fdcef50706
Bed compensation taper is now applied to 3/4/5-point compensation methods too Recognise generated-with comment in new Cura gcode files Recognise filament-used info min new kisslicer files When uploading files, create the full path if necessary Duet 0.8.5 webserver looks for gzipped files first A second controlled fan on the Duet 0.6 is no longer inverted
106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
/*
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* Grid.h
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*
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* Created on: 18 Nov 2016
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* Author: David
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*/
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#ifndef SRC_MOVEMENT_GRID_H_
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#define SRC_MOVEMENT_GRID_H_
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#include <cstdint>
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#include "ecv.h"
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#include "Libraries/General/StringRef.h"
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#include "Configuration.h"
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class FileStore;
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// This class defines the bed probing grid
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class GridDefinition
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{
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public:
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friend class HeightMap;
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GridDefinition();
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GridDefinition(const float xRange[2], const float yRange[2], float pRadius, float pSpacing);
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uint32_t NumXpoints() const { return numX; }
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uint32_t NumYpoints() const { return numY; }
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uint32_t NumPoints() const { return numX * numY; }
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float GetXCoordinate(unsigned int xIndex) const;
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float GetYCoordinate(unsigned int yIndex) const;
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bool IsInRadius(float x, float y) const;
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bool IsValid() const { return isValid; }
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void PrintParameters(StringRef& r) const;
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void WriteHeadingAndParameters(StringRef& r) const;
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static bool CheckHeading(const StringRef& s);
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bool ReadParameters(const StringRef& s);
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void PrintError(StringRef& r) const
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pre(!IsValid());
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private:
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void CheckValidity();
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static constexpr float MinSpacing = 0.1; // The minimum point spacing allowed
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static constexpr float MinRange = 1.0; // The minimum X and Y range allowed
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static const char *HeightMapLabelLine; // The line we write to the height map file listing the parameter names
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// Primary parameters
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float xMin, xMax, yMin, yMax; // The edges of the grid for G29 probing
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float radius; // The grid radius to probe
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float spacing; // The spacing of the grid probe points
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// Derived parameters
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uint32_t numX, numY;
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float recipSpacing;
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bool isValid;
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};
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// Class to represent the height map
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class HeightMap
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{
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public:
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HeightMap(float *heightStorage);
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const GridDefinition& GetGrid() const { return def; }
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void SetGrid(const GridDefinition& gd);
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float GetInterpolatedHeightError(float x, float y) const; // Compute the interpolated height error at the specified point
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void ClearGridHeights(); // Clear all grid height corrections
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void SetGridHeight(size_t xIndex, size_t yIndex, float height); // Set the height of a grid point
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bool SaveToFile(FileStore *f) const // Save the grid to file returning true if an error occurred
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pre(IsValid());
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bool LoadFromFile(FileStore *f, StringRef& r); // Load the grid from file returning true if an error occurred
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unsigned int GetMinimumSegments(float distance) const; // Return the minimum number of segments for a move by this X or Y amount
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void UseHeightMap(bool b);
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bool UsingHeightMap() const { return useMap; }
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unsigned int GetStatistics(float& mean, float& deviation) const; // Return number of points probed, mean and RMS deviation
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private:
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static const char *HeightMapComment; // The start of the comment we write at the start of the height map file
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GridDefinition def;
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float *gridHeights; // The map of grid heights, must have at least MaxGridProbePoints entries
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uint32_t gridHeightSet[MaxGridProbePoints/32]; // Bitmap of which heights are set
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bool useMap; // True to do bed compensation
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uint32_t GetMapIndex(uint32_t xIndex, uint32_t yIndex) const { return (yIndex * def.NumXpoints()) + xIndex; }
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bool IsHeightSet(uint32_t index) const { return (gridHeightSet[index/32] & (1 << (index & 31))) != 0; }
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float GetHeightError(uint32_t xIndex, uint32_t yIndex) const;
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float InterpolateX(uint32_t xIndex, uint32_t yIndex, float xFrac) const;
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float InterpolateY(uint32_t xIndex, uint32_t yIndex, float yFrac) const;
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float InterpolateXY(uint32_t xIndex, uint32_t yIndex, float xFrac, float yFrac) const;
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float Interpolate2(uint32_t index1, uint32_t index2, float frac) const;
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float InterpolateCorner(uint32_t cornerIndex, uint32_t indexX, uint32_t indexY, float xFrac, float yFrac) const;
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};
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#endif /* SRC_MOVEMENT_GRID_H_ */
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