{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 53,
   "metadata": {},
   "outputs": [],
   "source": [
    "# open cv patterns\n",
    "# zach fredin, 2021\n",
    "\n",
    "# generates Oxford-friendly Gcode for a checkerboard pattern\n",
    "\n",
    "import pandas as pd\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "\n",
    "def oxford_intro(power, feed, file):\n",
    "    f = open(file, 'x') # open file, checking for existing\n",
    "    f.write(';--- wow checkerboards ---\\n\\n')\n",
    "    f.write('DVAR $POWER\\n')\n",
    "    f.write('DVAR $FEED\\n')\n",
    "    f.write('$POWER=%s\\n' % power)\n",
    "    f.write('$FEED=%s\\n' % feed)\n",
    "    f.write('G90\\n')\n",
    "    f.write('G71\\n')\n",
    "    f.write('G92 X0 Y0 Z0\\n')\n",
    "    f.write('G108\\n')\n",
    "    f.write('FARCALL \"ATTENUATOR.PGM\" s$POWER\\n')\n",
    "    f.write('MSGCLEAR -1\\n')\n",
    "    f.write('MSGDISPLAY 1, \"program started\"\\n\\n')\n",
    "    f.close\n",
    "\n",
    "def write_square(x, y, size, hatch, file):\n",
    "    passes = int(size / hatch)\n",
    "    f = open(file, 'a') # open file for appending\n",
    "    f.write('BEAMOFF\\n')\n",
    "    f.write('G01 X%.4f Y%.4f F$FEED\\n' % (x, y))\n",
    "    f.write('BEAMON\\n')\n",
    "    for i in range(1, passes): # x hatches\n",
    "        f.write('G01 Y%.4f F$FEED\\n' % (i * hatch + y))\n",
    "        f.write('G01 X%.4f F$FEED\\n' % (size + x))\n",
    "        f.write('G01 X%.4f F$FEED\\n' % x)\n",
    "    f.write('BEAMOFF\\n')\n",
    "    f.close\n",
    "\n",
    "def make_checkerboard(x_qty, y_qty, sq_size, hatch, file, power, feed):\n",
    "    oxford_intro(power, feed, file)\n",
    "    for i in range(1, x_qty + 1):\n",
    "        for j in range(1, y_qty + 1):\n",
    "            if (i + j) % 2 == 0:\n",
    "                write_square(float(i) * sq_size, float(j) * sq_size, sq_size, hatch, file)\n",
    "                \n",
    "make_checkerboard(12, 9, 1.5, 0.01, 'checkerboard.pgm', 2, 3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[  0   0   0   0   0   0   0   0]\n",
      " [  0   0   0   0   0 255 255   0]\n",
      " [  0 255   0 255 255 255 255   0]\n",
      " [  0 255   0 255 255 255   0   0]\n",
      " [  0 255   0   0   0 255 255   0]\n",
      " [  0 255   0   0   0 255   0   0]\n",
      " [  0   0 255   0   0   0 255   0]\n",
      " [  0   0   0   0   0   0   0   0]]\n"
     ]
    }
   ],
   "source": [
    "# aruco marker generation test\n",
    "\n",
    "import numpy as np\n",
    "import cv2\n",
    "\n",
    "aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_100)\n",
    "img = cv2.aruco.drawMarker(aruco_dict, 1, 8)\n",
    "\n",
    "cv2.imshow('img', img)\n",
    "cv2.waitKey(0)\n",
    "cv2.destroyAllWindows()\n",
    "\n",
    "print(img)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [],
   "source": [
    "# aruco pattern via oxford\n",
    "# zach fredin, 2021\n",
    "\n",
    "# generates Oxford-friendly Gcode for a single aruco marker\n",
    "\n",
    "import pandas as pd\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "import cv2\n",
    "\n",
    "def oxford_intro(power, feed, file):\n",
    "    f = open(file, 'x') # open file, checking for existing\n",
    "    f.write(';--- wow checkerboards ---\\n\\n')\n",
    "    f.write('DVAR $POWER\\n')\n",
    "    f.write('DVAR $FEED\\n')\n",
    "    f.write('$POWER=%s\\n' % power)\n",
    "    f.write('$FEED=%s\\n' % feed)\n",
    "    f.write('G90\\n')\n",
    "    f.write('G71\\n')\n",
    "    f.write('G92 X0 Y0 Z0\\n')\n",
    "    f.write('G108\\n')\n",
    "    f.write('FARCALL \"ATTENUATOR.PGM\" s$POWER\\n')\n",
    "    f.write('MSGCLEAR -1\\n')\n",
    "    f.write('MSGDISPLAY 1, \"program started\"\\n\\n')\n",
    "    f.close\n",
    "\n",
    "def write_square(x, y, size, hatch, file):\n",
    "    passes = int(size / hatch)\n",
    "    f = open(file, 'a') # open file for appending\n",
    "    f.write('BEAMOFF\\n')\n",
    "    f.write('G01 X%.4f Y%.4f F$FEED\\n' % (x, y))\n",
    "    f.write('BEAMON\\n')\n",
    "    for i in range(1, passes): # x hatches\n",
    "        f.write('G01 Y%.4f F$FEED\\n' % (i * hatch + y))\n",
    "        f.write('G01 X%.4f F$FEED\\n' % (size + x))\n",
    "        f.write('G01 X%.4f F$FEED\\n' % x)\n",
    "    f.write('BEAMOFF\\n')\n",
    "    f.close\n",
    "    \n",
    "def make_aruco(sq_size, hatch, file, power, feed):\n",
    "    oxford_intro(power, feed, file)\n",
    "    aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_100)\n",
    "    img = cv2.aruco.drawMarker(aruco_dict, 1, 8)\n",
    "    for i in range(0, 8):\n",
    "        for j in range(0, 8):\n",
    "            if img[i][j] == 0:\n",
    "                write_square(float(i) * sq_size, float(j) * sq_size, sq_size, hatch, file)\n",
    "\n",
    "make_aruco(2, 0.01, 'aruco.pgm', 2, 3) \n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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