shapely_cam.py

# Copyright 2022 Xavier
#
# This file is part of pycut.
#
# pycut is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# pycut is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with pycut.  If not, see <http:#www.gnu.org/licenses/>.

import sys
import math

from math import sqrt

from typing import List
from typing import Dict
from typing import Tuple
from typing import Any
from typing import cast

import numpy as np
import matplotlib.pyplot as plt
from shapely_svgpath_io import SvgPath

from val_with_unit import ValWithUnit

import shapely  # type: ignore [import-untyped]
import shapely.geometry  # type: ignore [import-untyped]
import shapely.ops  # type: ignore [import-untyped]

from shapely_utils import ShapelyUtils
from shapely_ext import ShapelyMultiPolygonOffset
from shapely_ext import ShapelyMultiPolygonOffsetInteriors
from shapely_matplotlib import MatplotLibUtils

PI = math.pi

from hsm_nibbler import geometry


class CamPath:
    """
    CamPath has this format: {
      path:               Shapely LineString
      safe_to_close:      Is it safe to close the path without retracting?
    }
    """

    def __init__(self, path: shapely.geometry.LineString, safe_to_close: bool = True):
        # shapely linestring
        self.path = path
        # is it safe to close the path without retracting?
        self.safe_to_close = safe_to_close


class cam:
    """ """

    @classmethod
    def drill(
        cls, multipoint: shapely.geometry.MultiPoint, cutter_dia: float
    ) -> List[CamPath]:
        """
        Compute paths for drill operation on Shapely multipoint
        """
        cam_paths = []

        for point in multipoint.geoms:
            pt = point.coords[0]

            cam_path = CamPath(shapely.geometry.Point(pt), True)
            cam_paths.append(cam_path)

        return cam_paths

    @classmethod
    def peck(
        cls, multipoint: shapely.geometry.MultiPoint, cutter_dia: float
    ) -> List[CamPath]:
        """
        Compute paths for peck operation on Shapely multipoint
        """
        cam_paths = []

        for point in multipoint.geoms:
            pt = point.coords[0]

            cam_path = CamPath(shapely.geometry.Point(pt), False)
            cam_paths.append(cam_path)

        return cam_paths

    @classmethod
    def helix(
        cls,
        multipolygon: shapely.geometry.MultiPolygon,
        cutter_dia: float,
    ) -> List[CamPath]:
        """
        It will be performed from the center of the shape.

        The helix drills down until the cut depth.
        At each revolution, a cut depth of depth "helix_pitch" is cut in the z direction.

        This means, given the cut rate and the helix diameter, the helix plunge rate is calculated
        """
        cam_paths = []

        for poly in multipolygon.geoms:
            pt = poly.centroid

            cam_path = CamPath(shapely.geometry.Point(pt), False)
            cam_paths.append(cam_path)

        return cam_paths

    @classmethod
    def pocket(
        cls,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ) -> List[CamPath]:
        """
        Compute paths for pocket operation on Shapely multipolygon.

        Returns array of CamPath.

        cutter_dia is in "UserUnit" units.
        overlap is in the range [0, 1).
        """
        pc = PocketCalculator(multipoly, cutter_dia, overlap, climb)
        pc.pocket()
        return pc.cam_paths

    @classmethod
    def spirale_pocket(
        cls,
        svgpaths,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ) -> List[CamPath]:
        """
        Compute paths for pocket operation on Shapely multipolygon.

        Returns array of CamPath.

        cutter_dia is in "UserUnit" units.
        overlap is in the range [0, 1).
        """
        pc = SpiralePocketCalculator(svgpaths, multipoly, cutter_dia, overlap, climb)
        pc.pocket()
        return pc.cam_paths

    @classmethod
    def hsm_nibbler_pocket(
        cls,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ) -> List[CamPath]:
        """
        Compute paths for pocket operation on Shapely multipolygon.

        Returns array of CamPath.

        cutter_dia is in "UserUnit" units.
        overlap is in the range [0, 1).
        """
        pc = NibblerPocketCalculator(multipoly, cutter_dia, overlap, climb)
        pc.pocket()
        return pc.cam_paths

    @classmethod
    def outline(
        cls,
        geometry: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        is_inside: bool,
        width: float,
        overlap: float,
        climb: bool,
    ) -> List[CamPath]:
        """
        Compute paths for outline operation on Shapely geometry "MultiPolygon".

        Returns array of CamPath.

        cutter_dia and width are in Shapely units.
        overlap is in the  range [0, 1).
        """
        # use lines, not polygons
        multiline = ShapelyUtils.multipoly_exteriors_to_multiline(geometry)

        current_width = cutter_dia
        step_width = cutter_dia * (1 - overlap)

        all_paths: List[shapely.geometry.LineString] = []

        if is_inside:
            # because we always start from the outer ring -> we go "inside"
            current = ShapelyUtils.offset_multiline(multiline, cutter_dia / 2, "left")
            offset = ShapelyUtils.offset_multiline(
                multiline, width - cutter_dia / 2, "left"
            )
            # bounds = ShapelyUtils.diff(current, offset)
            bounds = current
            each_offset = step_width
            need_reverse = climb
        else:
            direction = "inner2outer"
            # direction = "outer2inner"

            if direction == "inner2outer":
                # because we always start from the inner ring -> we go "outside"
                current = ShapelyUtils.offset_multiline(
                    multiline, cutter_dia / 2, "right"
                )
                offset = ShapelyUtils.offset_multiline(
                    multiline, width - cutter_dia / 2, "right"
                )
                # bounds = ShapelyUtils.diff(current, offset)
                bounds = current
            else:
                # because we always start from the outer ring -> we go "inside"
                current = ShapelyUtils.offset_multiline(
                    multiline, cutter_dia / 2, "left"
                )
                offset = ShapelyUtils.offset_multiline(
                    multiline, width - cutter_dia / 2, "left"
                )
                # bounds = ShapelyUtils.diff(current, offset)
                bounds = current

            each_offset = step_width
            need_reverse = not climb

            # TEST
            # all_paths = [p for p in current.geoms]

        while current_width <= width:
            if need_reverse:
                reversed_paths = []
                for path in current.geoms:
                    coords = list(
                        path.coords
                    )  # is a tuple!  JSCUT current reversed in place
                    coords.reverse()
                    reversed_paths.append(shapely.geometry.LineString(coords))
                all_paths = reversed_paths + all_paths
            else:
                all_paths = [p for p in current.geoms] + all_paths

            next_width = current_width + step_width
            if next_width > width and (width - current_width) > 0:
                # >>> XAM fix
                last_delta = width - current_width
                # <<< XAM fix
                current = ShapelyUtils.offset_multiline(current, last_delta, "left")
                if current:
                    current = ShapelyUtils.simplify_multiline(current, 0.01)

                if current:
                    if need_reverse:
                        reversed_paths = []
                        for path in current.geoms:
                            coords = list(
                                path.coords
                            )  # is a tuple!  JSCUT current reversed in place
                            coords.reverse()
                            reversed_paths.append(shapely.geometry.LineString(coords))
                        all_paths = reversed_paths + all_paths
                    else:
                        all_paths = [p for p in current.geoms] + all_paths
                    break

            current_width = next_width

            if not current:
                break

            current = ShapelyUtils.offset_multiline(
                current, each_offset, "left", resolution=16
            )
            if current:
                current = ShapelyUtils.simplify_multiline(current, 0.01)
                print("--- next toolpath")
            else:
                break

        if len(all_paths) == 0:
            # no possible paths! TODO . inform user
            return []

        # merge_paths need MultiPolygon
        bounds = ShapelyUtils.multiline_to_multipoly(bounds)

        return cls.merge_paths(bounds, all_paths)

    @classmethod
    def outline_opened_paths(
        cls,
        geometry: shapely.geometry.MultiLineString,
        cutter_dia: float,
        is_inside: bool,
        margin: float,
        width: float,
        overlap: float,
        climb: bool,
    ) -> List[CamPath]:
        """
        Compute paths for outline operation on Shapely geometry "MultiLineString".

        Returns array of CamPath.

        cutter_dia and width are in Shapely units.
        overlap is in the  range [0, 1).
        """
        # use lines, not polygons
        multiline = geometry

        current_width = (
            margin + cutter_dia / 2.0
        )  # to cut just at the border (+ margin)
        step_width = cutter_dia * (1 - overlap)

        all_paths: List[shapely.geometry.LineString] = []

        if is_inside:
            # because we always start from the outer ring -> we go "inside"
            current = ShapelyUtils.offset_multiline(multiline, current_width, "left")

            std_offset = step_width
            need_reverse = climb
        else:
            direction = "inner2outer"
            # direction = "outer2inner"

            if direction == "inner2outer":
                # because we always start from the inner ring -> we go "outside"
                current = ShapelyUtils.offset_multiline(
                    multiline, current_width, "right"
                )
            else:
                # because we always start from the outer ring -> we go "inside"
                current = ShapelyUtils.offset_multiline(
                    multiline, current_width, "left"
                )

            std_offset = step_width
            need_reverse = not climb

            # TEST
            # all_paths = [p for p in current.geoms]

        while True and current_width <= width - cutter_dia / 2.0:
            if need_reverse:
                reversed_paths = []
                for path in current.geoms:
                    coords = list(
                        path.coords
                    )  # is a tuple!  JSCUT current reversed in place
                    coords.reverse()
                    reversed_paths.append(shapely.geometry.LineString(coords))
                all_paths = reversed_paths + all_paths
            else:
                all_paths = [p for p in current.geoms] + all_paths

            next_width = current_width + step_width
            if next_width > width - cutter_dia / 2.0 and (width - current_width) > 0:
                # >>> XAM fix
                last_offset = width - cutter_dia / 2.0 - current_width
                # <<< XAM fix
                current = ShapelyUtils.offset_multiline(current, last_offset, "left")
                if current:
                    current = ShapelyUtils.simplify_multiline(current, 0.01)

                if current:
                    if need_reverse:
                        reversed_paths = []
                        for path in current.geoms:
                            coords = list(
                                path.coords
                            )  # is a tuple!  JSCUT current reversed in place
                            coords.reverse()
                            reversed_paths.append(shapely.geometry.LineString(coords))
                        all_paths = reversed_paths + all_paths
                    else:
                        all_paths = [p for p in current.geoms] + all_paths
                    break

            current_width = next_width

            if not current:
                break

            current = ShapelyUtils.offset_multiline(
                current, std_offset, "left", resolution=16
            )
            if current:
                current = ShapelyUtils.simplify_multiline(current, 0.01)
                print("--- next toolpath")
            else:
                break

        if len(all_paths) == 0:
            # no possible paths! TODO . inform user
            return []

        # merge_paths need MultiPolygon
        bounds = shapely.geometry.MultiPolygon()

        return cls.create_paths(bounds, all_paths, closed_path=False)

    @classmethod
    def engrave(
        cls, geometry: shapely.geometry.MultiPolygon, climb: bool
    ) -> List[CamPath]:
        """
        Compute paths for engrave operation on Shapely multipolygon.

        Returns array of CamPath.
        """
        # use lines, not polygons
        multiline_ext = ShapelyUtils.multipoly_exteriors_to_multiline(geometry)
        multiline_int = ShapelyUtils.multipoly_interiors_to_multiline(geometry)

        full_line = shapely.ops.linemerge(
            list(multiline_ext.geoms) + list(multiline_int.geoms)
        )

        if full_line.geom_type == "LineString":
            cam_paths = [CamPath(full_line, False)]
            return cam_paths

        all_paths = []
        for line in full_line.geoms:
            coords = list(line.coords)  # JSCUT: path = paths.slice(0)
            if not climb:
                coords.reverse()

            coords.append(coords[0])
            all_paths.append(shapely.geometry.LineString(coords))

        cam_paths = [CamPath(path, False) for path in all_paths]
        return cam_paths

    @classmethod
    def engrave_opened_paths(
        cls, geometry: shapely.geometry.MultiLineString, climb: bool
    ) -> List[CamPath]:
        """
        Compute paths for engrave operation on Shapely multiplinestring.

        Returns array of CamPath.
        """
        all_paths = []
        for line in geometry.geoms:
            coords = list(line.coords)  # JSCUT: path = paths.slice(0)
            if not climb:
                coords.reverse()

            # coords.append(coords[0])  # what's this ??
            all_paths.append(shapely.geometry.LineString(coords))

        cam_paths = [CamPath(path, False) for path in all_paths]
        return cam_paths

    @classmethod
    def create_paths(
        cls,
        _bounds: shapely.geometry.MultiPolygon,
        paths: List[shapely.geometry.LineString],
        closed_path=True,
    ) -> List[CamPath]:
        """
        for opened path - no merge of paths
        """
        cam_paths: List[CamPath] = []
        for path in paths:
            safe_to_close = False
            cam_paths.append(CamPath(shapely.geometry.LineString(path), safe_to_close))

        return cam_paths

    @classmethod
    def merge_paths(
        cls,
        _bounds: shapely.geometry.MultiPolygon,
        paths: List[shapely.geometry.LineString],
        closed_path=True,
    ) -> List[CamPath]:
        """
        Try to merge paths. A merged path doesn't cross outside of bounds AND the interior polygons
        """
        # cnt = MatplotLibUtils.display("mergePath", shapely.geometry.MultiLineString(paths), force=True)

        if _bounds and len(_bounds.geoms) > 0:
            bounds = _bounds
        else:
            bounds = shapely.geometry.MultiPolygon()

        ext_lines = ShapelyUtils.multipoly_exteriors_to_multiline(bounds)
        int_polys = []
        for poly in bounds.geoms:
            if poly.interiors:
                for interior in poly.interiors:
                    int_poly = shapely.geometry.Polygon(interior)
                    int_polys.append(int_poly)
        if int_polys:
            int_multipoly = shapely.geometry.MultiPolygon(int_polys)
        else:
            int_multipoly = None

        # std list
        thepaths = [list(path.coords) for path in paths]

        paths = thepaths

        current_path = paths[0]

        path_end_point = current_path[-1]
        path_start_point = current_path[0]

        # close if start/end points not equal - in case of closed_path geometry -
        if closed_path == True:
            if (
                path_end_point[0] != path_start_point[0]
                or path_end_point[1] != path_start_point[1]
            ):
                current_path = current_path + [path_start_point]

        current_point = current_path[-1]
        paths[0] = []  # empty

        merged_paths: List[shapely.geometry.LineString] = []
        num_left = len(paths) - 1

        while num_left > 0:
            closest_path_index = -1
            closest_point_index = -1
            closest_point_dist = float(sys.maxsize)
            for path_index, path in enumerate(paths):
                for point_index, point in enumerate(path):
                    dist = cam.distP(current_point, point)
                    if dist < closest_point_dist:
                        closest_path_index = path_index
                        closest_point_index = point_index
                        closest_point_dist = dist

            path = paths[closest_path_index]
            paths[closest_path_index] = []  # empty
            num_left -= 1
            need_new = ShapelyUtils.crosses(
                ext_lines, current_point, path[closest_point_index]
            )
            if (not need_new) and int_multipoly:
                need_new = ShapelyUtils.crosses(
                    int_multipoly, current_point, path[closest_point_index]
                )

            # JSCUT path = path.slice(closest_point_index, len(path)).concat(path.slice(0, closest_point_index))
            path = path[closest_point_index:] + path[:closest_point_index]
            path.append(path[0])

            if need_new:
                merged_paths.append(current_path)
                current_path = path
                current_point = current_path[-1]
            else:
                current_path = current_path + path
                current_point = current_path[-1]

        merged_paths.append(current_path)

        cam_paths: List[CamPath] = []
        for path in merged_paths:
            safe_to_close = not ShapelyUtils.crosses(bounds, path[0], path[-1])

            if closed_path == False:
                safe_to_close = False

            cam_paths.append(CamPath(shapely.geometry.LineString(path), safe_to_close))

        return cam_paths

    @staticmethod
    def dist(x1: float, y1: float, x2: float, y2: float) -> float:
        dx = x2 - x1
        dy = y2 - y1
        return dx * dx + dy * dy

    @staticmethod
    def distP(p1: Tuple[int, int], p2: Tuple[int, int]) -> float:
        dx = p2[0] - p1[0]
        dy = p2[1] - p1[1]
        return dx * dx + dy * dy

    @classmethod
    def get_gcode(cls, args) -> List[str]:
        """
        Convert paths to gcode. the function assumes that the current Z position is at safeZ.
        get_gcode()'s gcode returns Z to this position at the end.
        args must have:
          optype:            Type of Op.
          paths:             Array of CamPath
          ramp:              Ramp these paths?
          x_offset:          Offset X (gcode units)
          y_offset:          Offset Y (gcode units)
          decimal:           Number of decimal places to keep in gcode
          topZ:              Top of area to cut (gcode units)
          botZ:              Bottom of area to cut (gcode units)
          safeZ:             Z position to safely move over uncut areas (gcode units)
          passdepth:         Cut depth for each pass (gcode units)
          plunge_feed:       Feedrate to plunge cutter (gcode units)
          retract_feed:      Feedrate to retract cutter (gcode units)
          cut_feed:          Feedrate for horizontal cuts (gcode units)
          rapid_feed:        Feedrate for rapid moves (gcode units)
          tool_diameter:
          helix_pitch:       Depth of an helix revolution
          helix_plunge_rate: Helix plunge rate
          tabs:              List of tabs
          tabZ:              Level below which tabs are to be processed
          peckZ:             Level to retract when pecking
          flip_xy            Toggle X with Y
        """
        optype = args["optype"]
        paths: List[CamPath] = args["paths"]
        ramp = args["ramp"]
        x_offset = args["x_offset"]
        y_offset = args["y_offset"]
        decimal = args["decimal"]
        topZ = args["topZ"]
        botZ = args["botZ"]
        safeZ = args["safeZ"]
        passdepth = args["passdepth"]

        plunge_feed_gcode = " F%d" % args["plunge_feed"]
        retract_feed_gcode = " F%d" % args["retract_feed"]
        cut_feed_gcode = " F%d" % args["cut_feed"]
        rapid_feed_gcode = " F%d" % args["rapid_feed"]

        plunge_feed = args["plunge_feed"]
        retract_feed = args["retract_feed"]
        cut_feed = args["cut_feed"]
        rapid_feed = args["rapid_feed"]

        tabs = args["tabs"]
        tabZ = args["tabZ"]

        peckZ = args["peckZ"]

        flip_xy = args["flip_xy"]

        gcode = []

        retract_gcode = [
            "; Retract",
            "G1 Z" + safeZ.to_fixed(decimal) + f"{rapid_feed_gcode}",
        ]

        retract_for_tab_gcode = [
            "; Retract for tab",
            "G1 Z" + tabZ.to_fixed(decimal) + f"{rapid_feed_gcode}",
        ]

        retract_for_peck = [
            "; Retract for peck",
            "G1 Z" + peckZ.to_fixed(decimal) + f"{rapid_feed_gcode}",
        ]

        def get_x(p: Tuple[float, float]):
            return p[0] + x_offset

        def get_y(p: Tuple[float, float]):
            return -p[1] + y_offset

        def convert_point(p: Tuple[float, float] | Tuple[float, float, float]):
            x = p[0] + x_offset
            y = -p[1] + y_offset

            if flip_xy is False:
                result = (
                    " X"
                    + ValWithUnit(x, "-").to_fixed(decimal)
                    + " Y"
                    + ValWithUnit(y, "-").to_fixed(decimal)
                )
            else:
                result = (
                    " X"
                    + ValWithUnit(-y, "-").to_fixed(decimal)
                    + " Y"
                    + ValWithUnit(x, "-").to_fixed(decimal)
                )

            return result

        def convert_point_3D(p: Tuple[float, float, float]):
            x = p[0] + x_offset
            y = -p[1] + y_offset
            z = p[2]

            if flip_xy is False:
                result = (
                    " X"
                    + ValWithUnit(x, "-").to_fixed(decimal)
                    + " Y"
                    + ValWithUnit(y, "-").to_fixed(decimal)
                    + " Z"
                    + ValWithUnit(z, "-").to_fixed(decimal)
                )
            else:
                result = (
                    " X"
                    + ValWithUnit(-y, "-").to_fixed(decimal)
                    + " Y"
                    + ValWithUnit(x, "-").to_fixed(decimal)
                    + " Z"
                    + ValWithUnit(z, "-").to_fixed(decimal)
                )

            return result

        # special case
        if optype == "Helix":
            SEG_LEN = 0.1

            tool_diameter = args["tool_diameter"]
            helix_outer_radius = args["helix_outer_radius"]
            helix_pitch = args["helix_pitch"]
            helix_plunge_rate = args["helix_plunge_rate"]

            if helix_outer_radius < tool_diameter / 2.0:
                helix_outer_radius = tool_diameter / 2.0 + 0.1  # drill

            cut_depth = -botZ

            for campath in paths:
                center = (campath.path.coords.xy[0][0], campath.path.coords.xy[1][0])

                circle_travel_radius = helix_outer_radius - tool_diameter / 2.0
                circle_travel = 2 * PI * circle_travel_radius

                nb_pts_per_revolution = math.floor(circle_travel / SEG_LEN)

                nb_helixes = math.floor(cut_depth / helix_pitch)

                helix_pitch_last = cut_depth - nb_helixes * helix_pitch

                # calculate all the pts with z component
                pts: List[Tuple[float, float, float]] = []

                # the helix revolutions
                for i in range(0, nb_helixes):
                    for k in range(nb_pts_per_revolution):
                        x = math.cos(2 * PI * k / nb_pts_per_revolution)
                        y = math.sin(2 * PI * k / nb_pts_per_revolution)

                        height = helix_pitch  # shorter name

                        z = -i * height - k * height / nb_pts_per_revolution

                        xx = center[0] + circle_travel_radius * x
                        yy = center[1] + circle_travel_radius * y

                        pts.append((xx, yy, z))

                # and the last one

                if helix_pitch_last > 0.0:
                    for k in range(nb_pts_per_revolution):
                        x = math.cos(2 * PI * k / nb_pts_per_revolution)
                        y = math.sin(2 * PI * k / nb_pts_per_revolution)

                        height = helix_pitch
                        last_height = helix_pitch_last

                        z = (
                            -nb_helixes * height
                            - k * last_height / nb_pts_per_revolution
                        )

                        xx = center[0] + circle_travel_radius * x
                        yy = center[1] + circle_travel_radius * y

                        pts.append((xx, yy, z))

                # and the last flat circle

                for k in range(nb_pts_per_revolution + 1):
                    x = math.cos(2 * PI * k / nb_pts_per_revolution)
                    y = math.sin(2 * PI * k / nb_pts_per_revolution)

                    z = -cut_depth

                    xx = center[0] + circle_travel_radius * x
                    yy = center[1] + circle_travel_radius * y

                    pts.append((xx, yy, z))

                # the gcode
                gcode.append("; Rapid to op center position")
                gcode.append("G1" + convert_point(center) + rapid_feed_gcode)

                gcode.append("; Slow to op initial position")
                pt0 = pts[0]
                gcode.append("G1" + convert_point(pt0) + cut_feed_gcode)

                for k, pt in enumerate(pts):
                    if k == 0:
                        gcode.append(
                            "G1" + convert_point_3D(pt) + f" F{helix_plunge_rate}"
                        )
                    else:
                        gcode.append("G1" + convert_point_3D(pt))

            gcode.extend(retract_gcode)

            gcode.append("; Rapid to op center position")
            gcode.append("G1" + convert_point(center) + rapid_feed_gcode)

            return gcode

        # tabs are globals - but maybe this path does not hits any tabs
        crosses_tabs = False
        # --> crosses_tabs will be fixed later

        for path_index, path in enumerate(paths):
            orig_path = path.path
            if len(orig_path.coords) == 0:
                continue

            # split the path to cut into many partials paths to avoid tabs areas
            tab_separator = TabsSeparator(tabs)
            tab_separator.separate(orig_path)

            separated_paths = tab_separator.separated_paths
            crosses_tabs = tab_separator.crosses_tabs

            gcode.append("")
            gcode.append(f"; Path {path_index+1}")

            currentZ = safeZ
            finishedZ = topZ

            # need to cut at tabZ if tabs there
            exact_tabz_level_done = False

            while finishedZ > botZ:
                nextZ = max(finishedZ - passdepth, botZ)

                if crosses_tabs:
                    if nextZ == tabZ:
                        exact_tabz_level_done = True
                    elif nextZ < tabZ:
                        # a last cut at the exact tab height withput tabs
                        if exact_tabz_level_done == False:
                            nextZ = tabZ
                            exact_tabz_level_done = True

                if currentZ <= tabZ and ((not path.safe_to_close) or crosses_tabs):
                    if optype == "Peck":
                        gcode.extend(retract_for_peck)
                        currentZ = peckZ
                    else:
                        gcode.extend(retract_gcode)
                        currentZ = safeZ
                elif currentZ < safeZ and (not path.safe_to_close):
                    if optype == "Peck":
                        gcode.extend(retract_for_peck)
                        currentZ = peckZ
                    else:
                        gcode.extend(retract_gcode)
                        currentZ = safeZ

                # check this - what does it mean ???
                if not crosses_tabs:
                    currentZ = finishedZ
                else:
                    currentZ = max(finishedZ, tabZ)

                gcode.append("; Rapid to initial position")
                gcode.append(
                    "G1" + convert_point(list(orig_path.coords)[0]) + rapid_feed_gcode
                )

                in_tabs_height = False

                if not crosses_tabs:
                    in_tabs_height = False
                    selected_paths = [orig_path]
                    gcode.append("G1 Z" + ValWithUnit(currentZ, "-").to_fixed(decimal))
                else:
                    if nextZ >= tabZ:
                        in_tabs_height = False
                        selected_paths = [orig_path]
                        gcode.append(
                            "G1 Z" + ValWithUnit(currentZ, "-").to_fixed(decimal)
                        )
                    else:
                        in_tabs_height = True
                        selected_paths = separated_paths

                for selected_path in selected_paths:
                    if selected_path.is_empty:
                        continue

                    executed_ramp = False
                    min_plunge_time = (currentZ - nextZ) / plunge_feed
                    if ramp and min_plunge_time > 0:
                        min_plunge_time = (currentZ - nextZ) / plunge_feed
                        ideal_dist = cut_feed * min_plunge_time
                        total_dist = 0.0
                        for end in range(1, len(list(selected_path.coords))):
                            if total_dist > ideal_dist:
                                break

                            pt1 = list(selected_path.coords)[end - 1]
                            pt2 = list(selected_path.coords)[end]
                            total_dist += 2 * cam.dist(
                                get_x(pt1), get_y(pt1), get_x(pt2), get_y(pt2)
                            )

                        if total_dist > 0:
                            ramp_path_forw = [
                                list(selected_path.coords)[k] for k in range(0, end)
                            ]

                            ramp_path_backw = [
                                list(selected_path.coords)[k] for k in range(0, end - 1)
                            ]
                            ramp_path_backw.reverse()

                            ramp_path = ramp_path_forw + ramp_path_backw

                            if in_tabs_height:
                                # move to initial point of partial path
                                gcode.append(
                                    "; Tab: move to first point of partial path at safe height"
                                )
                                gcode.append("G1" + convert_point(ramp_path[1]))
                                gcode.append("; plunge")
                                gcode.append(
                                    "G1 Z"
                                    + ValWithUnit(nextZ, "-").to_fixed(decimal)
                                    + plunge_feed_gcode
                                )

                            gcode.append("; ramp")
                            executed_ramp = True

                            dist_travelled = 0.0
                            for i in range(1, len(ramp_path)):
                                dist_travelled += cam.dist(
                                    get_x(ramp_path[i - 1]),
                                    get_y(ramp_path[i - 1]),
                                    get_x(ramp_path[i]),
                                    get_y(ramp_path[i]),
                                )
                                newZ = currentZ + dist_travelled / total_dist * (
                                    nextZ - currentZ
                                )
                                gcode_line_start = (
                                    "G1"
                                    + convert_point(ramp_path[i])
                                    + " Z"
                                    + ValWithUnit(newZ, "-").to_fixed(decimal)
                                )
                                if i == 1:
                                    gcode.append(
                                        gcode_line_start
                                        + " F"
                                        + ValWithUnit(
                                            math.floor(
                                                min(
                                                    total_dist / min_plunge_time,
                                                    cut_feed,
                                                )
                                            ),
                                            "-",
                                        ).to_fixed(decimal)
                                    )
                                else:
                                    gcode.append(gcode_line_start)

                    if not in_tabs_height:
                        if not executed_ramp:
                            gcode.append("; plunge")
                            gcode.append(
                                "G1 Z"
                                + ValWithUnit(nextZ, "-").to_fixed(decimal)
                                + plunge_feed_gcode
                            )

                    if in_tabs_height:
                        # move to initial point of partial path
                        gcode.append(
                            "; Tab: move to first point of partial path at safe height"
                        )
                        gcode.append(
                            "G1" + convert_point(list(selected_path.coords)[0])
                        )
                        gcode.append("; plunge")
                        gcode.append(
                            "G1 Z"
                            + ValWithUnit(nextZ, "-").to_fixed(decimal)
                            + plunge_feed_gcode
                        )

                    currentZ = nextZ

                    gcode.append("; cut")

                    # on a given height, generate series of G1
                    for i, pt in enumerate(selected_path.coords):
                        if i == 0:
                            continue

                        gcode_line_start = "G1" + convert_point(pt)
                        if i == 1:
                            gcode.append(gcode_line_start + " " + cut_feed_gcode)
                        else:
                            gcode.append(gcode_line_start)

                    if in_tabs_height:
                        # retract to safeZ before processing next separated_paths item
                        gcode.extend(retract_gcode)

                finishedZ = nextZ

            gcode.extend(retract_gcode)

        return gcode


class TabsSeparator:
    """ """

    def __init__(self, tabs: List[Dict[str, Any]]):
        self.tabs = tabs

        self.separated_paths: List[shapely.geometry.LineString] = []
        self.crosses_tabs = False  # init

    def separate(self, path: shapely.geometry.LineString):
        """
        from a "normal" tool path, split this path into a list of "partial" paths
        avoiding the tabs areas
        """
        from gcode_generator import Tab

        if len(self.tabs) == 0:
            self.separated_paths = [path]
            return

        pts = list(path.coords)

        shapely_openpath = shapely.geometry.LineString(pts)

        shapely_tabs_: List[shapely.geometry.Polygon] = []
        # 1. from the tabs, build shapely tab polygons
        for tab_def in self.tabs:
            tab = Tab(tab_def)
            shapely_tabs = tab.svg_path.import_as_polygons_list()
            shapely_tabs_ += shapely_tabs

        # hey, multipolygons are good...
        shapely_tabs_union = shapely.ops.unary_union(shapely_tabs_)
        if shapely_tabs_union.geom_type == "MultiPolygon":
            shapely_tabs = shapely_tabs_union
        elif shapely_tabs_union.geom_type == "Polygon":
            shapely_tabs = shapely.geometry.MultiPolygon([shapely_tabs_union])
        elif shapely_tabs_union.geom_type == "GeometryCollection":
            for geom in shapely_tabs_union.geoms:
                if geom.geom_type == "MultiPolygon":
                    shapely_tabs = geom
                if geom.geom_type == "Polygon":
                    shapely_tabs = geom

        if not shapely_openpath.intersects(shapely_tabs):
            self.separated_paths = [path]
            return

        self.crosses_tabs = True

        # 2. then "diff" the origin path with the tabs paths
        shapely_splitted_paths = shapely_openpath.difference(shapely_tabs)

        # 3. that's it
        # print("splitted_paths", shapely_splitted_paths)

        if shapely_splitted_paths.geom_type == "LineString":
            shapely_splitted_paths = shapely.geometry.MultiLineString(
                [shapely_splitted_paths]
            )

        paths: List[shapely.geometry.LineString] = list(shapely_splitted_paths.geoms)

        paths = self.merge_compatible_paths(paths)

        self.separated_paths = paths

    def merge_compatible_paths(
        self, paths: List[shapely.geometry.LineString]
    ) -> List[shapely.geometry.LineString]:
        """
        This is a post-processing step to shapely where calculated separated paths can be merged together,
        leading to less separated paths
        """

        # ------------------------------------------------------------------------------------------------
        def paths_are_compatible(
            path1: shapely.geometry.LineString, path2: shapely.geometry.LineString
        ) -> bool:
            """
            test if the 2 paths have their end point/start point compatible (the same)
            """
            boundary1_len = len(list(path1.boundary.geoms))
            boundary2_len = len(list(path2.boundary.geoms))

            if boundary1_len == 0 or boundary2_len == 0:
                return False

            end_point = path1.boundary.geoms[1]
            start_point = path2.boundary.geoms[0]

            return end_point == start_point

        def merge_path_into_path(
            path1: shapely.geometry.LineString, path2: shapely.geometry.LineString
        ) -> Tuple[bool, shapely.geometry.LineString]:
            """
            merge the 2 paths if their end point/start point are compatible (ie the same)
            """
            if paths_are_compatible(path1, path2):
                # can merge
                path1 = shapely.ops.linemerge([path1, path2])
                return True, path1

            return False, path1

        def build_paths_compatibility_table(
            paths: List[shapely.geometry.LineString],
        ) -> Dict[int, List]:
            """
            for all paths in the list of paths, check first which ones can be merged
            """
            compatibility_table: Dict[int, List] = {}

            for i, path in enumerate(paths):
                for j, other_path in enumerate(paths):
                    if i == j:
                        continue
                    rc = paths_are_compatible(path, other_path)
                    if rc:
                        if i in compatibility_table:
                            compatibility_table[i].append(j)
                        else:
                            compatibility_table[i] = [j]

            return compatibility_table

        # ------------------------------------------------------------------------------------------------

        if len(paths) <= 1:
            return paths

        compatibility_table = build_paths_compatibility_table(paths)

        while len(compatibility_table) > 0:
            i = list(compatibility_table.keys())[0]
            j = compatibility_table[i][0]

            if i < j:
                path_to_be_merged = paths.pop(j)
                path = paths.pop(i)
            else:
                path = paths.pop(i)
                path_to_be_merged = paths.pop(j)

            _, merged_path = merge_path_into_path(path, path_to_be_merged)

            paths.append(merged_path)
            compatibility_table = build_paths_compatibility_table(paths)

        return paths


class PocketCalculator:
    """ """

    def __init__(
        self,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ):
        """
        cutter_dia is in user units.
        overlap is in the range [0, 1].
        """
        self.multipoly = multipoly

        self.cutter_dia = cutter_dia
        self.overlap = overlap
        self.climb = climb

        self.resolution = 16
        self.join_style = 1
        self.mitre_limit = 5.0

        # result of a the calculation
        self.cam_paths: List[CamPath] = []

        # temp variables
        self.all_paths: List[shapely.geometry.LineString] = []

    def pocket(self):
        """
        main algo - build self.cam_paths
        """
        # use polygons exteriors lines - offset them and and diff with the offseted interiors if any
        multipoly = ShapelyUtils.orient_multipolygon(self.multipoly)

        # cnt = MatplotLibUtils.display("multipoly pocket init", multipoly, force=True)

        # the exterior
        current = self.offset_multipolygon(
            multipoly, self.cutter_dia / 2, "left", consider_interiors_offsets=True
        )

        # cnt = MatplotLibUtils.display(
        #    "multipoly pocket first offset", current, force=True
        # )

        if len(current.geoms) == 0:
            # cannot offset ! maybe geometry too narrow for the cutter
            return []

        # bound must be the exterior enveloppe + the interiors polygons
        # no! the bounds are from the first offset with width cutter_dia / 2
        # bounds = multipoly
        bounds = shapely.geometry.MultiPolygon(current)

        # --------------------------------------------------------------------

        while True:
            # if climb:
            #    for line in current:
            #        line.reverse()

            # FIX when the remaining is to small -> of offset that could spread out
            """
            break when the material has been fully removed
            example:
            - circle r = 1.75
            - cutter dia = 3.0 => r = 1.5
            - overlap = 0.5
            => first path in the "small circle" rr = 0.25 , not that the material then has been fully remove
            => but offset of rr = 0.25 amount 1.5 = cuttter_dia *(1 - overlap)  => overflow outside the small circle !!

            CONDITION TO BREAK: the remaining small circle in fully into the "material cut"

            cuts = [ shapely.geometry.Point(xi,yi).buffer(cutter_dia / 2.0) for (xi,yi) in exteriors.coords ]
            material_cut = shapely.ops.unary_union([cuts])
            remaining_poly = current   : current.covered_by(material_cut)
            """
            exteriors = ShapelyUtils.multipoly_exteriors_to_multiline(current)

            self.collect_paths(exteriors)

            # -------------------------------------------- break ?
            if True:
                cuts = []
                for poly in current.geoms:
                    cuts += [
                        shapely.geometry.Point(xi, yi).buffer(self.cutter_dia / 2.0)
                        for (xi, yi) in poly.exterior.coords
                    ]
                material_cut = shapely.ops.unary_union(cuts)
                if current.covered_by(material_cut):
                    break
            # ------------------------------------------- break ?

            current = self.offset_multipolygon(
                current,
                self.cutter_dia * (1 - self.overlap),
                "left",
                consider_interiors_offsets=False,
            )

            """
            BUG: it can be that the offset return "empty" event if the whole material is not fully cut!

            ex: cutter on rectangle [10 , 3.3] x [20 , 6,7]    (y middle = 5)

            with an amount of 1.8 ( cutter_dia = 3 , step_over = 0.6 => amount = 1.8) the offset is really empty
            (because the cutter goes from the left to 3.3+1.8 = 5.1 and from the right to 6.7-1.8 = 4.9)  
            
            To avoid this, we should check if the material has been fully cut: 
            1. get the polygon defined by the exteriors
            2. are there some points outside the reach of the cutter ? 
            3. xxx ??? yyy

            PS: JsCut suffers from the same bug!
            """

            if not current:
                break
            current = ShapelyUtils.simplify_multipoly(current, 0.001)
            if not current:
                break
            current = ShapelyUtils.orient_multipolygon(current)

        # last: make beautiful interiors, only 1 step
        interiors = self.offset_multipolygon_interiors(
            multipoly, self.cutter_dia / 2, "left", consider_exteriors_offsets=True
        )
        interiors_offsets = ShapelyUtils.multipoly_exteriors_to_multiline(interiors)
        self.collect_paths(interiors_offsets)
        # - done !

        self.merge_paths(bounds, self.all_paths)

    def offset_multipolygon(
        self,
        multipoly: shapely.geometry.MultiPolygon,
        amount: float,
        side: str,
        consider_interiors_offsets=False,
    ) -> shapely.geometry.MultiPolygon:
        """
        Generate offseted polygons.
        """
        offseter = ShapelyMultiPolygonOffset(multipoly)
        return offseter.offset(
            amount,
            side,
            consider_interiors_offsets,
            self.resolution,
            self.join_style,
            self.mitre_limit,
        )

    def offset_multipolygon_interiors(
        self,
        multipoly: shapely.geometry.MultiPolygon,
        amount: float,
        side: str,
        consider_exteriors_offsets=False,
    ) -> shapely.geometry.MultiPolygon:
        """
        Generate offseted polygons from the polygons interiors
        """
        offseter = ShapelyMultiPolygonOffsetInteriors(multipoly)
        return offseter.offset(
            amount,
            side,
            consider_exteriors_offsets,
            self.resolution,
            self.join_style,
            self.mitre_limit,
        )

    def collect_paths(self, multiline: shapely.geometry.MultiLineString):
        """ """
        lines_ok = []

        for line in multiline.geoms:
            if len(list(line.coords)) > 0:
                lines_ok.append(line)

        self.all_paths = lines_ok + self.all_paths

    def merge_paths(
        self,
        _bounds: shapely.geometry.MultiPolygon,
        paths: List[shapely.geometry.LineString],
    ) -> List[CamPath]:
        """
        Try to merge paths. A merged path doesn't cross outside of bounds AND the interior polygons
        """
        # cnt = MatplotLibUtils.display("mergePath", shapely.geometry.MultiLineString(paths), force=True)

        if _bounds and len(_bounds.geoms) > 0:
            bounds = _bounds
        else:
            bounds = shapely.geometry.MultiPolygon()

        ext_lines = ShapelyUtils.multipoly_exteriors_to_multiline(bounds)
        int_polys = []
        for poly in bounds.geoms:
            if poly.interiors:
                for interior in poly.interiors:
                    int_poly = shapely.geometry.Polygon(interior)
                    int_polys.append(int_poly)
        if int_polys:
            int_multipoly = shapely.geometry.MultiPolygon(int_polys)
        else:
            int_multipoly = None

        # std list
        thepaths = [list(path.coords) for path in paths]
        paths = thepaths

        current_path = paths[0]

        path_end_point = current_path[-1]
        path_start_point = current_path[0]

        # close if start/end point not equal - why ? I could have simple lines!
        if (
            path_end_point[0] != path_start_point[0]
            or path_end_point[1] != path_start_point[1]
        ):
            current_path = current_path + [path_start_point]

        current_point = current_path[-1]
        paths[0] = []  # empty

        merged_paths: List[shapely.geometry.LineString] = []
        num_left = len(paths) - 1

        while num_left > 0:
            closest_path_index = -1
            closest_point_index = -1
            closest_point_dist = float(sys.maxsize)
            for path_index, path in enumerate(paths):
                for point_index, point in enumerate(path):
                    dist = cam.distP(current_point, point)
                    if dist < closest_point_dist:
                        closest_path_index = path_index
                        closest_point_index = point_index
                        closest_point_dist = dist

            path = paths[closest_path_index]
            paths[closest_path_index] = []  # empty
            num_left -= 1
            need_new = ShapelyUtils.crosses(
                ext_lines, current_point, path[closest_point_index]
            )
            if (not need_new) and int_multipoly:
                need_new = ShapelyUtils.crosses(
                    int_multipoly, current_point, path[closest_point_index]
                )

            # JSCUT path = path.slice(closest_point_index, len(path)).concat(path.slice(0, closest_point_index))
            path = path[closest_point_index:] + path[:closest_point_index]
            path.append(path[0])

            if need_new:
                merged_paths.append(current_path)
                current_path = path
                current_point = current_path[-1]
            else:
                current_path = current_path + path
                current_point = current_path[-1]

        merged_paths.append(current_path)

        cam_paths: List[CamPath] = []
        for path in merged_paths:
            safe_to_close = not ShapelyUtils.crosses(bounds, path[0], path[-1])
            cam_paths.append(CamPath(shapely.geometry.LineString(path), safe_to_close))

        self.cam_paths = cam_paths

        return cam_paths


class SpiralePocketCalculator:

    def __init__(
        self,
        svgpaths,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ):
        """
        cutter_dia is in user units.
        overlap is in the range [0, 1].
        """
        self.svgpaths = svgpaths

        self.multipoly = multipoly

        self.cutter_dia = cutter_dia
        self.overlap = overlap
        self.climb = climb

        self.resolution = 16
        self.join_style = 1
        self.mitre_limit = 5.0

        # result of a the calculation
        self.cam_paths: List[CamPath] = []

        # temp variables
        self.pts: List[Tuple] = []

    def pocket(self):
        """
        main algo - build self.cam_paths
        """
        svgpath = self.svgpaths[0]

        shape = svgpath.shape_tag

        if shape == "circle":
            spirale = SpiralePocketCalculator.Circle(self)
            self.pts = spirale.calc_path()
        if shape == "ellipse":
            spirale = SpiralePocketCalculator.Ellipse(self)
            self.pts = spirale.calc_path()
        if shape == "rect":
            spirale = SpiralePocketCalculator.Rectangle(self)
            self.pts = spirale.calc_path()

        self.cam_paths = [CamPath(shapely.geometry.LineString(self.pts), True)]

    class Circle:
        SEGMENT_LEN = 0.10  # mm

        def __init__(self, pocket: "SpiralePocketCalculator"):
            """ """
            self.svgpath = svgpath = pocket.svgpaths[0]

            if svgpath.shape_tag == "circle":
                r = float(svgpath.shape_attrs.get("r"))
                self.pocket_radius = r

                cx = float(svgpath.shape_attrs.get("cx"))
                cy = float(svgpath.shape_attrs.get("cy"))
                self.center = [cx, cy]
            elif svgpath.shape_tag == "ellipse":
                rx = float(svgpath.shape_attrs.get("rx"))
                ry = float(svgpath.shape_attrs.get("ry"))
                self.pocket_radius = min(rx, ry)

                cx = float(svgpath.shape_attrs.get("cx"))
                cy = float(svgpath.shape_attrs.get("cy"))
                self.center = [cx, cy]
            elif svgpath.shape_tag == "rect":
                w = float(svgpath.shape_attrs.get("width"))
                h = float(svgpath.shape_attrs.get("height"))
                self.pocket_radius = min(w, h) / 2.0

                x = float(svgpath.shape_attrs.get("x"))
                y = float(svgpath.shape_attrs.get("y"))

                self.center = [x + w / 2, y + h / 2]
            else:
                self.pocket_radius = 20.0  # FIXME - get it from the geometry
                self.center = [0.0, 0.0]

            self.plunge_rate = 22  # FIXME - get it from the Tool Model
            self.cut_rate = 250  # FIXME - get it from the Tool Model

            self.pocket = pocket

            overlap = self.pocket.overlap

            self.cut_arm_size = self.pocket.cutter_dia / 2.0 * (1.0 - overlap)

            if svgpath.shape_tag == "ellipse":
                rx = float(svgpath.shape_attrs.get("rx"))
                ry = float(svgpath.shape_attrs.get("ry"))

                coeff = max(rx / ry, ry / rx)

                self.cut_arm_size /= coeff

            if svgpath.shape_tag == "rect":
                w = float(svgpath.shape_attrs.get("width"))
                h = float(svgpath.shape_attrs.get("height"))

                coeff = max(w / h, h / w)

                self.cut_arm_size /= coeff

            print("SPIRALE: CUT_SIZE = ", self.cut_arm_size)

            self.nb_arms = math.floor(
                (self.pocket_radius - self.pocket.cutter_dia / 2.0) / self.cut_arm_size
            )

            print("NB_ARMS = ", self.nb_arms)

            # on each speudo circle of length 2pi*r there are
            #  - 2pi*r           segments of lenght 1, or
            #  - 2pi*r / len_seg segments of length len_seg
            #
            # Just sum them:
            #    NB_POINTS = SUM n=1..NB_CIRCLES [2pi * R_n]
            #    R_o = 0
            #    R_n = R_n-1 + CUT_SIZE
            #        = n*CUT_SIZE
            #    => NB_POINTS = 2*pi SUM k=n..NB_CIRCLES [n*CUT_SIZE]

            self.nb_points = math.floor(
                (2 * PI / SpiralePocketCalculator.Circle.SEGMENT_LEN)
                * self.cut_arm_size
                * self.nb_arms
                * (self.nb_arms + 1)
                / 2.0
            )

            print("NB_POINTS = ", self.nb_points)

            self.pocket_radius_minus_cutter = (
                self.pocket_radius - self.pocket.cutter_dia / 2.0
            )

            self.pocket_radius_minus_cutter_squared = (
                self.pocket_radius_minus_cutter * self.pocket_radius_minus_cutter
            )

            self.x: List[float] = []
            self.y: List[float] = []
            self.z: List[float] = []

        def calc_path(self) -> List[Tuple[float, float]]:
            """
            Prepare arrays x, y
            """
            # list of angles : will be sqrt'ed
            angles = np.linspace(
                0, (2 * PI * self.nb_arms) * (2 * PI * self.nb_arms), self.nb_points
            )

            # when the radius of the spirale is increasing,
            # the delta(angles) must decrease for small increments in angle
            # at every point
            t = np.sqrt(angles)

            # list of radiuses : will be sqrt'ed
            r = np.linspace(0, self.pocket_radius_minus_cutter_squared, self.nb_points)
            r = np.sqrt(r)  # -> max is POCKET_RADIUS_M_CUTTER

            # because the angles progression is of sqrt, so has to be the
            # progression of the radiuses!

            x = self.center[0] + r * np.cos(t)
            y = self.center[1] + r * np.sin(t)

            # last circle
            dt = t[-1] - t[-2]
            print(
                "dt =",
                dt,
                " => nb pts on circle/last spirale [est] = ",
                math.floor(2 * PI / dt),
                " => nb pts on circle",
                math.floor(
                    2
                    * PI
                    * self.pocket_radius_minus_cutter
                    / SpiralePocketCalculator.Circle.SEGMENT_LEN
                ),
            )

            # discretized circle with N points
            N = math.floor(2 * PI / dt)
            # N = math.floor(2 * pi * POCKET_RADIUS_M_CUTTER / SEGMENT_LEN)

            N = N * 2  # fine resolution for the pocket boundary

            r_circle = np.linspace(
                self.pocket_radius_minus_cutter, self.pocket_radius_minus_cutter, N
            )
            t_circle = t[-1] + np.linspace(0, 2 * PI, N)

            dx = self.center[0] + r_circle * np.cos(t_circle)
            dy = self.center[1] + r_circle * np.sin(t_circle)

            x = np.concatenate([x, dx])
            y = np.concatenate([y, dy])

            pts = [(xx, yy) for xx, yy in zip(x, y)]

            return pts

    class Rectangle(Circle):
        def __init__(self, pocket: "SpiralePocketCalculator"):
            super().__init__(pocket)

            w = float(self.svgpath.shape_attrs.get("width"))
            h = float(self.svgpath.shape_attrs.get("height"))

            x = float(self.svgpath.shape_attrs.get("x"))
            y = float(self.svgpath.shape_attrs.get("y"))

            r = min(w, h) / 2.0

            center = [x + w / 2, y + h / 2]

            self.tx = center[0]
            self.ty = center[1]

            self.scale_x = w / 2
            self.scale_y = h / 2

            print("CENTER", self.tx, self.ty)
            print("SCALE", r, self.scale_x, self.scale_y)

            self.c1 = 0.0
            self.c2 = 1.0

        def calc_path(self):
            pts = super().calc_path()

            rectangle_pts = [
                (self.to_square_x(x, y), self.to_square_y(x, y)) for (x, y) in pts
            ]

            w = float(self.svgpath.shape_attrs.get("width"))
            h = float(self.svgpath.shape_attrs.get("height"))

            x = float(self.svgpath.shape_attrs.get("x"))
            y = float(self.svgpath.shape_attrs.get("y"))

            diameter = self.pocket.cutter_dia

            centers = [
                [x + w - diameter, y + h - diameter],
                [x + diameter, y + h - diameter],
                [x + diameter, y + diameter],
                [x + w - diameter, y + diameter],
            ]

            rectangle_pts += [[x + w - diameter, y + h / 2.0]]

            for k, center in enumerate(centers):
                c = SvgPath.from_circle_def(
                    center,
                    self.pocket.cutter_dia,
                )
                c.import_svgpath()
                c_svgpaths = [c]
                c_multipoly = shapely.geometry.MultiPolygon(c.polys)
                spirale = SpiralePocketCalculator(
                    c_svgpaths,
                    c_multipoly,
                    self.pocket.cutter_dia,
                    self.pocket.overlap,
                    self.pocket.climb,
                )
                spirale.pocket()

                rectangle_pts += [center]
                rectangle_pts += spirale.pts
                rectangle_pts += [center]

            # last perfect contour

            """
            *----------------*
            |                |
            |                | start - go cw (svg y dir)
            |                |
            *----------------*
            """
            dw = w / 2 - self.pocket.cutter_dia / 2.0
            dh = h / 2 - self.pocket.cutter_dia / 2.0

            pt0 = [self.center[0] + dw, self.center[1]]
            pt1 = [self.center[0] + dw, self.center[1] + dh]
            pt2 = [self.center[0] - dw, self.center[1] + dh]
            pt3 = [self.center[0] - dw, self.center[1] - dh]
            pt4 = [self.center[0] + dw, self.center[1] - dh]
            pt5 = [self.center[0] + dw, self.center[1]]

            contours_pts = [pt0, pt1, pt2, pt3, pt4, pt5]

            rectangle_pts += contours_pts

            return rectangle_pts

        def normalize(self, u, v):
            return [
                (u - self.tx) / self.pocket_radius,
                (v - self.ty) / self.pocket_radius,
            ]

        def get_signum(self, o: float) -> float:
            """ """
            return 0.0 if o == 0.0 else (1 if o > 0 else -1)

        def to_square_x(self, u: float, v: float):
            """
            from unit circle to unit square

            x = ½ √( 2 + u² - v² + 2u√2 ) - ½ √( 2 + u² - v² - 2u√2 )
            y = ½ √( 2 - u² + v² + 2v√2 ) - ½ √( 2 - u² + v² - 2v√2 )
            """
            u, v = self.normalize(u, v)

            uu = u * u
            vv = v * v

            sgn_u = self.get_signum(u)
            sgn_v = self.get_signum(v)

            # stretch method
            if u == 0.0 and v == 0.0:
                x = 0.0

            if uu >= vv:
                x = sgn_u * sqrt(uu + vv)
            else:
                if v == 0.0:
                    x = 0.0
                else:
                    x = sgn_v * sqrt(uu + vv) * u / v

            x1 = x

            # ellipse method
            a = 2 + uu - vv + 2 * u * sqrt(2)
            b = 2 + uu - vv - 2 * u * sqrt(2)

            a = a if a > 0.0 else 0.0
            b = b if b > 0.0 else 0.0

            x = 0.5 * sqrt(a) - 0.5 * sqrt(b)

            x2 = x

            # the middle of the two
            x = (self.c1 * x1 + self.c2 * x2) / (self.c1 + self.c2)

            return self.tx + self.scale_x * x

        def to_square_y(self, u, v):
            """
            from unit circle to unit square

            x = ½ √( 2 + u² - v² + 2u√2 ) - ½ √( 2 + u² - v² - 2u√2 )
            y = ½ √( 2 - u² + v² + 2v√2 ) - ½ √( 2 - u² + v² - 2v√2 )
            """
            u, v = self.normalize(u, v)

            uu = u * u
            vv = v * v

            sgn_u = self.get_signum(u)
            sgn_v = self.get_signum(v)

            # stretch method
            if u == 0.0 and v == 0.0:
                x = 0.0

            if uu >= vv:
                if u == 0.0:
                    y = 0.0
                else:
                    y = sgn_u * sqrt(uu + vv) * v / u
            else:
                y = sgn_v * sqrt(uu + vv)

            y1 = y

            # ellipse method
            a = 2 - uu + vv + 2 * v * sqrt(2)
            b = 2 - uu + vv - 2 * v * sqrt(2)

            a = a if a > 0.0 else 0.0
            b = b if b > 0.0 else 0.0

            y = 0.5 * sqrt(a) - 0.5 * sqrt(b)

            y2 = y

            # the  middle of the two
            y = (self.c1 * y1 + self.c2 * y2) / (self.c1 + self.c2)

            return self.ty + self.scale_y * y

    class Ellipse(Circle):
        def __init__(self, pocket: "SpiralePocketCalculator"):
            super().__init__(pocket)

            cx = float(self.svgpath.shape_attrs.get("cx"))
            cy = float(self.svgpath.shape_attrs.get("cy"))

            rx = float(self.svgpath.shape_attrs.get("rx"))
            ry = float(self.svgpath.shape_attrs.get("ry"))

            r = min(rx, ry)

            # cutter trajectory is on the "inner circle"
            r -= self.pocket.cutter_dia / 2.0

            self.tx = cx
            self.ty = cy

            self.scale_x = (rx - self.pocket.cutter_dia / 2.0) / r
            self.scale_y = (ry - self.pocket.cutter_dia / 2.0) / r

        def calc_path(self):
            """just stretch"""
            pts = super().calc_path()

            ellipse_pts = [
                (
                    self.tx + (x - self.tx) * self.scale_x,
                    self.ty + (y - self.ty) * self.scale_y,
                )
                for (x, y) in pts
            ]

            return ellipse_pts


class NibblerPocketCalculator:
    """ """

    def __init__(
        self,
        multipoly: shapely.geometry.MultiPolygon,
        cutter_dia: float,
        overlap: float,
        climb: bool,
    ):
        """
        cutter_dia is in user units.
        overlap is in the range [0, 1].
        """
        self.multipoly = multipoly

        self.cutter_dia = cutter_dia
        self.overlap = overlap
        self.climb = climb

        self.resolution = 16
        self.join_style = 1
        self.mitre_limit = 5.0

        # result of a the calculation
        self.cam_paths: List[CamPath] = []

        # temp variables
        self.all_paths: List[shapely.geometry.LineString] = []

    def pocket(self):
        """
        main algo - build self.cam_paths
        """
        # use polygons exteriors lines - offset them and and diff with the offseted interiors if any
        multipoly = ShapelyUtils.orient_multipolygon(self.multipoly)

        # the exterior
        current = self.offset_multipolygon(
            multipoly, self.cutter_dia / 2, "left", consider_interiors_offsets=True
        )

        step_size = (1.0 - self.overlap) * self.cutter_dia

        print("step_size = ", step_size)

        winding_dir = geometry.ArcDir.CW if self.climb == True else geometry.ArcDir.CCW

        for poly in current.geoms:
            toolpath = geometry.Pocket(
                poly,
                step_size,
                winding_dir,
                generate=True,
                starting_point=poly.centroid,
                # starting_radius=2.5,
                debug=True,
            )

            # this is neccessary!
            timeslice = 1000  # ms
            for index, progress in enumerate(toolpath.get_arcs(timeslice)):
                print(index, round(progress * 1000) / 1000)
            # toolpath.path contains the currently generated path data at this point.

            self.toolpath_to_campaths(toolpath)

            # last : the coutour itself - for a clean contour
            campath = CamPath(poly.exterior, True)
            self.cam_paths.append(campath)

    def toolpath_to_campaths(self, toolpath: geometry.Pocket):
        """ """
        xx = []
        yy = []

        for k, element in enumerate(toolpath.path):

            if type(element).__name__ == "Arc":
                print("k = ", k, type(element).__name__)

                x, y = element.path.xy

                xx.extend(x)
                yy.extend(y)

            elif type(element).__name__ == "Line":
                elt = cast(geometry.LineData, element)
                print("k = ", k, type(elt).__name__, elt.move_style)

                x, y = element.path.xy

                if elt.move_style == geometry.MoveStyle.RAPID_INSIDE:
                    # plt.plot(x, y, linestyle="--", c=rapid_inside_colour, linewidth=1)

                    xx.extend(x)
                    yy.extend(y)

                elif elt.move_style == geometry.MoveStyle.RAPID_OUTSIDE:
                    # plt.plot(x, y, c=rapid_outside_colour, linewidth=1)

                    self.add_campath(xx, yy, True)

                    xx = []
                    yy = []

                else:
                    assert elt.move_style == geometry.MoveStyle.CUT

                    # actually the beginning of a new "path"
                    # so the old path is finished, but it should only be
                    # a single 'retract'....

                    xx.extend(x)
                    yy.extend(y)

                    # plt.plot(x, y, linestyle="--", c=cut_colour, linewidth=1)

        if len(xx) > 0:
            self.add_campath(xx, yy, True)

    def add_campath(self, xx, yy, safe_to_close):
        coords = [(x, y) for x, y in zip(xx, yy)]
        linestring = shapely.geometry.LineString(coords)

        campath = CamPath(linestring, safe_to_close)
        self.cam_paths.append(campath)

    def offset_multipolygon(
        self,
        multipoly: shapely.geometry.MultiPolygon,
        amount: float,
        side: str,
        consider_interiors_offsets=False,
    ) -> shapely.geometry.MultiPolygon:
        """
        Generate offseted polygons.
        """
        offseter = ShapelyMultiPolygonOffset(multipoly)
        return offseter.offset(
            amount,
            side,
            consider_interiors_offsets,
            self.resolution,
            self.join_style,
            self.mitre_limit,
        )