- Optimization algorithm for minimizing rapid motions

CNC.py

@@ -20,9 +20,6 @@
 from bpath import Path, Segment
 from bmath import *
 
-import Genetic
-from tsp import TSPIndividual
-
 IDPAT    = re.compile(r".*\bid:\s*(.*?)\)")
 PARENPAT = re.compile(r"(.*)(\(.*?\))(.*)")
 OPPAT    = re.compile(r"(.*)\[(.*)\]")
@@ -1047,7 +1044,7 @@ def __init__(self, name=None):
 		self.enable  = True	# Enabled/Visible in drawing
 		self.expand  = False	# Expand in editor
 		self._path   = []	# canvas drawing paths
-		self.sx = self.sy = self.sz = 0	# start  coordinates
+		self.sx = self.sy = self.sz = 0	# start  coordinates (entry point first non rapid motion)
 		self.ex = self.ey = self.ez = 0	# ending coordinates
 
 	#----------------------------------------------------------------------
@@ -1155,8 +1152,11 @@ def path(self, i):
 		return self._path[i]
 
 	#----------------------------------------------------------------------
-	def resetPath(self, x, y, z):
+	def resetPath(self):
 		del self._path[:]
+
+	#----------------------------------------------------------------------
+	def startPath(self, x, y, z):
 		self.sx = x
 		self.sy = y
 		self.sz = z
@@ -1691,6 +1691,18 @@ def swapBlockUndo(self, a, b):
 		self.blocks[b] = tmp
 		return undoinfo
 
+	#----------------------------------------------------------------------
+	# Move block from location src to location dst
+	#----------------------------------------------------------------------
+	def moveBlockUndo(self, src, dst):
+		if src == dst: return undo.NullUndo
+		undoinfo = (self.moveBlockUndo, dst, src)
+		if dst > src:
+			self.blocks.insert(dst-1, self.blocks.pop(src))
+		else:
+			self.blocks.insert(dst, self.blocks.pop(src))
+		return undoinfo
+
 	#----------------------------------------------------------------------
 	# Invert selected blocks
 	#----------------------------------------------------------------------
@@ -1918,8 +1930,10 @@ def initPath(self, bid):
 		if bid == 0:
 			self.cnc.initPath()
 		else:
-			block = self.blocks[bid]
-			self.cnc.initPath(block.sx, block.sy, block.sz)
+			# Use the ending point of the previous block
+			# since the starting (sxyz is after the rapid motion)
+			block = self.blocks[bid-1]
+			self.cnc.initPath(block.ex, block.ey, block.ez)
 
 	#----------------------------------------------------------------------
 	# Move blocks/lines up
@@ -2403,43 +2417,59 @@ def removeNlines(self, items):
 	# rapid movements.
 	#----------------------------------------------------------------------
 	def optimize(self, items):
-		# create a list of blocks and their entry and exit coordinates
+		n = len(items)
+
+		matrix = []
+		for i in range(n):
+			matrix.append([0.0] * n)
+
+		# Find distances between blocks (end to start)
+		for i in range(n):
+			block = self.blocks[items[i]]
+			x1 = block.ex
+			y1 = block.ey
+			for j in range(n):
+				if i==j: continue
+				block = self.blocks[items[j]]
+				x2 = block.sx
+				y2 = block.sy
+				dx = x1-x2
+				dy = y1-y2
+				matrix[i][j] = sqrt(dx*dx + dy*dy)
+		#from pprint import pprint
+		#pprint(matrix)
+
+		best = [0]
+		unvisited = range(1,n)
+		while unvisited:
+			last = best[-1]
+			row = matrix[last]
+			# from all the unvisited places search the closest one
+			mindist = 1e30
+			for i,u in enumerate(unvisited):
+				d = row[u]
+				if d < mindist:
+					mindist = d
+					si = i
+			best.append(unvisited.pop(si))
+		#print "best=",best
 
-		blocks = []
-		del TSPIndividual.coords[:]
-
-		for bid in items:
-			blocks.append(bid)
-			block = self.blocks[bid]
-			TSPIndividual.coords.append(((block.sx,block.sy), (block.ex,block.ey)))
-
-		sys.stdout.write("optimize=%s\n"%(str(blocks)))
-		sys.stdout.write("coords=%s\n"%(str(TSPIndividual.coords)))
-
-		TSPIndividual.prepareMatrix()
-
-		# FIXME Do I need the same random seed all the time?
-		random.seed(1234)	# ???
-
-		env = Genetic.Environment(TSPIndividual,
-					size=80,
-					maxgenerations=100,
-					parallel=0,
-					optimum=0.,
-					crossover_rate=1.0,
-					mutation_rate=0.03)
-		env.random = 1
-		env.reportEvery(100)
-		env.run()
-		sys.stdout.write("Best=%s\n"%(str(env.best())))
-		#write_tour_to_img(TSPIndividual.coords, env.best(), "tsp_result.png")
+		undoinfo = []
+		for i in range(len(best)):
+			b = best[i]
+			if i==b: continue
+			ptr = best.index(i)
+			# swap i,b in items
+			undoinfo.append(self.swapBlockUndo(items[i], items[b]))
+			# swap i,ptr in best
+			best[i], best[ptr] = best[ptr], best[i]
+		self.addUndo(undoinfo, "Optimize")
 
 	#----------------------------------------------------------------------
 	# Use probe information to modify the g-code to autolevel
 	#----------------------------------------------------------------------
 	def compile(self):
 		autolevel = not self.probe.isEmpty()
-
 		lines = []
 		paths = []
 		for i,block in enumerate(self.blocks):

CNCCanvas.py

@@ -761,7 +761,8 @@ def draw(self, view=None): #, lines):
 		self.initPosition()
 		drawG = self.draw_rapid or self.draw_paths or self.draw_margin
 		for i,block in enumerate(self.gcode.blocks):
-			block.resetPath(self.cnc.x, self.cnc.y, self.cnc.z)
+			block.resetPath()
+			start = True	# start location found
 			for j,line in enumerate(block):
 				#cmd = self.cnc.parseLine(line)
 				try:
@@ -777,6 +778,10 @@ def draw(self, view=None): #, lines):
 					path = self.drawPath(cmd, block.enable)
 					self._items[path] = i,j
 					block.addPath(path)
+					if start and self.cnc.gcode in (1,2,3):
+						# Mark as start the first non-rapid motion
+						block.startPath(self.cnc.x, self.cnc.y, self.cnc.z)
+						start = False
 			block.endPath(self.cnc.x, self.cnc.y, self.cnc.z)
 
 		self.drawGrid()

ControlPage.py

@@ -98,50 +98,6 @@ def __init__(self, master, app):
 		tkExtra.Balloon.set(b, "Software reset of controller [ctrl-x]")
 		self.addWidget(b)
 
-##===============================================================================
-## Serial Group
-##===============================================================================
-#class SerialGroup(CNCRibbon.ButtonGroup):
-#	def __init__(self, master, app):
-#		CNCRibbon.ButtonGroup.__init__(self, master, "Serial", app)
-#		self.grid3rows()
-#
-#		col,row=0,0
-#		b = Label(self.frame, text="Port:", background=Ribbon._BACKGROUND)
-#		b.grid(row=row,column=col,sticky=E)
-#		self.addWidget(b)
-#
-#		app.portCombo = tkExtra.Combobox(self.frame, False, background="White", width=16)
-#		app.portCombo.grid(row=row, column=col+1, sticky=EW)
-#		devices = sorted([x[0] for x in comports()])
-#		app.portCombo.fill(devices)
-#		app.portCombo.set(Utils.config.get("Connection","port"))
-#		self.addWidget(app.portCombo)
-#
-#		row += 1
-#		b = Label(self.frame, text="Baud:", background=Ribbon._BACKGROUND)
-#		b.grid(row=row,column=col,sticky=E)
-#
-#		app.baudCombo = tkExtra.Combobox(self.frame, True, background="White")
-#		app.baudCombo.grid(row=row, column=col+1, sticky=EW)
-#		app.baudCombo.fill(BAUDS)
-#		app.baudCombo.set(Utils.config.get("Connection","baud"))
-#		self.addWidget(app.baudCombo)
-#
-#		# ---
-#		col += 2
-#		row  = 0
-#
-#		app.connectBtn = Ribbon.LabelButton(self.frame,
-#				image=Utils.icons["serial32"],
-#				text="Open",
-#				compound=TOP,
-#				command=app.openClose,
-#				background=Ribbon._BACKGROUND)
-#		app.connectBtn.grid(row=row, column=col, rowspan=2, padx=0, pady=0, sticky=NSEW)
-#		tkExtra.Balloon.set(app.connectBtn, "Open/Close serial port")
-#		self.addWidget(app.connectBtn)
-
 #===============================================================================
 # User Group
 #===============================================================================

FilePage.py

@@ -223,25 +223,25 @@ def __init__(self, master, app):
 		b.grid(row=row,column=col,sticky=E)
 		self.addWidget(b)
 
-		app.portCombo = tkExtra.Combobox(self, False, background="White", width=16)
-		app.portCombo.grid(row=row, column=col+1, sticky=EW)
-		tkExtra.Balloon.set(app.portCombo, "Select (or manual enter) port to connect")
+		self.portCombo = tkExtra.Combobox(self, False, background="White", width=16)
+		self.portCombo.grid(row=row, column=col+1, sticky=EW)
+		tkExtra.Balloon.set(self.portCombo, "Select (or manual enter) port to connect")
 		devices = sorted([x[0] for x in comports()])
-		app.portCombo.fill(devices)
-		app.portCombo.set(Utils.getStr("Connection","port"))
-		self.addWidget(app.portCombo)
+		self.portCombo.fill(devices)
+		self.portCombo.set(Utils.getStr("Connection","port"))
+		self.addWidget(self.portCombo)
 
 		# ---
 		row += 1
 		b = Label(self, text="Baud:", background=Ribbon._BACKGROUND)
 		b.grid(row=row,column=col,sticky=E)
 
-		app.baudCombo = tkExtra.Combobox(self, True, background="White")
-		app.baudCombo.grid(row=row, column=col+1, sticky=EW)
-		tkExtra.Balloon.set(app.baudCombo, "Select connection baud rate")
-		app.baudCombo.fill(BAUDS)
-		app.baudCombo.set(Utils.getStr("Connection","baud","115200"))
-		self.addWidget(app.baudCombo)
+		self.baudCombo = tkExtra.Combobox(self, True, background="White")
+		self.baudCombo.grid(row=row, column=col+1, sticky=EW)
+		tkExtra.Balloon.set(self.baudCombo, "Select connection baud rate")
+		self.baudCombo.fill(BAUDS)
+		self.baudCombo.set(Utils.getStr("Connection","baud","115200"))
+		self.addWidget(self.baudCombo)
 
 		# ---
 		row += 1
@@ -256,22 +256,21 @@ def __init__(self, master, app):
 		col += 2
 		row  = 0
 
-		app.connectBtn = Ribbon.LabelButton(self,
+		self.connectBtn = Ribbon.LabelButton(self,
 				image=Utils.icons["serial32"],
 				text="Open",
 				compound=TOP,
-				command=app.openClose,
+				command=lambda s=self : s.event_generate("<<Connect>>"),
 				background=Ribbon._BACKGROUND)
-		app.connectBtn.grid(row=row, column=col, rowspan=2, padx=0, pady=0, sticky=NSEW)
-		tkExtra.Balloon.set(app.connectBtn, "Open/Close serial port")
-
+		self.connectBtn.grid(row=row, column=col, rowspan=2, padx=0, pady=0, sticky=NSEW)
+		tkExtra.Balloon.set(self.connectBtn, "Open/Close serial port")
 		self.grid_columnconfigure(1, weight=1)
 
 	#-----------------------------------------------------------------------
 	def saveConfig(self):
 		# Connection
-		Utils.setStr("Connection", "port",        self.app.portCombo.get())
-		Utils.setStr("Connection", "baud",        self.app.baudCombo.get())
+		Utils.setStr("Connection", "port",        self.portCombo.get())
+		Utils.setStr("Connection", "baud",        self.baudCombo.get())
 		Utils.setBool("Connection", "openserial", self.autostart.get())
 
 #===============================================================================