From 37e152bc603efcf9ce547ba66b78a8830c6d78e6 Mon Sep 17 00:00:00 2001
From: arne <noreply@null.arnes.space>
Date: Fri, 4 Nov 2022 00:33:36 +0100
Subject: [PATCH] Re-add line-us & gcode utils

---
 src/heyarne/line_us/connection.clj | 74 +++++++++++++++++++++++++++++
 src/heyarne/line_us/gcode.clj      | 76 ++++++++++++++++++++++++++++++
 src/heyarne/line_us/helpers.clj    | 35 ++++++++++++++
 3 files changed, 185 insertions(+)
 create mode 100644 src/heyarne/line_us/connection.clj
 create mode 100644 src/heyarne/line_us/gcode.clj
 create mode 100644 src/heyarne/line_us/helpers.clj

diff --git a/src/heyarne/line_us/connection.clj b/src/heyarne/line_us/connection.clj
new file mode 100644
index 0000000..f9b5771
--- /dev/null
+++ b/src/heyarne/line_us/connection.clj
@@ -0,0 +1,74 @@
+(ns heyarne.line-us.connection
+  (:require [clojure.java.io :as io])
+  (:import [java.net Socket]))
+
+;; https://github.com/Line-us/Line-us-Programming/blob/master/Documentation/LineUsDrawingArea.pdf
+(def drawing-area
+  {:x [800 1700]
+   :y [-900 900]
+   :z [0 1000]})
+
+(defn connect
+  [url port]
+  (Socket. url port))
+
+(defn disconnect [^Socket line-us]
+  (.close line-us))
+
+(defn read-response [^Socket line-us]
+  (let [stream (io/input-stream line-us)]
+    (loop [line []]
+      (let [c (.read stream)]
+        (case c
+          0 (when-not (empty? line)
+              (apply str (map char line)))
+          -1 (recur line)
+          (recur (conj line c)))))))
+
+(defmacro validate-coord
+  "Throws an exception when a coordinate is outside of the drawable area"
+  [coord]
+  (let [[min-v# max-v#] (get drawing-area (keyword (name coord)))]
+    `(when-not (< ~(dec min-v#) ~coord ~(inc max-v#))
+       (throw (IllegalArgumentException.
+               (str ~(name coord) " should be in range [" ~min-v# ", " ~max-v# "] but is " ~coord))))))
+
+(defn- send-command! [^Socket line-us ^String raw-cmd]
+  ;; this is basically taken from the Processing example code and the processing
+  ;; "Client" class
+  (doto (io/output-stream line-us)
+    (.write (.getBytes (str raw-cmd "\0")))
+    (.flush))
+  ;; wait for the response
+  (let [res (read-response line-us)]
+    (if-not (re-find #"^(ok|hello)" res)
+      (throw (Exception. res))
+      res)))
+
+(defn send-movement!
+  "Moves the arm to the [x y z] vector that is coord. Coordinates are validated
+  to be inside the valid drawing area."
+  [^Socket line-us [x y z :as coords]]
+  (validate-coord x)
+  (validate-coord y)
+  (validate-coord z)
+  (send-command! line-us (str "G01 X" x " Y" y " Z" z))
+  coords)
+
+(defn move-home! [^Socket line-us]
+  (send-movement! line-us [1000 1000 1000]))
+
+(defn- parse-coords [^String raw-coords]
+  (->>
+   (re-find #"X:(-?\d+) Y:(\d+) Z:(\d+)" raw-coords)
+   (rest)
+   (mapv #(Integer/parseInt % 10))))
+
+(defn move-up! [^Socket line-us]
+  (let [[x y _] (parse-coords (send-command! line-us "M114"))]
+    (send-movement! line-us [x y 1000])))
+
+(defn move-down! [^Socket line-us]
+  (let [[x y _] (parse-coords (send-command! line-us "M114"))]
+    (send-movement! line-us [x y 200])))
+
diff --git a/src/heyarne/line_us/gcode.clj b/src/heyarne/line_us/gcode.clj
new file mode 100644
index 0000000..7b45c23
--- /dev/null
+++ b/src/heyarne/line_us/gcode.clj
@@ -0,0 +1,76 @@
+(ns heyarne.line-us.gcode
+  "Provides functions to move from geometry types provided by thi.ng to gcode
+  so you can plot them."
+  (:require [thi.ng.geom.core :as g]
+            [thi.ng.geom.types]
+            [thi.ng.geom.vector :as v]
+            [thi.ng.geom.circle :as c])
+  (:import [thi.ng.geom.types Line2 LineStrip2 Circle2]))
+
+(defprotocol GCode
+  "Convert thi.ng.geom types into sequences of GCode to plot them. The GCode
+  instructions are given as a sequence of vectors, where each vector is given
+  as [x y z]."
+  (->gcode [_] [_ r]
+    "Returns G01 movements on the x, y, and z axis. Z is constantly 1000 in the
+     current implementation, but this might change in the future. The optional
+     parameter `r` can be used to adjust the resolution."))
+
+(defn- point-seq->gcode [pts]
+  (let [vertices pts
+        [l-x l-y] (last vertices)]
+    (conj (mapv (fn [[x y]]
+                  [x y 0]) vertices)
+          [l-x l-y 1000])))
+
+(defn gcode-seq->str [gcode-seq]
+  (map (fn [[x y z]]
+         (str "G01 X" x " Y" y " Z" z)) gcode-seq))
+
+(extend-protocol GCode
+  Line2
+  (->gcode
+    ([_] (point-seq->gcode (:points _)))
+    ([_ r] (->gcode _)))
+
+  LineStrip2
+  (->gcode
+    ([_] (point-seq->gcode (:points _)))
+    ([_ r] (->gcode _)))
+
+  Circle2
+  (->gcode
+    ([_] (point-seq->gcode (:points (g/as-polygon _))))
+    ([_ r] (point-seq->gcode (:points (g/as-polygon _ r))))))
+
+(defn scene->gcode
+  "Converts a scene into a sequence of gcode instructions. A scene is an
+  arbitrarily nested vector of geom instances.
+
+  A scene is hiccup like in that each object can be followed by a map of
+  attributes, which can provide addition information about the preceding
+  object."
+  [scene]
+  (loop [[el & rs] scene
+         res []]
+    (cond
+      (seq? el) (recur (scene->gcode el) res)
+      (map? el) (recur rs res)
+      :else (if (seq rs)
+              (recur rs (conj res (gcode-seq->str (->gcode el))))
+              (flatten res)))))
+
+(comment
+  (require '[thi.ng.geom.circle :as c])
+
+  ;; convert a single element
+  (->
+   (->gcode (c/circle) 10)
+   (gcode-seq->str))
+
+  ;; convert a tree of elements
+  (scene->gcode
+   [(c/circle 10)
+    [(c/circle [0 20] 10)
+     (c/circle [0 40] 10)]])
+  )
diff --git a/src/heyarne/line_us/helpers.clj b/src/heyarne/line_us/helpers.clj
new file mode 100644
index 0000000..ea62133
--- /dev/null
+++ b/src/heyarne/line_us/helpers.clj
@@ -0,0 +1,35 @@
+(ns heyarne.line-us.helpers
+  (:require [thi.ng.geom.rect :as rect]
+            [thi.ng.math.core :as m]))
+
+(defn g01-bounds
+  "Returns a rect representing the drawing bounds of a sequence of g01 coords"
+  [g01]
+  (let [bounds [Double/MAX_VALUE Double/MIN_VALUE Double/MIN_VALUE Double/MAX_VALUE]
+        [top right bottom left] (reduce (fn [[top right bottom left] [x y _]]
+                                          [(min top y) (max right x)
+                                           (max bottom y) (min left x)])
+                                        bounds
+                                        g01)]
+    (rect/rect [left bottom] [right top])))
+
+(defn rescale
+  "Returns a new g01 sequence that is proportionally scaled to fit into the
+  bounding box passed in as the second argument. Assumes that the top left
+  in g01-seq is at [0 0]."
+  [g01-seq [top right bottom left]]
+  (let [s-bounds (g01-bounds g01-seq)
+        t-bounds (rect/rect [left bottom] [right top])
+        ;; we need to translate the bounding box
+        [translate-x translate-y] (m/+ (:p s-bounds) (:p t-bounds))
+        ;; and scale it
+        [s-x s-y] (:p s-bounds)
+        [t-x t-y] (:p t-bounds)
+        [s-width s-height] (:size s-bounds)
+        [t-width t-height] (:size t-bounds)
+        factor (min (/ (+ t-x t-width) (+ s-x s-width)) (/ (+ t-y t-height) (+ s-y s-height)))]
+    (map (fn [coord]
+           (-> (update coord 0 #(+ translate-x (* % factor)))
+               (update 1 #(+ translate-y (* % factor)))))
+         g01-seq)))
+