diff --git a/rocolib/__main__.py b/rocolib/__main__.py
index 882508ef02ed93b76c2b9bb53f1aa69b3f486751..d00adae95801fad51b7bfce019df138935f3d0ab 100644
--- a/rocolib/__main__.py
+++ b/rocolib/__main__.py
@@ -6,6 +6,7 @@ import logging
import argparse
from pprint import pprint
from textwrap import shorten
+from dash import Dash
from rocolib.library import getComponent, getComponentTree
from rocolib.api.composables.graph.Joint import FingerJoint
@@ -33,7 +34,10 @@ def test(component, params, thickness, outdir=None, display=False):
pprint({k: shorten(str(v), 60) for k, v in outs.items()})
if display:
- ret = f.visualize(outputs = True, thickness=t, joint=j, remake=False)
+ app = Dash(__name__)
+ html = f.visualize(outputs = True, thickness=t, joint=j, remake=False)
+ app.layout = html
+ app.run_server(debug=True)
if __name__ == '__main__':
LOG_LEVELS = ["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"]
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index b5c2e4ba4e686714aad9726d126563fa3b16eded..d5ca60d6bad3567aadf2468f8749731ceb8d1091 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -14,7 +14,7 @@ from rocolib.utils.utils import prefix as prefixString
from rocolib.utils.utils import tryImport
from rocolib.utils.io import load_yaml
from rocolib.utils.nx2go import GraphVisualization as gv
-from dash import Dash, html
+from dash import html, dcc
log = logging.getLogger(__name__)
@@ -531,19 +531,23 @@ class Component(Parameterized):
def visualize(self, outputs=True, **ka):
widgets = self.makeOutput(outputs, widgets=True, **ka)
- app = Dash(__name__)
- elts = [
- html.H2('RoCo component visualizer'),
- html.H1(f"Component: {self.getName()}"),
- ]
+ elts = [ html.H1(f"RoCo component visualizer: {self.getName()}") ]
+ tabs = []
+
for c, w in widgets.items():
- elts.append(html.H3(f"Composable: {c}"))
+ widgets = []
for k, v in w.items():
- elts.append(html.H4(f"Widget: {k}"))
- elts.append(html.P(v['desc']))
- elts.append(v['widget'])
- app.layout = html.Div(elts)
- app.run_server(debug=True)
+ widgets.append(html.Div([
+ html.H3(v['desc']),
+ html.P(f"Widget: {k}"),
+ v['widget'],
+ ], style={'padding': 10, 'flex': 1}))
+ tabs.append(dcc.Tab(label = f"Composable: {c}",
+ children = html.Div(widgets, style={'display': 'flex', 'flex-direction': 'row'})
+ ))
+
+ elts.append(html.Div(dcc.Tabs(tabs)))
+ return html.Div(elts)
def makeOutput(self, outputs=(), filedir=None, widgets=False, **ka):
if filedir:
diff --git a/rocolib/api/composables/ComponentComposable.py b/rocolib/api/composables/ComponentComposable.py
index 8f1523247bd933dc551a19b6e0107850f4d15e17..48c3fb19b113d37aaac9c1fc23f1bd429a95481b 100644
--- a/rocolib/api/composables/ComponentComposable.py
+++ b/rocolib/api/composables/ComponentComposable.py
@@ -69,6 +69,6 @@ class ComponentComposable(Composable):
fig = self._drawComponentTree()
fig.write_image(fp, format="png")
- @widget('displaymap', "Show component topology")
+ @widget('displaymap', "component topology map")
def displayMap(self, fp, **ka):
return dcc.Graph(figure = self._drawComponentTree())
diff --git a/rocolib/api/composables/GraphComposable.py b/rocolib/api/composables/GraphComposable.py
index d056063fea22613899c557266cff902a39fdb8a8..502f76423822650a6de5c6ea0ddbdcf59696fe4b 100644
--- a/rocolib/api/composables/GraphComposable.py
+++ b/rocolib/api/composables/GraphComposable.py
@@ -2,7 +2,7 @@ from rocolib.api.composables.graph.Graph import Graph as BaseGraph
from rocolib.api.composables.graph.Drawing import Drawing
from rocolib.api.composables.Composable import Composable, output, widget
from rocolib.utils.tabs import BeamTabs, BeamTabDecoration, BeamSlotDecoration
-from rocolib.utils.display import meshfig
+from rocolib.utils.display import meshfig, cutfig
from dash import dcc
@@ -37,6 +37,7 @@ class GraphComposable(Composable, BaseGraph):
self.edges.extend(g2.edges)
def makeOutput(self, name, outputs, filedir=None, widgets=False, **ka):
+ self._thickness = ka.get("thickness", 0)
self.tabify(ka.pop("tabFace", BeamTabs), ka.pop("tabDecoration", BeamTabDecoration),
ka.pop("slotFace", None), ka.pop("slotDecoration", BeamSlotDecoration), **ka)
if ka.pop("joint", None):
@@ -70,14 +71,12 @@ class GraphComposable(Composable, BaseGraph):
pngOut = output("render.png", "3D render", binary=True, format="png") (to3D)
wboOut = output("webots.wbo", "Webots robot", format="webots") (to3D)
- @widget('display3D', "Show 3D model")
+ @widget('display3D', "3D model")
def display3D(self, fp, **ka):
kwargs = {k:v for k,v in ka.items() if k in "color scale".split()}
return dcc.Graph(figure = meshfig(self.fullmesh, **kwargs))
- def display2D(self):
- if kw("display", False):
- from rocolib.utils.display import displayTkinter
- displayTkinter(d)
-
- return rets
+ @widget('display2D', "2D cut pattern")
+ def display2D(self, fp, **ka):
+ kwargs = {k:v for k,v in ka.items() if k in "scale axes".split()}
+ return dcc.Graph(figure = cutfig(self.getEdgeSet(), **kwargs))
diff --git a/rocolib/api/composables/graph/Graph.py b/rocolib/api/composables/graph/Graph.py
index b8217b84a1009bf845d608c496c82d8650a5ef5c..5f11f921b3f034ad8fbcdf56bcc501510771b4c3 100644
--- a/rocolib/api/composables/graph/Graph.py
+++ b/rocolib/api/composables/graph/Graph.py
@@ -28,13 +28,12 @@ def inflate(face, thickness=.1, edges=False):
return faces
-def _triangulate(faces, **kwargs):
+def _triangulate(faces, thickness=0):
"""Create triangulated faces in 3D space with thickness"""
scale = .001 # roco units : mm ; STL units m
tris = []
- thickness = kwargs.get("thickness", 0)
nparr = lambda l: np.transpose([list(x) + [0, 1] for x in l])
for f in faces:
@@ -80,6 +79,7 @@ class Graph():
self.faces = []
self.facelists = []
self.edges = []
+ self._thickness = 0
self._meshes = []
self._fullmesh = None
@@ -332,5 +332,60 @@ class Graph():
"""Create a list of stl Mesh objects"""
self.place()
# Create 1 mesh per connected set of faces.
- self._meshes = [_triangulate(faces, **kwargs) for faces in self.facelists]
+ self._meshes = [_triangulate(faces, self._thickness) for faces in self.facelists]
self._fullmesh = mesh.Mesh(np.concatenate([m.data for m in self._meshes]))
+
+ def getEdgeSet(self):
+ self.place()
+ edgeset = {}
+
+ # Tile faces along x axis with buffer spacing between them
+ maxx = 0
+ buffer = 10
+
+ for flist in self.facelists:
+ edges = set((e for face in flist for e in face.edges if e.pts2D is not None))
+
+ if not edges:
+ log.warning(f"No placed edges in flist, moving on.")
+ continue
+
+ pts = [p for e in edges for p in e.pts2D]
+ minx = min([x[0] for x in pts])
+ dx = maxx - minx
+ dy = 0
+
+ maxx = max([x[0] for x in pts]) + dx + buffer
+
+ for e in edges:
+ if len(e.faces) == 2:
+ angles = list(e.faces.values())
+ if angles[0][1]:
+ angle = angles[0][0] - angles[1][0]
+ else:
+ angle = angles[1][0] - angles[0][0]
+ else:
+ angle = None
+
+ edge = dict(p0 = e.pts2D[0] + [dx, dy],
+ p1 = e.pts2D[1] + [dx, dy],
+ faces = len(e.faces),
+ angle = angle,
+ length = e.length,
+ edgeType = e.edgeType,
+ interior = False,
+ )
+ edgeset[e.name] = edge
+
+ for face in flist:
+ for e in face.get2DDecorations():
+ edge = dict(p0 = e[1] + [dx, dy],
+ p1 = e[2] + [dx, dy],
+ faces = None,
+ angle = None,
+ edgeType = e[3],
+ interior = True,
+ )
+ edgeset[e[0]] = edge
+
+ return edgeset
diff --git a/rocolib/api/composables/graph/HyperEdge.py b/rocolib/api/composables/graph/HyperEdge.py
index f7e60a8831a2f57b43506117eea99993249c5ce3..5122e64188ef902b1ef5827454009d3b953150c9 100644
--- a/rocolib/api/composables/graph/HyperEdge.py
+++ b/rocolib/api/composables/graph/HyperEdge.py
@@ -163,9 +163,6 @@ class HyperEdge:
# raise Exception("Not a joint!")
self.joint = joint
- def __eq__(self, other):
- return self.name == other.name
-
def __str__(self):
return self.name + ": " + repr(self.faces)
diff --git a/rocolib/utils/display.py b/rocolib/utils/display.py
index 35b27834eed270d38048221640674f9fcc72fb2a..d696e8f5c5e04b2eee7e40975e2fe93fe930b3a4 100644
--- a/rocolib/utils/display.py
+++ b/rocolib/utils/display.py
@@ -42,7 +42,7 @@ def meshfig(stlmesh, scale=1000, color="#ccccff", axes=True):
fig = go.Figure(data=[mesh3D], layout=layout)
fig.update_layout(margin=dict(r=0, l=0, b=0, t=0),
- scene_aspectmode='data',
+ scene_aspectmode='data',
width=1024)
fig.data[0].update(lighting=dict(ambient= 0.18,
diffuse= 1,
@@ -56,113 +56,111 @@ def meshfig(stlmesh, scale=1000, color="#ccccff", axes=True):
return fig
-class DisplayApp:
- def __init__(self, dwg, height = 500, width = 700, showFlats = True):
- self.root = Tk()
- self.root.title('Display')
- self.height = height
- self.width = width
- self.canvas = Canvas(self.root, height = self.height, width = self.width)
- self.canvas.focus_set() #creates the border
- self.canvas.grid(row =0, column =0, padx = 10, pady = 10)
- self.dwg = dwg
-
- self.scale = 1
- self.showFlats = showFlats
- #canvas.config(scrollregion = canvas.bbox(ALL))
-
- self.draw()
- self.createAddOns()
- self.bind()
- self.grid()
-
- self.pos_x = self.pos_y = 0.0
-
- def createAddOns(self):
- self.label = StringVar()
- self.mode = StringVar()
- self.coords = StringVar()
- self.currentc = StringVar()
- self.label1 = Label(self.root, textvariable = self.label, font = 100, relief = RIDGE, width = 15)
- self.label2 = Label(self.root, textvariable = self.mode, font = 100,relief = RIDGE, width = 15)
- self.label3 = Label(self.root, textvariable = self.coords , font = 100,relief = RIDGE)
- self.label4 = Label(self.root, textvariable = self.currentc)
- self.scrolly = Scrollbar(self.root, command = self.canvas.yview)
- self.scrollx = Scrollbar(self.root, orient = HORIZONTAL, command = self.canvas.xview)
-
- self.direction = Canvas(self.root, height = 50, width = 50)
- self.direction.create_line(0,0,0,0,arrow = LAST, tags = 'direction')
-
-
- def bind(self):
- self.canvas.bind('<Motion>', self.current)
- self.canvas.bind('<Button-1>', self.click)
- self.canvas.bind('<B1-Motion>', self.drag)
- self.canvas.bind('<MouseWheel>', self.zoom)
-
- def grid(self):
- self.scrolly.grid(row = 0, column = 1, sticky = N + S)
- self.scrollx.grid(row = 1, column = 0, sticky = E + W)
-
- self.label1.grid(row = 2, column = 0)
- self.label2.grid(row = 3, column = 0)
- self.label3.grid(row = 4, column = 0)
- self.label4.grid(row = 2, column = 1)
- self.direction.grid(row = 3, column = 0, sticky = S + E)
-
- #create_Rectangle = Button(
-
- def zoom(self, event):
- if event.delta > 0:
- self.scale = 1.2
- elif event.delta < 0:
- self.scale = .8
- self.canvas.scale(ALL, self.canvas.canvasx(event.x), self.canvas.canvasy(event.y), self.scale, self.scale)
- #redraw(canvas, event.x, event.y, img_id = True, k = scale)
-
-
- def draw(self):
- print('REDRAWING')
- k = self.scale
- dwg = self.dwg
- print(dwg)
- color = "white"
- for e in list(dwg.edges.items()):
- color = e[1].dispColor(self.showFlats)
- if color:
- self.canvas.create_line(k*e[1].x1,k*e[1].y1,k*e[1].x2,k*e[1].y2, fill = color, activewidth = 5, tag = e[0])
-
-
- def click(self,event):
- edgename = self.canvas.gettags(event.widget.find_closest(self.canvas.canvasx(event.x),self.canvas.canvasy( event.y)))[0]
- self.label.set(edgename)
- self.mode.set(str(self.dwg.edges[edgename].edgetype))
- self.coords.set(str(self.dwg.edges[edgename].coords()))
- angle = self.dwg.edges[edgename].angle()
- self.direction.coords('direction', 25,25,25+25*math.cos(angle),25+25*math.sin(angle))
- print(edgename, self.dwg.edges[edgename].length())
-
- self._y = event.y
- self._x = event.x
-
-
- def drag(self,event):
- print("its working")
- y = (self._y-event.y)
- if y<0: y *= -1
- x = (self._x-event.x)
- if x<0: x *= -1
-
- self.canvas.yview("scroll",y/self.width,"units")
- self.canvas.xview("scroll",x/self.height,"units")
-
- self._x = event.x
- self._y = event.y
-
- def current(self,event):
- c = (self.canvas.canvasx(event.x), self.canvas.canvasy(event.y))
- self.currentc.set(str(c))
-
-def displayTkinter(dwg, showFlats = True):
- d = DisplayApp(dwg, showFlats = showFlats)
- d.root.mainloop()
+def linestyle(e, **kwargs):
+ from rocolib.api.composables.graph.DrawingEdge import EdgeType
+
+ width = 3
+ angle = e["angle"]
+
+ if e["interior"]: # Interior decorations
+ width = 1
+ if e["edgeType"] in ( EdgeType.BOUNDARY_CUT, EdgeType.INTERIOR_CUT ):
+ color = 'blue'
+ zorder = 30
+ elif e["edgeType"] in ( EdgeType.FOLD, EdgeType.FLEX ):
+ color = 'red'
+ zorder = 20
+ elif e["edgeType"] in ( EdgeType.FLAT ):
+ color = 'white'
+ zorder = 10
+ else: # Other?
+ color = 'gray'
+ zorder = 100
+ elif e["faces"] == 1: # CUT
+ color = 'blue'
+ zorder = 30
+ elif e["faces"] == 2: # FOLD or FLEX or BEND
+ if angle: # FOLD
+ if angle > 0: # mountain fold
+ color = 'red'
+ zorder = 20
+ else: # valley fold
+ color = 'green'
+ zorder = 20
+ else: # FLEX or BEND or FLAT
+ color = 'white'
+ zorder = 10
+ else: # 0 or 3+ faces? dunno.
+ color = 'grey'
+ zorder = 100
+
+ ret = dict(color = color, width = width, zorder = zorder)
+ ret.update(kwargs)
+ return ret
+
+def cutfig(edgeset, scale=1000, axes=True):
+ layout = go.Layout(
+ showlegend=False,
+ dragmode='pan',
+ yaxis=dict(scaleanchor="x", scaleratio=1),
+ margin=go.layout.Margin(
+ l=0, #left margin
+ r=0, #right margin
+ b=0, #bottom margin
+ t=0 #top margin
+ )
+ )
+
+ fig = go.Figure(layout=layout)
+ traces = []
+
+ for n, e in edgeset.items():
+ # Adding a trace with a fill, setting opacity to 0
+ x0, y0 = e["p0"]
+ x1, y1 = e["p1"]
+ dx, dy = x1 - x0, y1 - y0
+ length = (dx * dx + dy * dy) ** 0.5
+ ddx = -dy/20 # hit box width = 10% length
+ ddy = dx/20 # hit box width = 10% length
+
+ xs = [x0 - ddx, x0 + ddx, x1 + ddx, x1 - ddx]
+ ys = [y0 - ddy, y0 + ddy, y1 + ddy, y1 - ddy]
+
+ hoverdata = "<br>".join([
+ f"<b>Length</b>: {length}",
+ f"<b>Angle</b>: {e['angle']}",
+ f"<b>Faces</b>: {e['faces']}",
+ f"<b>Type</b>: {e['edgeType']}",
+ ])
+
+ style = linestyle(e)
+ zorder = style.pop("zorder")
+
+ traces.append((zorder,
+ go.Scatter(
+ x = [x0, x1],
+ y = [y0, y1],
+ mode='lines',
+ name=n,
+ line=style,
+ )
+ ))
+
+ style["width"] = 0
+ traces.append((zorder,
+ go.Scatter(
+ x = xs,
+ y = ys,
+ fill="toself",
+ mode='lines',
+ name=n,
+ text=hoverdata,
+ opacity=0,
+ line=style,
+ )
+ ))
+
+ for z, t in sorted(traces, key = lambda x : x[0]):
+ fig.add_trace(t)
+
+ return fig