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/*
* Grid.cpp
*
* Created on: 18 Nov 2016
* Author: David
*/
#include "Grid.h"
#include "RepRapFirmware.h"
#include <cmath>
// Increase the version number in the following string whenever we change the format of the height map file.
const char *HeightMapComment = "RepRapFirmware height map file v1";
// 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), gridHeights(nullptr),
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;
isValid = NumPoints() != 0 && NumPoints() <= MaxGridProbePoints && (radius < 0.0 || radius >= 1.0);
}
void GridDefinition::SetStorage(const float *heightStorage, const uint32_t *heightSetStorage)
{
gridHeights = heightStorage;
gridHeightSet = heightSetStorage;
}
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& r) const
{
r.catf("X%.1f:%.1f, Y%.1f:%.1f, radius %.1f, spacing %.1f, %d points", xMin, xMax, yMin, yMax, radius, spacing, NumPoints());
}
// Print what is wrong with the grid
void GridDefinition::PrintError(StringRef& r) const
{
if (spacing < MinSpacing)
{
r.cat("Spacing too small");
}
else if (NumXpoints() == 0)
{
r.cat("X range too small");
}
else if (NumYpoints() == 0)
{
r.cat("Y range too small");
}
else if (NumPoints() > MaxGridProbePoints)
{
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");
}
}
// Save the grid to file returning true if an error occurred
bool GridDefinition::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, 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
buf.printf("xmin,xmax,ymin,ymax,radius,spacing,xnum,ynum\n"
"%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%u,%u\n",
xMin, xMax, yMin, yMax, radius, spacing, numX, numY
);
if (!f->Write(buf.Pointer()))
{
return true;
}
// Write the grid heights
uint32_t index = 0;
for (uint32_t i = 0; i < numY; ++i)
{
buf.Clear();
for (uint32_t j = 0; j < 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
bool GridDefinition::LoadFromFile(FileStore *f)
{
//TODO
return true;
}
// Compute the height error at the specified point
float GridDefinition::ComputeHeightError(float x, float y) const
{
const float xf = (x - xMin) * recipSpacing;
const float xFloor = floor(xf);
const int32_t xIndex = (int32_t)xFloor;
const float yf = (y - yMin) * 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)NumYpoints())
{
return GetHeightError(0, NumYpoints());
}
else
{
return InterpolateY(0, yIndex, yf - yFloor);
}
}
else if (xIndex >= (int)NumXpoints())
{
if (yIndex < 0)
{
// We are off the bottom left corner of the grid
return GetHeightError(NumXpoints(), 0);
}
else if (yIndex >= (int)NumYpoints())
{
return GetHeightError(NumXpoints(), NumYpoints());
}
else
{
return InterpolateY(NumXpoints(), 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)NumYpoints())
{
return InterpolateX(xIndex, NumYpoints(), xf - xFloor);
}
else
{
return InterpolateXY(xIndex, yIndex, xf - xFloor, yf - yFloor);
}
}
}
float GridDefinition::GetHeightError(uint32_t xIndex, uint32_t yIndex) const
{
const uint32_t index = GetMapIndex(xIndex, yIndex);
return (IsHeightSet(index)) ? gridHeights[index] : 0.0;
}
float GridDefinition::InterpolateX(uint32_t xIndex, uint32_t yIndex, float xFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + 1, xFrac);
}
float GridDefinition::InterpolateY(uint32_t xIndex, uint32_t yIndex, float yFrac) const
{
const uint32_t index1 = GetMapIndex(xIndex, yIndex);
return Interpolate2(index1, index1 + numX, yFrac);
}
float GridDefinition::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 GridDefinition::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 + 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 GridDefinition::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
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