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/*
* Grid.cpp
*
* Created on: 18 Nov 2016
* Author: David
*/
#include "Grid.h"
#include "RepRapFirmware.h"
#include <cmath>
const char *GridDefinition::HeightMapLabelLine = "xmin,xmax,ymin,ymax,radius,spacing,xnum,ynum";
// Initialise the grid to be invalid
GridDefinition::GridDefinition()
: xMin(0.0), xMax(-1.0), yMin(0.0), yMax(-1.0), radius(-1.0), spacing(DefaultGridSpacing),
numX(0), numY(0), recipSpacing(1.0/spacing), isValid(false)
{
}
GridDefinition::GridDefinition(const float xRange[2], const float yRange[2], float pRadius, float pSpacing)
: xMin(xRange[0]), xMax(xRange[1]), yMin(yRange[0]), yMax(yRange[1]), radius(pRadius), spacing(pSpacing), recipSpacing(1.0/spacing)
{
numX = (xMax - xMin >= MinRange && spacing >= MinSpacing) ? (uint32_t)((xMax - xMin) * recipSpacing) + 1 : 0;
numY = (yMax - yMin >= MinRange && spacing >= MinSpacing) ? (uint32_t)((yMax - yMin) * recipSpacing) + 1 : 0;
CheckValidity();
}
void GridDefinition::CheckValidity()
{
isValid = NumPoints() != 0 && NumPoints() <= MaxGridProbePoints && (radius < 0.0 || radius >= 1.0);
}
float GridDefinition::GetXCoordinate(unsigned int xIndex) const
{
return xMin + (xIndex * spacing);
}
float GridDefinition::GetYCoordinate(unsigned int yIndex) const
{
return yMin + (yIndex * spacing);
}
bool GridDefinition::IsInRadius(float x, float y) const
{
return radius < 0.0 || x * x + y * y < radius * radius;
}
// Append the grid parameters to the end of a string
void GridDefinition::PrintParameters(StringRef& s) const
{
s.catf("X%.1f:%.1f, Y%.1f:%.1f, radius %.1f, spacing %.1f, %d points", xMin, xMax, yMin, yMax, radius, spacing, NumPoints());
}
// Write the parameter label line to a string
void GridDefinition::WriteHeadingAndParameters(StringRef& s) const
{
s.printf("%s\n%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%u,%u\n", HeightMapLabelLine, xMin, xMax, yMin, yMax, radius, spacing, numX, numY);
}
// Check the parameter label line returning true if correct
/*static*/ bool GridDefinition::CheckHeading(const StringRef& s)
{
return StringStartsWith(s.Pointer(), HeightMapLabelLine);
}
// Read the grid parameters from a string returning true if success
bool GridDefinition::ReadParameters(const StringRef& s)
{
bool ok = (sscanf(s.Pointer(), "%f,%f,%f,%f,%f,%f,%lu,%lu", &xMin, &xMax, &yMin, &yMax, &radius, &spacing, &numX, &numY) == 8);
if (ok)
{
CheckValidity();
}
else
{
isValid = false;
}
return ok;
}
// Print what is wrong with the grid, appending it to the existing string
void GridDefinition::PrintError(StringRef& r) const
{
if (spacing < MinSpacing)
{
r.cat("Spacing too small");
}
else if (numX == 0)
{
r.cat("X range too small");
}
else if (numY == 0)
{
r.cat("Y range too small");
}
else if (numX > MaxGridProbePoints || numY > MaxGridProbePoints || NumPoints() > MaxGridProbePoints) // check X and Y individually in case X*Y overflows
{
r.catf("Too many grid points (maximum %d, needed %d)", MaxGridProbePoints, NumPoints());
}
else
{
// The only thing left is a bad radius
r.cat("Bad radius");
}
}
// Increase the version number in the following string whenever we change the format of the height map file.
const char *HeightMap::HeightMapComment = "RepRapFirmware height map file v1";
HeightMap::HeightMap(float *heightStorage) : gridHeights(heightStorage) { }
void HeightMap::SetGrid(const GridDefinition& gd)
{
def = gd;
ClearGridHeights();
}
void HeightMap::ClearGridHeights()
{
for (size_t i = 0; i < MaxGridProbePoints/32; ++i)
{
gridHeightSet[i] = 0;
}
}
// Set the height of a grid point
void HeightMap::SetGridHeight(size_t xIndex, size_t yIndex, float height)
{
size_t index = yIndex * def.numX + xIndex;
if (index < MaxGridProbePoints)
{
gridHeights[index] = height;
gridHeightSet[index/32] |= 1u << (index & 31u);
}
}
// Return the minimum number of segments for a move by this X or Y amount
unsigned int HeightMap::GetMinimumSegments(float distance) const
{
return (distance > 0.0) ? (unsigned int)(distance * def.recipSpacing + 0.4) : 1;
}
// Save the grid to file returning true if an error occurred
bool HeightMap::SaveToFile(FileStore *f) const
{
char bufferSpace[500];
StringRef buf(bufferSpace, ARRAY_SIZE(bufferSpace));
// Write the header comment
buf.copy(HeightMapComment);
if (reprap.GetPlatform()->IsDateTimeSet())
{
time_t timeNow = reprap.GetPlatform()->GetDateTime();
const struct tm * const timeInfo = gmtime(&timeNow);
buf.catf(" generated at %04u-%02u-%02u %02u:%02u",
timeInfo->tm_year + 1900, timeInfo->tm_mon, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min);
}
buf.cat('\n');
if (!f->Write(buf.Pointer()))
{
return true;
}
// Write the grid parameters
def.WriteHeadingAndParameters(buf);
if (!f->Write(buf.Pointer()))
{
return true;
}
// Write the grid heights
uint32_t index = 0;
for (uint32_t i = 0; i < def.numY; ++i)
{
buf.Clear();
for (uint32_t j = 0; j < def.numX; ++j)
{
if (j != 0)
{
buf.cat(',');
}
if (IsHeightSet(index))
{
buf.catf("%.3f%", gridHeights[index]);
}
else
{
buf.cat("0"); // write 0 with no decimal point where we didn't probe, so we can tell when we reload it
}
++index;
}
buf.cat('\n');
if (!f->Write(buf.Pointer()))
{
return true;
}
}
return false;
}
// Load the grid from file, returning true if an error occurred with the error reason appended to the buffer
bool HeightMap::LoadFromFile(FileStore *f, StringRef& r)
{
const size_t MaxLineLength = 200; // maximum length of a line in the height map file
const char* const readFailureText = "failed to read line from file";
char buffer[MaxLineLength + 1];
StringRef s(buffer, ARRAY_SIZE(buffer));
ClearGridHeights();
GridDefinition newGrid;
if (f->ReadLine(buffer, sizeof(buffer)) <= 0)
{
r.cat(readFailureText);
}
else if (!StringStartsWith(buffer, HeightMapComment)) // check the version line is as expected
{
r.cat("bad header line or wrong version header");
}
else if (f->ReadLine(buffer, sizeof(buffer)) <= 0)
{
r.cat(readFailureText);
}
else if (!GridDefinition::CheckHeading(s)) // check the label line is as expected
{
r.cat("bad label line");
}
else if (f->ReadLine(buffer, sizeof(buffer)) <= 0) // read the height map parameters
{
r.cat(readFailureText);
}
else if (!newGrid.ReadParameters(s))
{
r.cat("failed to parse grid parameters");
}
else if (!newGrid.IsValid())
{
r.cat("invalid grid");
}
else
{
SetGrid(newGrid);
for (uint32_t row = 0; row < def.numY; ++row) // read the grid a row at a time
{
if (f->ReadLine(buffer, sizeof(buffer)) <= 0)
{
r.cat(readFailureText);
return true; // failed to read a line
}
const char *p = buffer;
for (uint32_t col = 0; col < def.numX; ++col)
{
if (*p == '0' && (p[1] == ',' || p[1] == 0))
{
// Values of 0 with no decimal places in un-probed values, so leave the point set as not valid
++p;
}
else
{
char* np = nullptr;
const float f = strtod(p, &np);
if (np == p)
{
r.catf("number expected at line %u column %d", row + 3, (p - buffer) + 1);
return true; // failed to read a number
}
SetGridHeight(col, row, f);
p = np;
}
if (*p == ',')
{
++p;
}
}
}
return false; // success!
}
return true; // an error occurred
}
// Compute the height error at the specified point
float HeightMap::ComputeHeightError(float x, float y) const
{
const float xf = (x - def.xMin) * def.recipSpacing;
const float xFloor = floor(xf);
const int32_t xIndex = (int32_t)xFloor;
const float yf = (y - def.yMin) * def.recipSpacing;
const float yFloor = floor(yf);
const int32_t yIndex = (int32_t)yFloor;
if (xIndex < 0)
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return GetHeightError(0, 0);
}
else if (yIndex >= (int)def.numY)
{
return GetHeightError(0, def.numY);
}
else
{
return InterpolateY(0, yIndex, yf - yFloor);
}
}
else if (xIndex >= (int)def.numX)
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return GetHeightError(def.numX, 0);
}
else if (yIndex >= (int)def.numY)
{
return GetHeightError(def.numX, def.numY);
}
else
{
return InterpolateY(def.numX, yIndex, yf - yFloor);
}
}
else
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return InterpolateX(xIndex, 0, xf - xFloor);
}
else if (yIndex >= (int)def.numY)
{
return InterpolateX(xIndex, def.numY, xf - xFloor);
}
else
{
return InterpolateXY(xIndex, yIndex, xf - xFloor, yf - yFloor);
}
}
}
float HeightMap::GetHeightError(uint32_t xIndex, uint32_t yIndex) const
{
const uint32_t index = GetMapIndex(xIndex, yIndex);
return (IsHeightSet(index)) ? gridHeights[index] : 0.0;
}
float HeightMap::InterpolateX(uint32_t xIndex, uint32_t yIndex, float xFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + 1, xFrac);
}
float HeightMap::InterpolateY(uint32_t xIndex, uint32_t yIndex, float yFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + def.numX, yFrac);
}
float HeightMap::Interpolate2(uint32_t index1, uint32_t index2, float frac) const
{
const bool b1 = IsHeightSet(index1);
const bool b2 = IsHeightSet(index2);
return (b1 && b2) ? (frac * gridHeights[index1]) + ((1.0 - frac) * gridHeights[index2])
: (b1) ? gridHeights[index1]
: (b2) ? gridHeights[index2]
: 0.0;
}
float HeightMap::InterpolateXY(uint32_t xIndex, uint32_t yIndex, float xFrac, float yFrac) const
{
const uint32_t indexX0Y0 = GetMapIndex(xIndex, yIndex); // (X0,Y0)
const uint32_t indexX1Y0 = indexX0Y0 + 1; // (X1,Y0)
const uint32_t indexX0Y1 = indexX0Y0 + def.numX; // (X0 Y1)
const uint32_t indexX1Y1 = indexX0Y1 + 1; // (X1,Y1)
const unsigned int cc = ((unsigned int)IsHeightSet(indexX0Y0) << 0)
+ ((unsigned int)IsHeightSet(indexX1Y0) << 1)
+ ((unsigned int)IsHeightSet(indexX0Y1) << 2)
+ ((unsigned int)IsHeightSet(indexX1Y1) << 3);
switch(cc)
{
case 0: // no points defined
default:
return 0.0;
case 1: // (X0,Y0) defined
return gridHeights[indexX0Y0];
case 2: // (X1,Y0) defined
return gridHeights[indexX1Y0];
case 3: // (X0,Y0) and (X1,Y0) defined
return (xFrac * gridHeights[indexX1Y0]) + ((1.0 - xFrac) * gridHeights[indexX0Y0]);
case 4: // (X0,Y1) defined
return gridHeights[indexX0Y1];
case 5: // (X0,Y0) and (X0,Y1) defined
return (yFrac * gridHeights[indexX0Y1]) + ((1.0 - yFrac) * gridHeights[indexX0Y0]);
case 6: // (X1,Y0) and (X0,Y1) defined - diagonal interpolation
return (((xFrac + 1.0 - yFrac) * gridHeights[indexX1Y0]) + ((yFrac + 1.0 - xFrac) * gridHeights[indexX0Y1]))/2;
case 7: // (X0,Y0), (X1,Y0) and (X0,Y1) defined - 3-way interpolation
return InterpolateCorner(indexX0Y0, indexX1Y0, indexX0Y1, xFrac, yFrac);
case 8: // (X1,Y1) defined
return gridHeights[indexX1Y1];
case 9: // (X0,Y0) and (X1,Y1) defined - diagonal interpolation
return ((xFrac + yFrac) * gridHeights[indexX1Y1]) + ((2.0 - (xFrac + yFrac)) * gridHeights[indexX0Y0])/2;
case 10: // (X1,Y0) and (X1,Y1) defined
return (yFrac * gridHeights[indexX1Y1]) + ((1.0 - yFrac) * gridHeights[indexX1Y0]);
case 11: // (X0,Y0), (X1,Y0) and (X1,Y1) defined - 3-way interpolation
return InterpolateCorner(indexX1Y0, indexX0Y0, indexX1Y1, xFrac, yFrac);
case 12: // (X0,Y1) and (X1,Y1) defined
return (xFrac * gridHeights[indexX1Y1]) + ((1.0 - xFrac) * gridHeights[indexX0Y1]);
case 13: // (X0,Y0), (X0,Y1) and (X1,Y1) defined - 3-way interpolation
return InterpolateCorner(indexX0Y1, indexX1Y1, indexX0Y0, xFrac, 1.0 - yFrac);
case 14: // (X1,Y0), (X0,Y1) and (X1,Y1) defined - 3-way interpolation
return InterpolateCorner(indexX1Y1, indexX0Y1, indexX1Y0, 1.0 - xFrac, 1.0 - yFrac);
case 15: // All points defined
{
const float xyFrac = xFrac * yFrac;
return (gridHeights[indexX0Y0] * (1.0 - xFrac - yFrac + xyFrac))
+ (gridHeights[indexX1Y0] * (xFrac - xyFrac))
+ (gridHeights[indexX0Y1] * (yFrac - xyFrac))
+ (gridHeights[indexX1Y1] * xyFrac);
}
}
}
float HeightMap::InterpolateCorner(uint32_t cornerIndex, uint32_t indexX, uint32_t indexY, float xFrac, float yFrac) const
{
return ((xFrac * gridHeights[indexX]) + (yFrac * gridHeights[indexY]) + ((2.0 - xFrac - yFrac) * gridHeights[cornerIndex]))/2;
}
// End
|