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/*
* Grid.h
*
* Created on: 18 Nov 2016
* Author: David
*/
#ifndef SRC_MOVEMENT_GRID_H_
#define SRC_MOVEMENT_GRID_H_
#include <cstdint>
#include "RepRapFirmware.h"
#include "Libraries/General/StringRef.h"
// This class defines the bed probing grid
class GridDefinition
{
public:
friend class HeightMap;
GridDefinition();
GridDefinition(const float xRange[2], const float yRange[2], float pRadius, float pSpacing);
uint32_t NumXpoints() const { return numX; }
uint32_t NumYpoints() const { return numY; }
uint32_t NumPoints() const { return numX * numY; }
float GetXCoordinate(unsigned int xIndex) const;
float GetYCoordinate(unsigned int yIndex) const;
bool IsInRadius(float x, float y) const;
bool IsValid() const { return isValid; }
void PrintParameters(StringRef& r) const;
void WriteHeadingAndParameters(StringRef& r) const;
static bool CheckHeading(const StringRef& s);
bool ReadParameters(const StringRef& s);
void PrintError(float originalXrange, float originalYrange, StringRef& r) const
pre(!IsValid());
private:
void CheckValidity();
static constexpr float MinSpacing = 0.1; // The minimum point spacing allowed
static constexpr float MinRange = 1.0; // The minimum X and Y range allowed
static const char *HeightMapLabelLine; // The line we write to the height map file listing the parameter names
// Primary parameters
float xMin, xMax, yMin, yMax; // The edges of the grid for G29 probing
float radius; // The grid radius to probe
float spacing; // The spacing of the grid probe points
// Derived parameters
uint32_t numX, numY;
float recipSpacing;
bool isValid;
};
// Class to represent the height map
class HeightMap
{
public:
HeightMap();
const GridDefinition& GetGrid() const { return def; }
void SetGrid(const GridDefinition& gd);
float GetInterpolatedHeightError(float x, float y) const; // Compute the interpolated height error at the specified point
void ClearGridHeights(); // Clear all grid height corrections
void SetGridHeight(size_t xIndex, size_t yIndex, float height); // Set the height of a grid point
bool SaveToFile(FileStore *f) const // Save the grid to file returning true if an error occurred
pre(IsValid());
bool LoadFromFile(FileStore *f, StringRef& r); // Load the grid from file returning true if an error occurred
unsigned int GetMinimumSegments(float distance) const; // Return the minimum number of segments for a move by this X or Y amount
bool UseHeightMap(bool b);
bool UsingHeightMap() const { return useMap; }
unsigned int GetStatistics(float& mean, float& deviation) const; // Return number of points probed, mean and RMS deviation
void ExtrapolateMissing(); // Extrapolate missing points to ensure consistency
private:
static const char *HeightMapComment; // The start of the comment we write at the start of the height map file
GridDefinition def;
float gridHeights[MaxGridProbePoints]; // The Z coordinates of the points on the bed that were probed
uint32_t gridHeightSet[MaxGridProbePoints/32]; // Bitmap of which heights are set
bool useMap; // True to do bed compensation
uint32_t GetMapIndex(uint32_t xIndex, uint32_t yIndex) const { return (yIndex * def.NumXpoints()) + xIndex; }
bool IsHeightSet(uint32_t index) const { return (gridHeightSet[index/32] & (1 << (index & 31))) != 0; }
float InterpolateXY(uint32_t xIndex, uint32_t yIndex, float xFrac, float yFrac) const;
};
#endif /* SRC_MOVEMENT_GRID_H_ */
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