Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
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Upstream Snapshot
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def main():
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import numpy as np
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import math
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import commentjson as json
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import os
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import sys, os
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from dotenv import load_dotenv, find_dotenv
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from colorama import Fore, Back, Style
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load_dotenv(find_dotenv(usecwd=True))
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if len(sys.argv) < 2:
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print("Usage: onshape-to-robot-pure-shape {STL file} [prefix=PureShapes]")
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else:
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fileName = sys.argv[1]
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robotDir = os.path.dirname(fileName)
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configFile = os.path.join(robotDir, "config.json")
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prefix = "PureShapes"
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if len(sys.argv) > 2:
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prefix = sys.argv[2]
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from .onshape_api.client import Client
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client = Client(logging=False, creds=configFile)
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parts = fileName.split(".")
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parts[-1] = "part"
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partFileName = ".".join(parts)
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parts[-1] = "scad"
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scadFileName = ".".join(parts)
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with open(partFileName, "r", encoding="utf-8") as stream:
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part = json.load(stream)
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partid = part["partId"]
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result = client.get_sketches(
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part["documentId"],
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part["documentMicroversion"],
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part["elementId"],
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part["configuration"],
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)
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scad = '% scale(1000) import("' + os.path.basename(fileName) + '");\n'
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sketchDatas = []
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for sketch in result["sketches"]:
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if sketch["sketch"].startswith(prefix):
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parts = sketch["sketch"].split(" ")
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if len(parts) >= 2:
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sketch["thickness"] = float(parts[1])
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else:
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print(
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Fore.RED
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+ 'ERROR: The sketch name should contain extrusion size (e.g "PureShapes 5.3")'
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+ Style.RESET_ALL
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)
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exit(0)
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sketchDatas.append(sketch)
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if len(sketchDatas):
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print(
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Fore.GREEN
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+ "* Found "
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+ str(len(sketchDatas))
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+ " PureShapes sketches"
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+ Style.RESET_ALL
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)
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for sketchData in sketchDatas:
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# Retrieving sketch transform matrix
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m = sketchData["transformMatrix"]
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mm = [m[0:4], m[4:8], m[8:12], m[12:16]]
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mm[0][3] *= 1000
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mm[1][3] *= 1000
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mm[2][3] *= 1000
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scad += "\n"
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scad += "// Sketch " + sketchData["sketch"] + "\n"
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scad += "multmatrix(" + str(mm) + ") {" + "\n"
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scad += "thickness = %f;\n" % sketchData["thickness"]
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scad += "translate([0, 0, -thickness]) {\n"
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boxes = {}
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def boxSet(id, pointName, point):
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if id not in boxes:
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boxes[id] = {}
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boxes[id][pointName] = point
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for entry in sketchData["geomEntities"]:
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if entry["entityType"] == "circle":
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center = entry["center"]
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scad += " translate([%f, %f, 0]) {\n" % (
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center[0] * 1000,
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center[1] * 1000,
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)
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scad += " cylinder(r=%f,h=thickness);\n" % (
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entry["radius"] * 1000
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)
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scad += " }\n"
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if entry["entityType"] == "point":
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parts = entry["id"].split(".")
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if len(parts) == 3:
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if parts[1] == "top" and parts[2] == "start":
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boxSet(parts[0], "A", entry["point"])
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if parts[1] == "top" and parts[2] == "end":
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boxSet(parts[0], "B", entry["point"])
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if parts[1] == "bottom" and parts[2] == "start":
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boxSet(parts[0], "C", entry["point"])
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if parts[1] == "bottom" and parts[2] == "end":
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boxSet(parts[0], "D", entry["point"])
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for id in boxes:
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if len(boxes[id]) == 4:
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A, B = np.array(boxes[id]["A"]), np.array(boxes[id]["B"])
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C, D = np.array(boxes[id]["C"]), np.array(boxes[id]["D"])
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AB = B - A
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# Making sure that the orientation of the square is correct
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AB90 = np.array([-AB[1], AB[0]])
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side = AB90.dot(C - A)
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width = np.linalg.norm(B - A)
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height = np.linalg.norm(B - D)
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if side < 0:
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A, B, C, D = C, D, A, B
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AB = B - A
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alpha = np.rad2deg(math.atan2(AB[1], AB[0]))
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scad += " translate([%f, %f, 0]) {\n" % (
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A[0] * 1000,
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A[1] * 1000,
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)
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scad += " rotate([0, 0, " + str(alpha) + "]) {" + "\n"
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scad += " cube([%f, %f, thickness]);\n" % (
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width * 1000,
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height * 1000,
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)
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scad += " }\n"
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scad += " }\n"
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scad += "}\n"
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scad += "}\n"
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with open(scadFileName, "w", encoding="utf-8") as stream:
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stream.write(scad)
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directory = os.path.dirname(fileName)
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os.system(
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"cd " + directory + "; openscad " + os.path.basename(scadFileName)
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)
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else:
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print(
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Fore.RED
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+ "ERROR: Can't find pure shape sketch in this part"
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+ Style.RESET_ALL
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)
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if __name__ == "__main__":
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main()
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