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/*
* Grid.h
*
* Created on: 18 Nov 2016
* Author: David
*/
#ifndef SRC_MOVEMENT_GRID_H_
#define SRC_MOVEMENT_GRID_H_
#include "RepRapFirmware.h"
#include "ObjectModel/ObjectModel.h"
class DataTransfer;
class Deviation;
// This class defines the bed probing grid
class GridDefinition INHERIT_OBJECT_MODEL
{
public:
friend class DataTransfer;
friend class HeightMap;
GridDefinition() noexcept;
char GetAxisLetter(size_t axis) const noexcept pre(axis < 2) { return letters[axis]; }
uint8_t GetAxisNumber(size_t axis) const noexcept pre(axis < 2) { return axisNumbers[axis]; }
float GetMin(size_t axis) const noexcept pre(axis < 2) { return mins[axis]; }
float GetMax(size_t axis) const noexcept pre(axis < 2) { return maxs[axis]; }
float GetSpacing(size_t axis) const noexcept pre(axis < 2) { return spacings[axis]; }
uint32_t NumAxisPoints(size_t axis) const noexcept pre(axis < 2) { return nums[axis]; }
uint32_t NumPoints() const noexcept { return nums[0] * nums[1]; }
float GetCoordinate(size_t axis, size_t coordinateIndex) pre(axis < 2) const noexcept { return mins[axis] + (coordinateIndex * spacings[axis]); }
bool IsInRadius(float x, float y) const noexcept;
bool IsValid() const noexcept { return isValid; }
bool Set(const char axisLetters[2], const float axis0Range[2], const float axis1Range[2], float pRadius, const float pSpacings[2]) noexcept;
void PrintParameters(const StringRef& r) const noexcept;
void WriteHeadingAndParameters(const StringRef& r) const noexcept;
static int CheckHeading(const StringRef& s) noexcept;
bool ReadParameters(const StringRef& s, int version) noexcept;
void PrintError(float originalXrange, float originalYrange, const StringRef& r) const noexcept
pre(!IsValid());
protected:
DECLARE_OBJECT_MODEL
private:
void CheckValidity() noexcept;
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 * const HeightMapLabelLines[]; // The line we write to the height map file listing the parameter names
// Primary parameters
char letters[2]; // Axis letters for this grid
float mins[2], maxs[2]; // The edges of the grid for G29 probing
float radius; // The grid radius to probe
float spacings[2]; // The spacings of the grid probe points
// Derived parameters
uint8_t axisNumbers[2]; // Axis numbers for this grid
uint32_t nums[2]; // Number of probe points in each direction
float recipAxisSpacings[2]; // Reciprocals of the axis spacings
bool isValid;
};
// Class to represent the height map
class HeightMap
{
public:
HeightMap() noexcept;
const GridDefinition& GetGrid() const noexcept { return def; }
void SetGrid(const GridDefinition& gd) noexcept;
float GetInterpolatedHeightError(float axis0, float axis1) const noexcept; // Compute the interpolated height error at the specified point
void ClearGridHeights() noexcept; // Clear all grid height corrections
void SetGridHeight(size_t axis0Index, size_t axis1Index, float height) noexcept; // Set the height of a grid point
void SetGridHeight(size_t index, float height) noexcept; // Set the height of a grid point
#if HAS_MASS_STORAGE
bool SaveToFile(FileStore *f, const char *fname, float zOffset) noexcept // Save the grid to file returning true if an error occurred
pre(IsValid());
bool LoadFromFile(FileStore *f, const char *fname, const StringRef& r) noexcept; // Load the grid from file returning true if an error occurred
#endif
#if HAS_MASS_STORAGE || HAS_LINUX_INTERFACE
const char *GetFileName() const noexcept { return fileName.c_str(); }
#endif
#if HAS_LINUX_INTERFACE
void SetFileName(const char *name) noexcept; // Update the filename
void SaveToArray(float *array, float zOffset) const noexcept // Save the grid Z coordinates to an array
pre(IsValid());
#endif
unsigned int GetMinimumSegments(float deltaAxis0, float deltaAxis1) const noexcept; // Return the minimum number of segments for a move by this X or Y amount
bool UseHeightMap(bool b) noexcept;
bool UsingHeightMap() const noexcept { return useMap; }
unsigned int GetStatistics(Deviation& deviation, float& minError, float& maxError) const noexcept;
// Return number of points probed, mean and RMS deviation, min and max error
void ExtrapolateMissing() noexcept; // Extrapolate missing points to ensure consistency
private:
static const char * const 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
LargeBitmap<MaxGridProbePoints> gridHeightSet; // Bitmap of which heights are set
#if HAS_MASS_STORAGE || HAS_LINUX_INTERFACE
String<MaxFilenameLength> fileName; // The name of the file that this height map was loaded from or saved to
#endif
bool useMap; // True to do bed compensation
uint32_t GetMapIndex(uint32_t axis0Index, uint32_t axis1Index) const noexcept { return (axis1Index * def.NumAxisPoints(0)) + axis0Index; }
float InterpolateAxis0Axis1(uint32_t axis0Index, uint32_t axis1Index, float axis0Frac, float axis1Frac) const noexcept;
};
#endif /* SRC_MOVEMENT_GRID_H_ */
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