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annotate src/laser/stupid-backup.clj @ 21:e72220627685 tip

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0.002 inch discrepancy with target. going to test anyway
author Robert McIntyre <rlm@mit.edu>
date Mon, 30 Aug 2010 01:19:21 -0400
parents a769347618a1
children
rev   line source
rlm@18 1 (ns laser.rasterize
rlm@18 2 (:use [rlm
rlm@18 3 image-utils
rlm@18 4 map-utils]
rlm@18 5 [clojure.contrib
rlm@18 6 [str-utils :only [str-join re-gsub]]
rlm@18 7 [seq :only [indexed]]
rlm@18 8 [math]
rlm@18 9 [def]
rlm@18 10 ])
rlm@18 11 (:import [ij ImagePlus IJ]))
rlm@18 12
rlm@18 13 ;(import '(java.io File))
rlm@18 14 ;(import '(org.apache.commons.io FileUtils))
rlm@18 15 ;(import '(javax.imageio ImageIO) )
rlm@18 16
rlm@18 17
rlm@18 18 (set! *print-length* 20)
rlm@18 19 (def feed 120)
rlm@18 20 (def dpi [500, 500])
rlm@18 21
rlm@18 22 (def paramaters {:x-dpi 500 :y-dpi 500 :margin 0 :x-offset 0 :y-offset 0})
rlm@18 23
rlm@18 24 ;;; this process is divided into two tasks,
rlm@18 25 ;;; creating the raster g-code, which sweeps back and forth
rlm@18 26 ;;; and creating the gmask, which turns the laser on and off.
rlm@18 27
rlm@18 28
rlm@18 29 ;;; we'll be using frame-hashes, which represent picutres as
rlm@18 30 ;;; a 3D vector field over 2D space, with the vectors representing
rlm@18 31 ;;; the rgb values at that particular point.
rlm@18 32
rlm@18 33 (defn select-row
rlm@18 34 "returns a frame hash that is just a single line at the chosen y"
rlm@18 35 [y window]
rlm@18 36 (reduce
rlm@18 37 (fn [old-map number]
rlm@18 38 (let [pixel (get window [number y] nil)]
rlm@18 39 (if-not (nil? pixel)
rlm@18 40 (into old-map {[number y] pixel})
rlm@18 41 old-map)))
rlm@18 42 {}
rlm@18 43 (range (width window))))
rlm@18 44
rlm@18 45 (defn make-rows [pic]
rlm@18 46 (map (partial sort #(< (first %1) (first %2)))
rlm@18 47 (partition-by last
rlm@18 48 (sort (fn [[x1 y1][x2 y2]] (> y2 y1))
rlm@18 49 (map first (filter-vals (partial = black) pic))))))
rlm@18 50
rlm@18 51 ;;; generate rastering g-code
rlm@18 52
rlm@18 53 (defn raster-preamble []
rlm@18 54 (str-join \newline ["M63 P0\nG61" (str "F" feed) "M101" "M3 S1\n"]))
rlm@18 55
rlm@18 56 (defn raster-epilogue []
rlm@18 57 (str-join \newline ["M63 P0" "M5" "M2\n"]))
rlm@18 58
rlm@18 59 (defn raster-comment
rlm@18 60 "wrap a statement in PARENTHENSIS to make it a comment in gcode.
rlm@18 61 parenthesis themselves aren't allowed in comments.
rlm@18 62 Oh the humanity!!"
rlm@18 63 [string]
rlm@18 64 (str "(" (re-gsub #"[()]" "" string) ")"))
rlm@18 65
rlm@18 66 (defn rows
rlm@18 67 "creates a sequence of one dimensional vector fields which
rlm@18 68 represent the rows of a picture"
rlm@18 69 [pic]
rlm@18 70 (let [non-empty-rows (apply sorted-set (map (comp last first) pic))]
rlm@18 71 (pmap (fn [n] (select-row n pic)) non-empty-rows)))
rlm@18 72
rlm@18 73
rlm@18 74
rlm@18 75
rlm@18 76
rlm@18 77 (defn row->gcode [{:keys [x-dpi y-dpi margin x-offset y-offset]} row]
rlm@18 78 (let [pixels (keys row)
rlm@18 79 x2 0
rlm@18 80 [_ y2] (first pixels)
rlm@18 81 [_ y1] (first pixels)
rlm@18 82 x1 533]
rlm@18 83
rlm@18 84 ;(let [ordered-row
rlm@18 85 ; (sort-map-by (fn [[x1 _] [x2 _]] (> x2 x1)) row)]
rlm@18 86
rlm@18 87 (let [;[x1 y1] (last (keys ordered-row))
rlm@18 88 ;[x2 y2] (first (keys ordered-row))
rlm@18 89 [x1 y1 x2 y2] (if (odd? y1) [x2 y2 x1 y1] [x1 y1 x2 y2])]
rlm@18 90
rlm@18 91 (str (format "G0 X%.3f Y%.3f\n"
rlm@18 92 (float (* x1 (/ x-dpi)))
rlm@18 93 (float (* y1 (/ y-dpi))))
rlm@18 94
rlm@18 95 (format "G1 X%.3f Y%.3f\n"
rlm@18 96 (float (* x2 (/ x-dpi)))
rlm@18 97 (float (* y2 (/ y-dpi))))))))
rlm@18 98
rlm@18 99
rlm@18 100 (defn pic->gcode [paramaters pic]
rlm@18 101 (reduce (fn [gcode current-height]
rlm@18 102 (let [current-row (select-row current-height pic)]
rlm@18 103 (if-not (empty? current-row)
rlm@18 104 (let [new-code (row->gcode paramaters current-row)]
rlm@18 105 (println new-code)
rlm@18 106 (str gcode new-code))
rlm@18 107 gcode)))
rlm@18 108 ""
rlm@18 109 (range (height pic))))
rlm@18 110
rlm@18 111
rlm@18 112
rlm@18 113
rlm@18 114 (defn pic->gcode
rlm@18 115
rlm@18 116
rlm@18 117
rlm@18 118 ;(defn pic->gcode [paramaters pic]
rlm@18 119
rlm@18 120
rlm@18 121 (defn generate-gcode [pic]
rlm@18 122 (str (raster-preamble)
rlm@18 123 (row->gcode paramaters pic)
rlm@18 124 (raster-epilogue)))
rlm@18 125
rlm@18 126
rlm@18 127
rlm@18 128
rlm@18 129
rlm@18 130
rlm@18 131
rlm@18 132
rlm@18 133
rlm@18 134
rlm@18 135
rlm@18 136
rlm@18 137
rlm@18 138
rlm@18 139
rlm@18 140
rlm@18 141
rlm@18 142
rlm@18 143
rlm@18 144 (defn gather-row [row]
rlm@18 145 (let [base [[(first (first row)) (first (first row))]]]
rlm@18 146 ; (println base)
rlm@18 147 (reduce
rlm@18 148 (fn colapse [collection new-n]
rlm@18 149
rlm@18 150 (let [collection (apply vector collection)
rlm@18 151 prevoius (last (last collection))
rlm@18 152 range-start (first (last collection))]
rlm@18 153 ; (println new-n)
rlm@18 154 ; (println prevoius)
rlm@18 155 ; (println range-start)
rlm@18 156 (if (<= new-n (+ prevoius 1))
rlm@18 157 (do ;(println "join")
rlm@18 158 ;(println (butlast collection))
rlm@18 159 (conj (apply vector (butlast collection))
rlm@18 160 (vector range-start new-n)))
rlm@18 161 (conj collection (vector new-n new-n)))))
rlm@18 162
rlm@18 163 base
rlm@18 164 (map first row))))
rlm@18 165
rlm@18 166
rlm@18 167
rlm@18 168
rlm@18 169 (defn row->gmask [[x-dpi y-dpi] forward? row]
rlm@18 170 (let [start (float (* (/ x-dpi) (first (first
rlm@18 171 (if forward?
rlm@18 172 (reverse row) row)))))]
rlm@18 173 (let [preamble (if-not forward?
rlm@18 174 (format "0 0 0 %.3f\n" start)
rlm@18 175 (format "0 0 1 %.3f\n" start))
rlm@18 176 body
rlm@18 177 (for [[x y]
rlm@18 178 (if forward?
rlm@18 179 (reverse (gather-row row))
rlm@18 180 (gather-row row))]
rlm@18 181 (let [x (float (* x (/ x-dpi)))
rlm@18 182 y (float (* y (/ x-dpi)))]
rlm@18 183 ;; x (+ x 0.159)];; shift by a small margin.
rlm@18 184 (if-not forward?
rlm@18 185 (str (format "0 0 1 %.3f\n" x)
rlm@18 186 (format "0 1 1 %.3f\n" y))
rlm@18 187
rlm@18 188 (str (format "0 0 0 %.3f\n" y)
rlm@18 189 (format "0 1 0 %.3f\n" x)))))]
rlm@18 190
rlm@18 191 (str preamble (str-join "" body)))))
rlm@18 192
rlm@18 193
rlm@18 194 (defn generate-gmask [pic]
rlm@18 195 (str "1 0 0 0\n"
rlm@18 196 (str-join "" (map (fn [[index row]]
rlm@18 197 (row->gmask dpi (even? index) row))
rlm@18 198 (indexed (make-rows pic))))))
rlm@18 199
rlm@18 200
rlm@18 201
rlm@18 202
rlm@18 203 ;;;; testing
rlm@18 204
rlm@18 205 (defn generate-files [pic]
rlm@18 206 (println "made-image")
rlm@18 207 (spit "/home/r/kevin/out.ngc" (generate-gcode pic))
rlm@18 208 (println "/home/r/kevin/out.ngc")
rlm@18 209 (spit "/home/r/kevin/out.gmask" (generate-gmask pic))
rlm@18 210 (println "/home/r/kevin/out.gmask")
rlm@18 211 pic)
rlm@18 212
rlm@18 213 (defn update-state []
rlm@18 214 (def sing "/home/r/kevin/sing.png")
rlm@18 215 (def pic (frame-hash (ImagePlus. sing)))
rlm@18 216 (def pic (b&w pic))
rlm@18 217 (def pic (filter-vals (partial = black) pic)))
rlm@18 218
rlm@18 219 (defn compare-gen-fn
rlm@18 220 ([n f cmp]
rlm@18 221 (let [theirs (re-split #"\n" (slurp cmp))
rlm@18 222 ours (re-split #"\n" (f pic))]
rlm@18 223 (println (format "%1$-25s%2$s" "OURS" "THEIRS"))
rlm@18 224 (println "_______________________________________")
rlm@18 225 (dorun (map (fn [[us them]] (println
rlm@18 226 (format "%1$-25s%2$s" us them)))
rlm@18 227 (take n (partition 2 (interleave ours theirs))))))))
rlm@18 228
rlm@18 229 (defn compare-gcode
rlm@18 230 ([] (compare-gcode 25))
rlm@18 231 ([n] (compare-gen-fn n generate-gcode "/home/r/kevin/reference.ngc")))
rlm@18 232
rlm@18 233 (defn compare-gmask
rlm@18 234 ([] compare-gmask 25)
rlm@18 235 ([n] (compare-gen-fn n generate-gmask "/home/r/kevin/reference.gmask")))
rlm@18 236
rlm@18 237
rlm@18 238
rlm@18 239
rlm@18 240