Add support for forbidden zones

klippy/kinematics/cartesian.py

@@ -5,7 +5,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 from klippy import stepper
 from . import idex_modes
-
+from .forbidden_zones import ForbiddenZones
 
 class CartKinematics:
     def __init__(self, toolhead, config):
@@ -24,6 +24,8 @@ def __init__(self, toolhead, config):
         self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.0)
         self.dc_module = None
         self.supports_dual_carriage = True
+        self.forbidden_zones = ForbiddenZones(config)
+
         if config.has_section("dual_carriage"):
             dc_config = config.getsection("dual_carriage")
             dc_axis = dc_config.getchoice("axis", ["x", "y"])
@@ -144,6 +146,7 @@ def check_move(self, move):
             or ypos > limits[1][1]
         ):
             self._check_endstops(move)
+        self.forbidden_zones.check_move(move)
         if not move.axes_d[2]:
             # Normal XY move - use defaults
             return

klippy/kinematics/forbidden_zones.py

@@ -0,0 +1,35 @@
+# Code for handling forbidden zones of movements
+#
+# Copyright (C) 2025  Daniel Berlin <dberlin@dberlin.org>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+from shapely import from_wkt, STRtree, LineString
+import logging
+
+class ForbiddenZones:
+    # On init we just read in the shapes and prepare the STRtree
+    def __init__(self, config):
+        self.forbidden_zone_tree = None
+        if config.has_section("forbidden_zones"):
+            section = config.getsection("forbidden_zones")
+            forbidden_shapes_wkt = section.getlists("shapes", seps=("\n"))
+            logging.info(f"Forbidden zone shapes (WKT):{forbidden_shapes_wkt}")
+            forbidden_shapes_wkt = [shape.strip() for shape in forbidden_shapes_wkt if len(shape.strip()) != 0]
+            forbidden_shapes = [from_wkt(shape) for shape in forbidden_shapes_wkt]
+            logging.info(f"Forbidden zone shapes (parsed):{forbidden_shapes}")
+            self.forbidden_zone_tree = STRtree(forbidden_shapes)
+
+    # Check whether a proposed line move intersects any forbidden zone shapes
+    # Touching the shape counts (So a point that is on the border of a shape is not allowed)
+    def check_move(self, move):
+        if self.forbidden_zone_tree:
+            # Transform the move into a shapely LineString, get candidates from the STRtree
+            # and check each candidate for intersection
+            x_y_line = LineString([move.start_pos[:2], move.end_pos[:2]])
+            candidates = self.forbidden_zone_tree.query(x_y_line, predicate='intersects')
+            if len(candidates) > 0:
+                for geom_index in candidates:
+                    geom = self.forbidden_zone_tree.geometries.take(geom_index)
+                    if x_y_line.intersects(geom):
+                        raise move.move_error(f"Move line {x_y_line} intersects forbidden zone shape {geom}")

pyproject.toml

@@ -14,7 +14,8 @@ dependencies = [
   "numpy~=2.2 ; python_version>='3.10'",
   "pyserial==3.4",
   "python-can~=4.5",
-  "setuptools==75.8.2 ; python_version >= '3.12'", # required by python-can < 4.3
+  "setuptools==75.8.2 ; python_version >= '3.12'", # required by python-can < 4.3 
+  "shapely>=2.0.7",
 ]
 
 [tool.uv]