3 files changed, 656 insertions, 0 deletions
diff --git a/taep/__init__.py b/taep/__init__.py
new file mode 100644
index 0000000..985705f
--- /dev/null
+++ b/taep/__init__.py
@@ -0,0 +1,327 @@
+#!/usr/bin/env python3
+
+import tempfile
+import webbrowser
+import re
+import base64
+import copy
+import subprocess
+import shlex
+import os
+import sys
+import math
+from pathlib import Path
+
+import click
+from bs4 import BeautifulSoup
+
+from .svg_util import *
+
+
+__version__ = "v1.0.0-rc1"
+
+
+USVG_DPI = 96.0
+
+def run_cargo_command(binary, *args, **kwargs):
+    # By default, try a number of options:
+    candidates = [
+        # somewhere in $PATH
+        binary,
+        # wasi-wrapper in $PATH
+        f'wasi-{binary}',
+        # in user-local cargo installation
+        Path.home() / '.cargo' / 'bin' / binary,
+        # wasi-wrapper in user-local pip installation
+        Path.home() / '.local' / 'bin' / f'wasi-{binary}',
+        # next to our current python interpreter (e.g. in virtualenv)
+        str(Path(sys.executable).parent / f'wasi-{binary}')
+        ]
+
+    return run_command(binary, *args, candidates=candidates, **kwargs)
+
+
+def run_command(binary, *args, candidates=[], **kwargs):
+    cmd_args = []
+    for key, value in kwargs.items():
+        if value is not None:
+            if value is False:
+                continue
+
+            if len(key) > 1:
+                cmd_args.append(f'--{key.replace("_", "-")}')
+            else:
+                cmd_args.append(f'-{key}')
+
+            if value is not True:
+                cmd_args.append(str(value))
+    cmd_args.extend(map(str, args))
+
+    # By default, try a number of options:
+    if not candidates:
+        candidates = [binary]
+
+    # if envvar is set, try that first.
+    if (env_var := os.environ.get(Path(binary).name.replace('-', '_').upper())):
+        candidates = [str(Path(env_var).expanduser()), *candidates]
+
+    for cand in candidates:
+        try:
+            res = subprocess.run([cand, *cmd_args], check=True)
+            break
+        except FileNotFoundError:
+            continue
+    else:
+        raise SystemError(f'{binary} executable not found')
+
+
+def simplify_and_open_svg(data):
+    with tempfile.NamedTemporaryFile('w', suffix='.svg') as tmp_in_svg,\
+            tempfile.NamedTemporaryFile('r', suffix='.svg') as tmp_out_svg:
+        tmp_in_svg.write(data)
+        tmp_in_svg.flush()
+
+        try:
+            run_cargo_command('usvg', *shlex.split(os.environ.get('USVG_OPTIONS', '')), tmp_in_svg.name, tmp_out_svg.name)
+        except SystemError:
+            raise click.ClickException('Cannot find usvg. Please install usvg using cargo, or pass the full path to the usvg binary in the USVG environment variable.')
+        except subprocess.CalledProcessError as e:
+            raise click.ClickException(f'usvg exited with return code {e.returncode}.')
+
+        return BeautifulSoup(tmp_out_svg.read(), 'xml')
+
+
+def print_tape(png_file):
+    try:
+        run_command('ptouch-print', '--image', png_file)
+    except SystemError:
+        raise click.ClickException('Cannot find ptouch-print. Please install ptouch-print from the upstream repo at https://git.familie-radermacher.ch/linux/ptouch-print.git . You can pass the full path to the ptouch-print binary in the PTOUCH_PRINT environment variable if it\'s not in $PATH.')
+    except subprocess.CalledProcessError as e:
+        raise click.ClickException(f'ptouch-print exited with return code {e.returncode}.')
+
+
+def calc_scale(soup):
+    svg = soup.find('svg')
+    vb_x, vb_y, vb_w, vb_h = map(float, svg['viewBox'].split())
+    doc_w, doc_h = float(svg['width']), float(svg['height'])
+    doc_w_mm = doc_w / USVG_DPI * 25.4
+    doc_h_mm = doc_h / USVG_DPI * 25.4
+    mm_per_px_x = doc_w_mm / vb_w
+    mm_per_px_y = doc_h_mm / vb_h
+    return mm_per_px_x, mm_per_px_y
+
+
+def do_dither(soup, magic_color, dpi, pixel_height):
+    mm_per_px_x, mm_per_px_y = calc_scale(soup)
+
+    for i, path in enumerate(list(soup.find_all('path'))):
+        if path.get('stroke').lower() != magic_color:
+            continue
+        path_id = path.get('id', '<no id?>')
+
+        commands = list(parse_path_d(path.get('d', '')))
+        if len(commands) != 2:
+            print('Path', path_id, 'has magic color, but has more than two nodes. Ignoring.', file=sys.stderr)
+            continue
+        if commands[1][0] != 'L':
+            print('Path', path_id, 'has magic color, but has a curve. Ignoring.', file=sys.stderr)
+            continue
+        if commands[0][0] != 'M':
+            print('Path', path_id, 'has magic color, but is malformed (does not start with M command). Ignoring.', file=sys.stderr)
+            continue
+        (_c1, (x1, y1)), (_c2, (x2, y2)) = commands
+
+        mat = Transform.parse_svg(path.get('transform', ''))
+        for parent in path.parents:
+            xf = Transform.parse_svg(parent.get('transform', ''))
+            mat = xf * mat  # make sure we apply the parent transform from the left, i.e. after the child transform
+        x1, y1 = mat.transform_point(x1, y1)
+        x2, y2 = mat.transform_point(x2, y2)
+        path_len = math.dist((x1, y1), (x2, y2))
+        path_len_mm = math.dist((x1*mm_per_px_x, y1*mm_per_px_y), (x2*mm_per_px_x, y2*mm_per_px_y))
+
+        if math.isclose(path_len, 0, abs_tol=1e-3):
+            print('Path', path_id, 'has magic color, but has (almost) zero length. Ignoring.', file=sys.stderr)
+            continue
+
+        if not (stroke_w := path.get('stroke-width')):
+            print('Path', path_id, 'has magic color, but has no defined stroke width. Ignoring.', file=sys.stderr)
+            continue
+        stroke_w = float(re.match('[-0-9.]+', stroke_w).group(0))
+
+        path_angle = math.atan2((y2-y1), (x2-x1))
+        dx, dy = (x2-x1)/path_len, (y2-y1)/path_len
+
+        sx1, sy1 = mat.transform_point(x1-dy*stroke_w/2, y1+dx*stroke_w/2)
+        sx2, sy2 = mat.transform_point(x1+dy*stroke_w/2, y1-dx*stroke_w/2)
+        stroke_w = round(math.dist((sx1, sy1), (sx2, sy2)), 3)
+        stroke_w_mm = round(math.dist((sx1*mm_per_px_x, sy1*mm_per_px_y), (sx2*mm_per_px_x, sy2*mm_per_px_y)), 3)
+
+        out_soup = copy.copy(soup)
+
+        print(f'Identified tape from path "{path_id}", length {path_len_mm:2f} mm, angle {math.degrees(path_angle):.1f} deg with physical stroke width {stroke_w_mm:.2f} mm from ({x1:.2f}, {y1:.2f}) to ({x2:.2f}, {y2:.2f})')
+        #out_soup.find('svg').append(out_soup.new_tag('path', fill='none', stroke='blue', stroke_width=f'24px',
+        #            d=f'M {x1} {y1} L {x2} {y2}'))
+        xf = Transform.translate(0, stroke_w/2) * Transform.rotate(-path_angle) * Transform.translate(-x1, -y1)
+        g = out_soup.new_tag('g', id='transform-group', transform=xf.as_svg())
+        k = list(out_soup.find('svg').contents)
+        for c in k:
+            g.append(c.extract())
+        out_soup.find('svg').append(g)
+        out_soup.find('path', id=path['id']).parent.decompose()
+        out_soup.find('svg')['viewBox'] = f'0 0 {path_len} {stroke_w}'
+        out_soup.find('svg')['width'] = f'{path_len_mm}mm'
+        out_soup.find('svg')['height'] = f'{stroke_w_mm}mm'
+
+        with tempfile.NamedTemporaryFile('w', suffix='.svg') as tmp_svg,\
+                tempfile.NamedTemporaryFile('rb', suffix='.png') as tmp_png,\
+                tempfile.NamedTemporaryFile('rb', suffix='.png') as tmp_dither:
+            tmp_svg.write(out_soup.prettify())
+            tmp_svg.flush()
+            run_cargo_command('resvg', tmp_svg.name, tmp_png.name, width=round(Inch(path_len, 'mm')*dpi), height=pixel_height)
+
+            args = shlex.split(os.environ.get('DIDDER_ARGS', 'edm --serpentine FloydSteinberg'))
+            run_command('didder', *args, palette='black white', i=tmp_png.name, o=tmp_dither.name)
+            yield (x1, y1, path_angle, stroke_w, path_len), tmp_dither.read()
+
+
+def make_preview(input_svg, out_file, *dither_args, assembly_labels=False, **dither_kwargs):
+    imgs = []
+    labels = []
+    soup = simplify_and_open_svg(input_svg)
+
+    for tape_num, ((x1, y1, path_angle, stroke_w, path_len), img) in enumerate(do_dither(soup, *dither_args, **dither_kwargs), start=1):
+        xf = f'translate({x1} {y1}) rotate({math.degrees(path_angle)}) translate(0 {-stroke_w/2})'
+        imgs.append(Tag('image', width=path_len, height=stroke_w, preserveAspectRatio='none',
+                        id=f'preview_image_{tape_num}',
+                        x=0, y=0,
+                        transform=xf,
+                        xlink__href=f'data:image/png;base64,{base64.b64encode(img).decode()}'))
+        labels.append(Tag('path', fill='none', stroke_width='0.2px', stroke='red', transform=xf,
+                          d=f'M 0 0 h {path_len} v {stroke_w} h {-path_len} Z'))
+        labels.append(Tag('text', fill='red', stroke='none', font_size=f'{stroke_w*0.8}px', transform=xf,
+                          x='2px', y=f'{stroke_w*0.9}px', children=[f'{tape_num}']))
+
+    layer = Tag('g', inkscape__layer='Preview', inkscape__groupmode='layer', id='layer_preview', children=[
+            Tag('g', id='preview_images', children=imgs),
+        ])
+
+    if assembly_labels:
+        layer.children.append(Tag('g', id='assembly_instructions', children=labels))
+
+    vbx, vby, vbw, vbh = map(float, soup.find('svg')['viewBox'].split())
+    bounds = (vbx, vby), (vbx+vbw, vby+vbh)
+    svg = setup_svg([layer], bounds, inkscape=True)
+
+    if out_file is not None:
+        out_file.write(str(svg))
+    else:
+        with tempfile.NamedTemporaryFile(suffix='.svg', mode='w', delete=False) as f:
+            f.write(str(svg))
+            f.flush()
+            webbrowser.open_new_tab(f'file://{f.name}')
+
+
+@click.group()
+def cli():
+    pass
+
+@cli.command()
+@click.option('--num-rows', type=int, default=5, help='Number of tapes')
+@click.option('--tape-width', type=float, default=24, help='Width of tape')
+@click.option('--tape-border', type=float, default=3, help='Width of empty border at the edges of the tape in mm')
+@click.option('--tape-spacing', type=float, default=2, help='Space between tapes')
+@click.option('--tape-length', type=float, default=250, help='Length of tape segments')
+@click.option('--magic-color', type=str, default='#cc0301', help='SVG color of tape')
+@click.argument('output_svg', type=click.File(mode='w'), default='-')
+def template(num_rows, tape_width, tape_border, tape_spacing, tape_length, magic_color, output_svg):
+    pitch = tape_width + tape_spacing
+    tags = [Tag('g', inkscape__layer='Layer 1', inkscape__groupmode='layer', id='layer1', children=[
+        Tag('g', id='g1', children=[
+            Tag('g', id=f'tape{i}', children=[
+                Tag('path', id=f'tape{i}_outline', fill='none', stroke='black', opacity='0.3', stroke_width=f'{tape_width}px',
+                    d=f'M 0 {tape_width/2 + i*pitch} {tape_length} {tape_width/2 + i*pitch}'),
+                Tag('path', id=f'tape{i}_printable_area', fill='none', stroke=magic_color, stroke_width=f'{tape_width-2*tape_border}px',
+                    d=f'M 0 {tape_width/2 + i*pitch} {tape_length} {tape_width/2 + i*pitch}'),
+                ])
+            for i in range(num_rows)
+            ])
+        ])]
+
+    bounds = (0, 0), (tape_length, num_rows*tape_width + (num_rows-1)*tape_spacing)
+    svg = setup_svg(tags, bounds, margin=tape_width, inkscape=True)
+    output_svg.write(str(svg))
+
+
+@cli.command('print')
+@click.option('--magic-color', type=str, default='#cc0301', help='SVG color of tape')
+@click.option('--dpi', type=float, default=180, help='Printer bitmap resolution in DPI')
+@click.option('--pixel-height', type=int, default=127, help='Printer tape vertical pixel height')
+@click.option('--confirm/--no-confirm', default=True, help='Ask for confirmation before printing each tape')
+@click.option('--tape', type=str, default='-', help='The index numbers of which tapes to print. Comma-separate list, each entry is either a single number or a "3-5" style range where both ends are included.')
+@click.argument('input_svg', type=click.File(mode='r'), default='-')
+def cli_print(input_svg, tape, magic_color, dpi, pixel_height, confirm):
+    with tempfile.TemporaryDirectory() as tmpdir:
+        out = {}
+
+        soup = simplify_and_open_svg(input_svg.read())
+        for i, (_tape_pos, img) in enumerate(do_dither(soup, magic_color=magic_color, dpi=dpi, pixel_height=pixel_height), start=1):
+            f = Path(tmpdir) / f'dither_tape_{i}.png'
+            f.write_bytes(img)
+            out[i] = f
+
+        selected = set()
+        for entry in tape.split(','):
+            start, sep, stop = entry.partition('-')
+            if not sep:
+                selected.add(int(start))
+            else:
+                start = int(start) if start else min(out)
+                stop = int(stop) if stop else max(out)
+                selected |= set(range(start, stop+1))
+
+        for tape in sorted(selected):
+            if confirm:
+                if not click.confirm(f'Do you want to continue and print tape {tape}?'):
+                    break
+            print_tape(out[tape])
+
+
+@cli.command()
+@click.option('--magic-color', type=str, default='#cc0301', help='SVG color of tape')
+@click.option('--dpi', type=float, default=180, help='Printer bitmap resolution in DPI')
+@click.option('--pixel-height', type=int, default=127, help='Printer tape vertical pixel height')
+@click.argument('input_svg', type=click.File(mode='r'), default='-')
+@click.argument('output_svg', type=click.File(mode='w'), required=False)
+def preview(input_svg, output_svg, magic_color, dpi, pixel_height):
+    make_preview(input_svg.read(), output_svg, magic_color=magic_color, dpi=dpi, pixel_height=pixel_height, assembly_labels=False)
+
+
+@cli.command()
+@click.option('--magic-color', type=str, default='#cc0301', help='SVG color of tape')
+@click.option('--dpi', type=float, default=180, help='Printer bitmap resolution in DPI')
+@click.option('--pixel-height', type=int, default=127, help='Printer tape vertical pixel height')
+@click.argument('input_svg', type=click.File(mode='r'), default='-')
+@click.argument('output_svg', type=click.File(mode='w'), required=False)
+def assembly(input_svg, output_svg, magic_color, dpi, pixel_height):
+    make_preview(input_svg.read(), output_svg, magic_color=magic_color, dpi=dpi, pixel_height=pixel_height, assembly_labels=True)
+
+
+@cli.command()
+@click.option('--magic-color', type=str, default='#cc0301', help='SVG color of tape')
+@click.option('--dpi', type=float, default=180, help='Printer bitmap resolution in DPI')
+@click.option('--pixel-height', type=int, default=127, help='Printer tape vertical pixel height')
+@click.argument('input_svg', type=click.File(mode='r'), default='-')
+@click.argument('output_dir', type=click.Path(file_okay=False, dir_okay=True, path_type=Path))
+def dither(input_svg, output_dir, magic_color, dpi, pixel_height):
+    output_dir.mkdir(exist_ok=True)
+    soup = simplify_and_open_svg(input_svg.read())
+    for i, (_tape_pos, img) in enumerate(do_dither(soup, magic_color=magic_color, dpi=dpi, pixel_height=pixel_height), start=1):
+        outfile = output_dir / f'dither_tape_{i}.png'
+        outfile.write_bytes(img)
+        print(f'Wrote {outfile}')
+
+
+if __name__ == '__main__':
+    cli()
+
diff --git a/taep/__main__.py b/taep/__main__.py
new file mode 100644
index 0000000..1a346dd
--- /dev/null
+++ b/taep/__main__.py
@@ -0,0 +1,2 @@
+import taep
+taep.cli()
diff --git a/taep/svg_util.py b/taep/svg_util.py
new file mode 100644
index 0000000..009e9a5
--- /dev/null
+++ b/taep/svg_util.py
@@ -0,0 +1,327 @@
+import math
+import re
+import textwrap
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True, slots=True)
+class LengthUnit:
+    """ Convenience length unit class. Used in :py:class:`.GraphicObject` and :py:class:`.Aperture` to store length
+    information. Provides a number of useful unit conversion functions.
+
+    Singleton, use only global instances ``utils.MM`` and ``utils.Inch``.
+    """
+
+    name: str
+    shorthand: str
+    this_in_mm: float
+
+    def convert_from(self, unit, value):
+        """ Convert ``value`` from ``unit`` into this unit.
+
+        :param unit: ``MM``, ``Inch`` or one of the strings ``"mm"`` or ``"inch"``
+        :param float value: 
+        :rtype: float
+        """
+
+        if isinstance(unit, str):
+            unit = units[unit]
+
+        if unit == self or unit is None or value is None:
+            return value
+
+        return value * unit.this_in_mm / self.this_in_mm
+
+    def convert_to(self, unit, value):
+        """ :py:meth:`.LengthUnit.convert_from` but in reverse. """
+
+        if isinstance(unit, str):
+            unit = to_unit(unit)
+
+        if unit is None:
+            return value
+
+        return unit.convert_from(self, value)
+
+    def convert_bounds_from(self, unit, value):
+        """ :py:meth:`.LengthUnit.convert_from` but for ((min_x, min_y), (max_x, max_y)) bounding box tuples. """
+
+        if value is None:
+            return None
+
+        (min_x, min_y), (max_x, max_y) = value
+        min_x = self.convert_from(unit, min_x)
+        min_y = self.convert_from(unit, min_y)
+        max_x = self.convert_from(unit, max_x)
+        max_y = self.convert_from(unit, max_y)
+        return (min_x, min_y), (max_x, max_y)
+
+    def convert_bounds_to(self, unit, value):
+        """ :py:meth:`.LengthUnit.convert_to` but for ((min_x, min_y), (max_x, max_y)) bounding box tuples. """
+
+        if value is None:
+            return None
+
+        (min_x, min_y), (max_x, max_y) = value
+        min_x = self.convert_to(unit, min_x)
+        min_y = self.convert_to(unit, min_y)
+        max_x = self.convert_to(unit, max_x)
+        max_y = self.convert_to(unit, max_y)
+        return (min_x, min_y), (max_x, max_y)
+
+    def format(self, value):
+        """ Return a human-readdable string representing value in this unit.
+
+        :param float value:
+        :returns: something like "3mm"
+        :rtype: str
+        """
+
+        return f'{value:.3f}{self.shorthand}' if value is not None else ''
+
+    def __call__(self, value, unit):
+        """ Convenience alias for :py:meth:`.LengthUnit.convert_from` """
+        return self.convert_from(unit, value)
+
+    def __eq__(self, other):
+        if isinstance(other, str):
+            return other.lower() in (self.name, self.shorthand)
+        else:
+            return id(self) == id(other)
+
+    # This class is a singleton, we don't want copies around
+    def __copy__(self):
+        return self
+
+    def __deepcopy__(self, memo):
+        return self
+
+    def __str__(self):
+        return self.shorthand
+
+    def __repr__(self):
+        return f'<LengthUnit {self.name}>'
+
+
+MILLIMETERS_PER_INCH = 25.4
+Inch = LengthUnit('inch', 'in', MILLIMETERS_PER_INCH)
+MM = LengthUnit('millimeter', 'mm', 1)
+units = {'inch': Inch, 'mm': MM, None: None}
+
+
+class Tag:
+    """ Helper class to ease creation of SVG. All API functions that create SVG allow you to substitute this with your
+    own implementation by passing a ``tag`` parameter. """
+
+    def __init__(self, name, children=None, root=False, **attrs):
+        if (fill := attrs.get('fill')) and isinstance(fill, tuple):
+            attrs['fill'], attrs['fill-opacity'] = fill
+        if (stroke := attrs.get('stroke')) and isinstance(stroke, tuple):
+            attrs['stroke'], attrs['stroke-opacity'] = stroke
+        self.name, self.attrs = name, attrs
+        self.children = children or []
+        self.root = root
+
+    def __str__(self):
+        prefix = '<?xml version="1.0" encoding="utf-8"?>\n' if self.root else ''
+        opening = ' '.join([self.name] + [f'{key.replace("__", ":").replace("_", "-")}="{value}"' for key, value in self.attrs.items()])
+        if self.children:
+            children = '\n'.join(textwrap.indent(str(c), '  ') for c in self.children)
+            return f'{prefix}<{opening}>\n{children}\n</{self.name}>'
+        else:
+            return f'{prefix}<{opening}/>'
+
+
+def svg_rotation(angle_rad, cx=0, cy=0):
+    if math.isclose(angle_rad, 0.0, abs_tol=1e-3):
+        return {}
+    else:
+        return {'transform': f'rotate({float(math.degrees(angle_rad)):.4} {float(cx):.6} {float(cy):.6})'}
+
+def setup_svg(tags, bounds, margin=0, arg_unit=MM, svg_unit=MM, pagecolor='white', tag=Tag, inkscape=False):
+    (min_x, min_y), (max_x, max_y) = bounds
+
+    if margin:
+        margin = svg_unit(margin, arg_unit)
+        min_x -= margin
+        min_y -= margin
+        max_x += margin
+        max_y += margin
+
+    w, h = max_x - min_x, max_y - min_y
+    w = 1.0 if math.isclose(w, 0.0) else w
+    h = 1.0 if math.isclose(h, 0.0) else h
+
+    if inkscape:
+        tags.insert(0, tag('sodipodi:namedview', [], id='namedview1', pagecolor=pagecolor,
+                inkscape__document_units=svg_unit.shorthand))
+        namespaces = dict(
+            xmlns="http://www.w3.org/2000/svg",
+            xmlns__xlink="http://www.w3.org/1999/xlink",
+            xmlns__sodipodi='http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd',
+            xmlns__inkscape='http://www.inkscape.org/namespaces/inkscape')
+
+    else:
+        namespaces = dict(
+            xmlns="http://www.w3.org/2000/svg",
+            xmlns__xlink="http://www.w3.org/1999/xlink")
+
+    svg_unit = 'in' if svg_unit == 'inch' else 'mm'
+    # TODO export apertures as <uses> where reasonable.
+    return tag('svg', tags,
+            width=f'{w}{svg_unit}', height=f'{h}{svg_unit}',
+            viewBox=f'{min_x} {min_y} {w} {h}',
+            style=f'background-color:{pagecolor}',
+            **namespaces,
+            root=True)
+
+
+class Transform:
+    xform_re = r'((matrix|translate|scale|rotate|skewX|skewY)\(([-0-9. ]+)\))|(.+)'
+
+    def __init__(self, a=1, b=0, c=0, d=1, e=0, f=0):
+        # Reference: https://developer.mozilla.org/en-US/docs/Web/SVG/Attribute/transform
+        self.mat = (a, b, c, d, e, f)
+
+    def __mul__(self, other):
+        a1, b1, c1, d1, e1, f1 = self.mat
+        a2, b2, c2, d2, e2, f2 = other.mat
+
+        a = a1*a2 + c1*b2
+        b = d1*b2 + b1*a2
+        c = c1*d2 + a1*c2
+        d = d1*d2 + b1*c2
+        e = e1 + c1*f2 + a1*e2
+        f = f1 + d1*f2 + b1*e2
+
+        return Transform(a, b, c, d, e, f)
+
+    def __str__(self):
+        a, b, c, d, e, f = self.mat
+        return f'Transform({a=:.3f} {b=:.3f} {c=:.3f} {d=:.3f} {e=:.3f} {f=:.3f})'
+
+    def transform_point(self, x, y):
+        a, b, c, d, e, f = self.mat
+        x_new = a*x + c*y + e
+        y_new = b*x + d*y + f
+        return x_new, y_new
+
+    @classmethod
+    def translate(kls, x, y):
+        return kls(1, 0, 0, 1, x, y)
+
+    @classmethod
+    def scale(kls, x, y):
+        return kls(x, 0, 0, y, 0, 0)
+
+    @classmethod
+    def rotate(kls, a, x=0, y=0):
+        s, c = math.sin(a), math.cos(a)
+        mat = kls(c, s, -s, c, 0, 0)
+        if not math.isclose(x, 0) or not math.isclose(y, 0):
+            mat = kls.translate(x, y) * (mat * kls.translate(-x, -y))
+        return mat
+
+    @classmethod
+    def skew_x(kls, a):
+        return kls(1, 0, math.tan(a), 1, 0, 0)
+
+    @classmethod
+    def skew_y(kls, a):
+        return kls(1, math.tan(a), 0, 1, 0, 0)
+
+    @classmethod
+    def _parse_single_svg(kls, xform_string):
+        _transform, name, nums, _garbage = re.match(kls.xform_re, xform_string).groups()
+        nums = [float(x) for x in nums.strip().split()]
+        match (name, *nums):
+            case ('matrix', a, b, c, d, e, f):
+                return kls(a, b, c, d, e, f)
+            case ('translate', x):
+                return kls.translate(x, 0)
+            case ('translate', x, y):
+                return kls.translate(x, y)
+            case ('scale', s):
+                return kls.scale(s, s)
+            case ('scale', x, y):
+                return kls.scale(x, y)
+            case ('rotate', a):
+                return kls.rotate(math.radians(a))
+            case ('rotate', a, x, y):
+                return kls.rotate(math.radians(a), x, y)
+            case ('skewX', a):
+                return kls.skew_x(math.radians(a))
+            case ('skewY', a):
+                return kls.skew_y(math.radians(a))
+
+    @classmethod
+    def parse_svg(kls, xform_string):
+        mat = kls()
+        for xf in re.finditer(kls.xform_re, xform_string):
+            component, command, params, garbage = xf.groups()
+            if garbage:
+                raise ValueError(f'Unknown SVG transform {garbage!r}')
+            mat *= kls._parse_single_svg(xf.group(0))
+        return mat
+
+    def as_svg(self):
+        a, b, c, d, e, f = self.mat
+        return f'matrix({a} {b} {c} {d} {e} {f})'
+
+
+def parse_path_d(d):
+    # Reference: https://developer.mozilla.org/en-US/docs/Web/SVG/Attribute/d#path_commands
+    cur_x, cur_y = None, None
+    start_x, start_y = None, None
+    for m in re.finditer(r'([MmLlHhVvCcSsQqTtAaZz])\s*((-?[0-9.]+)(\s*[\s,]\s*-?[0-9.]+)*)', d):
+        command = m.group(1)
+        is_relative, command = command.islower(), command.upper()
+        params = [float(x or 0) for x in re.split(r'\s*[\s,]\s*', m.group(2).strip())]
+
+        def r(x, y, reset=True):
+            if is_relative:
+                x, y = x+cur_x, y+cur_y
+            if reset:
+                cur_x, cur_y = x, y
+            return x, y
+
+        if command == 'Z':
+            if params:
+                raise ValueError('Z (close path) command followed by numeric parameters')
+            if not math.isclose(cur_x, start_x) or not math.isclose(cur_y, start_y):
+                yield 'L', (start_x, start_y)
+
+        else:
+            while params:
+                match (command, *params):
+                    case ('M', x, y, *_extra):
+                        yield 'M', r(x, y)
+                        start_x, start_y = cur_x, cur_y
+                        command = 'L'
+                        params = params[2:]
+                    case ('L', x, y, *_extra):
+                        yield 'L', r(x, y)
+                        params = params[2:]
+                    case ('H', x, *_extra):
+                        yield 'L', r(x, 0 if is_relative else cur_y)
+                        params = params[1:]
+                    case ('V', y, *_extra):
+                        yield 'L', r(0 if is_relative else cur_x, y)
+                        params = params[1:]
+                    case ('C', x1, y1, x2, y2, x, y, *_extra):
+                        yield 'C', r(x1, y1, False), r(x2, y2, False), r(x, y)
+                        params = params[6:]
+                    case ('S', dx2, dy2, x, y, *_extra):
+                        yield 'S', r(dx2, dy2, False), r(x, y)
+                        params = params[4:]
+                    case ('Q', x1, y1, x, y, *_extra):
+                        yield 'Q', r(x1, y1, False), r(x, y)
+                        params = params[4:]
+                    case ('T', x, y, *_extra):
+                        yield 'T', r(x, y)
+                        params = params[2:]
+                    case ('A', rx, ry, a, l, s, x, y, *_extra):
+                        yield 'A', (rx, ry), a, l, s, r(x, y)
+                        params = params[7:]
+            
+