__.py @@ -0,0 +1,4 @@ +import os +from .version import __version__ + +ICONPATH = os.path.join(os.path.dirname(__file__), "resources") diff --git a/markup_workbench/gui/init_gui.py b/markup_workbench/gui/init_gui.py new file mode 100644 index 0000000..d90dfa2 --- /dev/null +++ b/markup_workbench/gui/init_gui.py @@ -0,0 +1,110 @@ +import os +import FreeCADGui as Gui +import FreeCAD as App +from PySide.QtCore import QT_TRANSLATE_NOOP +import shutil +ICONPATH = os.path.join(os.path.dirname(__file__), "resources") +zone = "StabilityZone" +import requests +import importOBJ + + +class AddStabilityZone: + def __init__(self): + pass + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "stability_zone.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + App.ActiveDocument.addObject("Part::Box", "Box") + App.ActiveDocument.ActiveObject.Label = zone + selected_object = App.ActiveDocument.getObjectsByLabel(zone)[0] + selected_object.ViewObject.Transparency = 50 + selected_object.ViewObject.ShapeColor = (0.15, 0.80, 0.50) + pass + + def IsActive(self): + return True + + +class SyncServer: + + httpURL = None + def __init__(self, httpURL): + self.httpURL = httpURL + + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + StabilityZone = App.ActiveDocument.getObjectsByLabel(zone) + dir_path = os.path.dirname(os.path.realpath(__file__)) + dir_out = dir_path + '/out/' + if not os.path.exists(dir_out): + os.makedirs(dir_out) + importOBJ.export(StabilityZone, u"" + dir_out + 'StabilityZone.obj') + shutil.make_archive(dir_out + '/' + 'geometry', 'zip',) + zipArch = dir_out + 'geometry.zip' + requests.post(url=self.httpURL, files={'zip': open(zipArch, "rb")}) + shutil.rmtree(dir_out) + pass + + def IsActive(self): + return True + +class TestButton: + + httpURL = None + def __init__(self, httpURL): + self.httpURL = httpURL + + + def GetResources(self): + return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"), + 'Accel': "Ctrl+A", + 'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"), + 'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")} + + def Activated(self): + print(200) + pass + + def IsActive(self): + return True + +class StabilityWorkbench(Gui.Workbench): + + MenuText = "MarkUp" + ToolTip = "a simple workbench for some markup" + Icon = os.path.join(ICONPATH, "template_resource.svg") + toolbox = ['AddStabilityZone', 'SyncServer',"TestButton"] + httpURL = None + def __init__(self,httpURL): + self.httpURL = httpURL + + + def GetClassName(self): + return "Gui::PythonWorkbench" + + def Initialize(self): + Gui.addCommand('AddStabilityZone', AddStabilityZone()) + Gui.addCommand('SyncServer', SyncServer( + self.httpURL)) + Gui.addCommand('TestButton', TestButton( + self.httpURL)) + self.appendToolbar("Tools", self.toolbox) + self.appendMenu("Tools", self.toolbox) + + def Activated(self): + pass + + def Deactivated(self): + pass diff --git a/markup_workbench/gui/my_numpy_function.py b/markup_workbench/gui/my_numpy_function.py new file mode 100644 index 0000000..d74c650 --- /dev/null +++ b/markup_workbench/gui/my_numpy_function.py @@ -0,0 +1,4 @@ +import numpy as np + +def my_foo(value): + return np.sqrt(value) diff --git a/markup_workbench/gui/resources/server_sync.svg b/markup_workbench/gui/resources/server_sync.svg new file mode 100644 index 0000000..da595a2 --- /dev/null +++ b/markup_workbench/gui/resources/server_sync.svg @@ -0,0 +1,134 @@ + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + diff --git a/markup_workbench/gui/resources/stability_zone.svg b/markup_workbench/gui/resources/stability_zone.svg new file mode 100644 index 0000000..3f7686a --- /dev/null +++ b/markup_workbench/gui/resources/stability_zone.svg @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + diff --git a/markup_workbench/gui/resources/template_resource.svg b/markup_workbench/gui/resources/template_resource.svg new file mode 100644 index 0000000..1b74788 --- /dev/null +++ b/markup_workbench/gui/resources/template_resource.svg @@ -0,0 +1,183 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + [WandererFan] + + + techdraw-clipplus + 2016-01-14 + http://www.freecadweb.org/wiki/index.php?title=Artwork + + + FreeCAD + + + FreeCAD/src/Mod/TechDraw/Gui/Resources/icons/actions/techdraw-clipplus.svg + + + FreeCAD LGPL2+ + + + https://www.gnu.org/copyleft/lesser.html + + + [agryson] Alexander Gryson + + + + + + + + + + + + + + + + + + + + diff --git a/markup_workbench/gui/version.py b/markup_workbench/gui/version.py new file mode 100644 index 0000000..3486632 --- /dev/null +++ b/markup_workbench/gui/version.py @@ -0,0 +1 @@ +__version__ = "0.8.1" \ No newline at end of file diff --git a/markup_workbench/main.py b/markup_workbench/main.py new file mode 100644 index 0000000..1356221 --- /dev/null +++ b/markup_workbench/main.py @@ -0,0 +1,30 @@ +import os +import FreeCADGui as Gui +import FreeCAD as App +from gui.init_gui import StabilityWorkbench +import json + + +def importObjAtPath(path: str): + import importOBJ + importOBJ.insert(u"" + path, App.ActiveDocument.Label) + + pass + + +def getFullPathObj(assemblyFolder: str, name: str): + return assemblyFolder + 'sdf/meshes/' + name + '.obj' + + +def main(): + App.newDocument() + #TODO(Mark): 1. Добавить парсер файлов пути генерации. Нужно определить неразмеченные детали и импортировать объекты, которые соответствуют неразмеченным деталям + #2. Добавить процедуру экспорта информации о разметке + #3. + Gui.SendMsgToActiveView("ViewSelection") + + Gui.addWorkbench(StabilityWorkbench('')) + Gui.activateWorkbench("StabilityWorkbench") + + +main()