More work on probe validation
Started work on a new boolean operation stack
This commit is contained in:
Lars Brubaker
parent
fe31aaca05
commit
03890b1155
7 changed files with 454 additions and 116 deletions
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@ -28,14 +28,28 @@ either expressed or implied, of the FreeBSD Project.
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using MatterControl.Printing;
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using MatterHackers.Localizations;
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using MatterHackers.MatterControl.PrinterCommunication;
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using MatterHackers.MatterControl.SlicerConfiguration;
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using MatterHackers.VectorMath;
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namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
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{
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public class ZProbeCalibrateRetrieveTopProbeData : WizardPage
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{
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private bool validationRunning;
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private bool oldAllowLeveling;
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private Vector3 positionToSample;
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private List<double> babySteppingValue;
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private Vector3 sampledPosition;
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private bool waitingToCompleteNextSample;
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private bool dataCollected;
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private List<double> samplesForSinglePosition;
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private Vector3 positionToSampleWithProbeOffset;
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public ZProbeCalibrateRetrieveTopProbeData(ISetupWizard setupWizard, string headerText)
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: base(setupWizard, headerText, "")
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{
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@ -44,22 +58,215 @@ namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
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contentRow.BackgroundColor = theme.MinimalShade;
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}
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public override void OnClosed(EventArgs e)
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{
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CancelValidation();
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printer.Connection.CanceleRequested -= Connection_PrintCanceled;
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base.OnClosed(e);
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}
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private void CancelValidation()
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{
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if (validationRunning)
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{
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validationRunning = false;
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printer.Connection.LineReceived -= GetZProbeHeight;
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// If leveling was on when we started, make sure it is on when we are done.
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printer.Connection.AllowLeveling = true;
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// set the baby stepping back to the last known good value
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printer.Settings.ForTools<double>(SettingsKey.baby_step_z_offset, (key, value, i) =>
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{
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printer.Settings.SetValue(key, babySteppingValue[i].ToString());
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});
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RetractProbe();
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}
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}
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private void Connection_PrintCanceled(object sender, EventArgs e)
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{
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CancelValidation();
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}
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private void RetractProbe()
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{
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// make sure we raise the probe on close
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if (printer.Settings.GetValue<bool>(SettingsKey.has_z_probe)
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&& printer.Settings.GetValue<bool>(SettingsKey.use_z_probe)
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&& printer.Settings.GetValue<bool>(SettingsKey.has_z_servo))
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{
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// make sure the servo is retracted
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var servoRetract = printer.Settings.GetValue<double>(SettingsKey.z_servo_retracted_angle);
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printer.Connection.QueueLine($"M280 P0 S{servoRetract}");
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}
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}
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private void SampleProbePoints()
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{
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if (waitingToCompleteNextSample)
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{
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return;
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}
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double startProbeHeight = printer.Settings.GetValue<double>(SettingsKey.print_leveling_probe_start) + ZProbePrintCalibrationPartPage.CalibrationObjectHeight(printer);
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if (!dataCollected)
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{
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var validProbePosition2D = PrintLevelingWizard.EnsureInPrintBounds(printer, printer.Bed.BedCenter);
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positionToSample = new Vector3(validProbePosition2D, startProbeHeight);
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this.SamplePoint();
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}
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else
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{
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SaveSamplePoints();
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CancelValidation();
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}
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}
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private void GetZProbeHeight(object sender, string line)
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{
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if (line != null)
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{
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double sampleRead = double.MinValue;
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if (line.StartsWith("Bed")) // marlin G30 return code (looks like: 'Bed Position X:20 Y:32 Z:.01')
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{
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sampledPosition.X = positionToSample.X;
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sampledPosition.Y = positionToSample.Y;
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GCodeFile.GetFirstNumberAfter("Z:", line, ref sampleRead);
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}
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else if (line.StartsWith("Z:")) // smoothie G30 return code (looks like: 'Z:10.01')
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{
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sampledPosition.X = positionToSample.X;
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sampledPosition.Y = positionToSample.Y;
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// smoothie returns the position relative to the start position
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double reportedProbeZ = 0;
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GCodeFile.GetFirstNumberAfter("Z:", line, ref reportedProbeZ);
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sampleRead = positionToSample.Z - reportedProbeZ;
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}
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if (sampleRead != double.MinValue)
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{
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samplesForSinglePosition.Add(sampleRead);
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int numberOfSamples = printer.Settings.GetValue<int>(SettingsKey.z_probe_samples);
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if (samplesForSinglePosition.Count >= numberOfSamples)
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{
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samplesForSinglePosition.Sort();
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if (samplesForSinglePosition.Count > 3)
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{
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// drop the high and low values
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samplesForSinglePosition.RemoveAt(0);
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samplesForSinglePosition.RemoveAt(samplesForSinglePosition.Count - 1);
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}
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sampledPosition.Z = Math.Round(samplesForSinglePosition.Average(), 2);
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// When probe data has been collected, resume our thread to continue collecting
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waitingToCompleteNextSample = false;
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}
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else
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{
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// add the next request for probe
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printer.Connection.QueueLine("G30");
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// raise the probe after each sample
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var feedRates = printer.Settings.Helpers.ManualMovementSpeeds();
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printer.Connection.QueueLine($"G1 X{positionToSampleWithProbeOffset.X:0.###}Y{positionToSampleWithProbeOffset.Y:0.###}Z{positionToSampleWithProbeOffset.Z:0.###} F{feedRates.X}");
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}
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}
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}
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}
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private void SaveSamplePoints()
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{
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printer.Settings.ForTools<double>(SettingsKey.baby_step_z_offset, (key, value, i) =>
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{
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printer.Settings.SetValue(key, "0");
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});
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printer.Connection.AllowLeveling = oldAllowLeveling;
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}
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private void SetupForValidation()
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{
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validationRunning = true;
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// make sure baby stepping is removed as this will be calibrated exactly (assuming it works)
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printer.Settings.ForTools<double>(SettingsKey.baby_step_z_offset, (key, value, i) =>
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{
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// remember the current baby stepping values
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babySteppingValue[i] = value;
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printer.Settings.SetValue(key, "0");
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});
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oldAllowLeveling = printer.Connection.AllowLeveling;
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// turn off print leveling
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printer.Connection.AllowLeveling = false;
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var levelingData = new PrintLevelingData()
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{
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LevelingSystem = printer.Settings.GetValue<LevelingSystem>(SettingsKey.print_leveling_solution)
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};
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}
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private void DeployServo()
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{
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if (printer.Settings.GetValue<bool>(SettingsKey.has_z_servo))
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{
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// make sure the servo is deployed
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var servoDeployCommand = printer.Settings.GetValue<double>(SettingsKey.z_servo_depolyed_angle);
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printer.Connection.QueueLine($"M280 P0 S{servoDeployCommand}");
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}
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}
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private Vector3 ProbeOffset
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{
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get => printer.Settings.GetValue<Vector3>(SettingsKey.probe_offset);
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}
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private Vector3 FeedRates
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{
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get => printer.Settings.Helpers.ManualMovementSpeeds();
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}
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private void SamplePoint()
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{
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positionToSampleWithProbeOffset = positionToSample;
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var feedRates = FeedRates;
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var probeOffset = ProbeOffset;
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// subtract out the probe offset
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// we are only interested in the xy position
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probeOffset.Z = 0;
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positionToSampleWithProbeOffset -= probeOffset;
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printer.Connection.QueueLine($"G1 Z{positionToSample.Z:0.###} F{feedRates.Z}");
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printer.Connection.QueueLine($"G1 X{positionToSampleWithProbeOffset.X:0.###}Y{positionToSampleWithProbeOffset.Y:0.###}Z{positionToSampleWithProbeOffset.Z:0.###} F{feedRates.X}");
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// probe the current position
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printer.Connection.QueueLine("G30");
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// raise the probe after each sample
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printer.Connection.QueueLine($"G1 X{positionToSampleWithProbeOffset.X:0.###}Y{positionToSampleWithProbeOffset.Y:0.###}Z{positionToSampleWithProbeOffset.Z:0.###} F{feedRates.X}");
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}
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public override void OnLoad(EventArgs args)
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{
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// register to listen to the printer
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printer.Connection.LineReceived += GetZProbeHeight;
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printer.Connection.CanceleRequested += Connection_PrintCanceled;
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// we have just completed the print of the calibration object move to the probe position and probe the top
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this.NextButton.Enabled = false;
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// make sure we are on T0
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printer.Connection.QueueLine("T0");
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printer.Connection.MoveRelative(PrinterConnection.Axis.X, .1, printer.Settings.Helpers.ManualMovementSpeeds().X);
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if (printer.Settings.GetValue<bool>(SettingsKey.z_homes_to_max))
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{
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printer.Connection.HomeAxis(PrinterConnection.Axis.XYZ);
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}
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else if (!printer.Settings.GetValue<bool>(SettingsKey.has_z_probe))
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{
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// Lift the hotend off the bed - at the conclusion of the wizard, make sure we lift the heated nozzle off the bed
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printer.Connection.MoveRelative(PrinterConnection.Axis.Z, 2, printer.Settings.Helpers.ManualMovementSpeeds().Z);
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}
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// Move to the correct z height
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printer.Connection.MoveAbsolute(PrinterConnection.Axis.Z, 2, printer.Settings.Helpers.ManualMovementSpeeds().Z);
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base.OnLoad(args);
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}
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