Removed heightmap code for SBC mode

Removed various bits that were previously needed for heightmap handling in SBC mode

4 files changed, 4 insertions, 117 deletions

diff --git a/src/SBC/DataTransfer.cpp b/src/SBC/DataTransfer.cpp
index 2902da8b..967134f4 100644
--- a/src/SBC/DataTransfer.cpp
+++ b/src/SBC/DataTransfer.cpp
@@ -601,48 +601,6 @@ GCodeChannel DataTransfer::ReadMacroCompleteInfo(bool &error) noexcept
 	return GCodeChannel(header->channel);
 }
 
-bool DataTransfer::ReadHeightMap() noexcept
-{
-	// Read height map header
-	const HeightMapHeader * const header = ReadDataHeader<HeightMapHeader>();
-	char axesLetter[2] 		= { 'X', 'Y' };
-	float axis0Range[2]		= { header->xMin, header->xMax };
-	float axis1Range[2]		= { header->yMin, header->yMax };
-	float spacing[2]		= { header->xSpacing, header->ySpacing };
-	const bool ok = reprap.GetGCodes().AssignGrid(axesLetter, axis0Range, axis1Range, header->radius, spacing);
-	if (ok)
-	{
-		// Read Z coordinates
-		const size_t numPoints = header->numX * header->numY;
-		const float *points = reinterpret_cast<const float *>(ReadData(sizeof(float) * numPoints));
-
-		HeightMap& map = reprap.GetMove().AccessHeightMap();
-		map.ClearGridHeights();
-		for (size_t i = 0; i < numPoints; i++)
-		{
-			if (!std::isnan(points[i]))
-			{
-				map.SetGridHeight(i, points[i]);
-			}
-		}
-
-		map.ExtrapolateMissing();
-
-		// Activate it
-		reprap.GetGCodes().ActivateHeightmap(true);
-
-		// Recalculate the deviations
-		float minError, maxError;
-		Deviation deviation;
-		const uint32_t numPointsProbed = reprap.GetMove().AccessHeightMap().GetStatistics(deviation, minError, maxError);
-		if (numPointsProbed >= 4)
-		{
-			reprap.GetMove().SetLatestMeshDeviation(deviation);
-		}
-	}
-	return ok;
-}
-
 GCodeChannel DataTransfer::ReadCodeChannel() noexcept
 {
 	const CodeChannelHeader *header = ReadDataHeader<CodeChannelHeader>();
@@ -1192,42 +1150,6 @@ bool DataTransfer::WritePrintPaused(FilePosition position, PrintPausedReason rea
 	return true;
 }
 
-bool DataTransfer::WriteHeightMap() noexcept
-{
-	const GridDefinition& grid = reprap.GetMove().GetGrid();
-
-	size_t numPoints = reprap.GetMove().AccessHeightMap().UsingHeightMap() ? grid.NumPoints() : 0;
-	size_t bytesToWrite = sizeof(HeightMapHeader) + numPoints * sizeof(float);
-	if (!CanWritePacket(bytesToWrite))
-	{
-		return false;
-	}
-
-	// Write packet header
-	(void)WritePacketHeader(FirmwareRequest::HeightMap, bytesToWrite);
-
-	// Write heightmap header
-	HeightMapHeader *header = WriteDataHeader<HeightMapHeader>();
-	header->xMin = grid.GetMin(0);
-	header->xMax = grid.GetMax(0);
-	header->xSpacing = grid.GetSpacing(0);
-	header->yMin = grid.GetMin(1);
-	header->yMax = grid.GetMax(1);
-	header->ySpacing = grid.GetSpacing(1);
-	header->radius = grid.radius;
-	header->numX = grid.NumAxisPoints(0);
-	header->numY = grid.NumAxisPoints(1);
-
-	// Write Z points
-	if (numPoints != 0)
-	{
-		float *zPoints = reinterpret_cast<float*>(txBuffer + txPointer);
-		reprap.GetMove().SaveHeightMapToArray(zPoints);
-		txPointer += numPoints * sizeof(float);
-	}
-	return true;
-}
-
 bool DataTransfer::WriteLocked(GCodeChannel channel) noexcept
 {
 	if (!CanWritePacket(sizeof(CodeChannelHeader)))
diff --git a/src/SBC/DataTransfer.h b/src/SBC/DataTransfer.h
index 4882b703..bdc87bc9 100644
--- a/src/SBC/DataTransfer.h
+++ b/src/SBC/DataTransfer.h
@@ -55,7 +55,6 @@ public:
 	void ReadPrintStartedInfo(size_t packetLength, const StringRef& filename, GCodeFileInfo &info) noexcept;	// Read info about the started file print
 	PrintStoppedReason ReadPrintStoppedInfo() noexcept;										// Read info about why the print has been stopped
 	GCodeChannel ReadMacroCompleteInfo(bool &error) noexcept;								// Read info about a completed macro file
-	bool ReadHeightMap() noexcept;															// Read heightmap parameters
 	GCodeChannel ReadCodeChannel() noexcept;												// Read a code channel
 	void ReadFileChunk(char *buffer, int32_t& dataLength, uint32_t& fileLength) noexcept;	// Read another chunk of a file
 	GCodeChannel ReadEvaluateExpression(size_t packetLength, const StringRef& expression) noexcept;	// Read an expression request
@@ -73,7 +72,6 @@ public:
 	bool WriteAbortFileRequest(GCodeChannel channel, bool abortAll) noexcept;
 	bool WriteMacroFileClosed(GCodeChannel channel) noexcept;
 	bool WritePrintPaused(FilePosition position, PrintPausedReason reason) noexcept;
-	bool WriteHeightMap() noexcept;
 	bool WriteLocked(GCodeChannel channel) noexcept;
 	bool WriteFileChunkRequest(const char *filename, uint32_t offset, uint32_t maxLength) noexcept;
 	bool WriteEvaluationResult(const char *expression, const ExpressionValue& value) noexcept;
diff --git a/src/SBC/SbcInterface.cpp b/src/SBC/SbcInterface.cpp
index d4bbb5a5..2230d2ec 100644
--- a/src/SBC/SbcInterface.cpp
+++ b/src/SBC/SbcInterface.cpp
@@ -431,39 +431,6 @@ void SbcInterface::ExchangeData() noexcept
 			break;
 		}
 
-		// Return heightmap as generated by G29 S0
-		case SbcRequest::GetHeightMap:
-		{
-			ConditionalReadLocker locker(reprap.GetMove().heightMapLock);
-			if (locker.IsLocked())
-			{
-				packetAcknowledged = transfer.WriteHeightMap();
-			}
-			else
-			{
-				packetAcknowledged = false;
-			}
-			break;
-		}
-
-		// Set heightmap via G29 S1
-		case SbcRequest::SetHeightMap:
-		{
-			ConditionalWriteLocker locker(reprap.GetMove().heightMapLock);
-			if (locker.IsLocked())
-			{
-				if (!transfer.ReadHeightMap())
-				{
-					reprap.GetPlatform().Message(ErrorMessage, "Failed to set height map - bad data?\n");
-				}
-			}
-			else
-			{
-				packetAcknowledged = false;
-			}
-			break;
-		}
-
 		// Lock movement and wait for standstill
 		case SbcRequest::LockMovementAndWaitForStandstill:
 		{
@@ -887,7 +854,7 @@ void SbcInterface::ExchangeData() noexcept
 			}
 			break;
 
-			// Invalid request
+		// Invalid request
 		default:
 			REPORT_INTERNAL_ERROR;
 			break;
diff --git a/src/SBC/SbcMessageFormats.h b/src/SBC/SbcMessageFormats.h
index 11991fb7..c536f881 100644
--- a/src/SBC/SbcMessageFormats.h
+++ b/src/SBC/SbcMessageFormats.h
@@ -207,7 +207,7 @@ enum class FirmwareRequest : uint16_t
 	AbortFile = 5,						// Request the current file to be closed
 	StackEvent_Obsolete = 6,			// Stack has been changed (unused)
 	PrintPaused = 7,					// Print has been paused
-	HeightMap = 8,						// Response to a heightmap request
+	HeightMap_Obsolete = 8,				// Response to a heightmap request (no longer used)
 	Locked = 9,							// Movement has been locked and machine is in standstill
 	FileChunk = 10,            			// Request another chunk of a file (only used by CAN expansion board updates)
 	EvaluationResult = 11,				// Response to an expression evaluation request
@@ -257,8 +257,8 @@ enum class SbcRequest : uint16_t
 	SetPrintFileInfo = 5,						// Print is about to be started, set file print information
     PrintStopped = 6,							// Print has been stopped, reset file print information
     MacroCompleted = 7,							// Notification that a macro file has been fully processed
-    GetHeightMap = 8,							// Request the heightmap coordinates as generated by G29 S0
-    SetHeightMap = 9,							// Set the heightmap coordinates via G29 S1
+    GetHeightMap_deprecated = 8,				// Request the heightmap coordinates as generated by G29 S0 (no longer used)
+    SetHeightMap_deprecated = 9,				// Set the heightmap coordinates via G29 S1 (no longer used)
     LockMovementAndWaitForStandstill = 10,		// Lock movement and wait for standstill
 	Unlock = 11,								// Unlock occupied resources
 	WriteIap = 12,								// Write another chunk of the IAP binary