473 lines
No EOL
14 KiB
C#
473 lines
No EOL
14 KiB
C#
/*
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Copyright (c) 2018, Lars Brubaker
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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The views and conclusions contained in the software and documentation are those
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of the authors and should not be interpreted as representing official policies,
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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 System.Threading;
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using System.Threading.Tasks;
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using MatterControl.Printing;
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using MatterHackers.Agg;
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using MatterHackers.Localizations;
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using MatterHackers.MatterControl.ConfigurationPage.PrintLeveling;
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using MatterHackers.MatterControl.SlicerConfiguration;
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using MatterHackers.VectorMath;
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namespace MatterHackers.MatterControl.PrinterCommunication.Io
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{
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public class ValidatePrintLevelingStream : GCodeStreamProxy
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{
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private readonly double[] babySteppingValue = new double[4];
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private readonly Queue<string> queuedCommands = new Queue<string>();
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private readonly List<double> samplesForSinglePosition = new List<double>();
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private int activeProbeIndex;
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private bool gcodeAlreadyLeveled;
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private LevelingPlan levelingPlan;
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private List<Vector2> positionsToSample;
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private Vector3 positionToSample;
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private Vector3 positionToSampleWithProbeOffset;
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private List<PrintLevelingWizard.ProbePosition> sampledPositions;
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private bool validationHasBeenRun;
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private bool validationRunning;
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private bool waitingToCompleteNextSample;
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private bool haveSeenM190;
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private bool haveSeenG28;
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private bool validationCanceled;
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public ValidatePrintLevelingStream(PrinterConfig printer, GCodeStream internalStream)
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: base(printer, internalStream)
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{
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if (!printer.Settings.GetValue<bool>(SettingsKey.has_heated_bed)
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|| printer.Settings.Helpers.ActiveBedTemperature == 0)
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{
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// If we don't have a bed or we are not going to set the temperature
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// do not wait for an M190
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haveSeenM190 = true;
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}
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}
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public override string DebugInfo => "";
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public override void Dispose()
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{
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CancelValidation();
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base.Dispose();
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}
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private void CancelValidation()
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{
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validationCanceled = true;
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if (validationRunning)
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{
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validationRunning = false;
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validationHasBeenRun = true;
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haveSeenG28 = false;
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haveSeenM190 = 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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queuedCommands.Clear();
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RetractProbe();
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}
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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.Helpers.ProbeBeingUsed
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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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queuedCommands.Enqueue($"M280 P0 S{servoRetract}");
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}
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}
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public void Cancel()
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{
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CancelValidation();
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}
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public override string ReadLine()
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{
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if (queuedCommands.Count > 0)
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{
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return queuedCommands.Dequeue();
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}
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if (validationRunning
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&& printer.Connection.PrintWasCanceled)
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{
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CancelValidation();
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}
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if (validationRunning
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&& !validationHasBeenRun)
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{
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SampleProbePoints();
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}
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string lineToSend = base.ReadLine();
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if (lineToSend != null
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&& lineToSend.EndsWith("; NO_PROCESSING"))
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{
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return lineToSend;
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}
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if (lineToSend == PrintLevelingStream.SoftwareLevelingAppliedMessage)
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{
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gcodeAlreadyLeveled = true;
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}
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if (lineToSend != null)
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{
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if (lineToSend.Contains("M190"))
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{
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haveSeenM190 = true;
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}
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if (lineToSend.Contains("G28"))
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{
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haveSeenG28 = true;
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}
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if (haveSeenG28
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&& haveSeenM190
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&& !validationRunning
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&& !validationHasBeenRun
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&& printer.Connection.Printing
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&& !validationCanceled)
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{
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SetupForValidation();
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}
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if (!validationHasBeenRun
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&& !gcodeAlreadyLeveled
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&& printer.Connection.IsConnected
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&& printer.Connection.Printing
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&& printer.Connection.CurrentlyPrintingLayer <= 0
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&& printer.Connection.ActivePrintTask?.RecoveryCount < 1
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&& printer.Settings.GetValue<bool>(SettingsKey.validate_leveling))
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{
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// we are setting the bed temp
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if (haveSeenG28 && haveSeenM190)
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{
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haveSeenG28 = false;
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haveSeenM190 = false;
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// still set the bed temp and wait
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return lineToSend;
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}
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}
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}
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return lineToSend;
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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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sampledPositions[activeProbeIndex].Position.X = positionToSample.X;
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sampledPositions[activeProbeIndex].Position.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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sampledPositions[activeProbeIndex].Position.X = positionToSample.X;
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sampledPositions[activeProbeIndex].Position.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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sampledPositions[activeProbeIndex].Position.Z = Math.Round(samplesForSinglePosition.Average(), 2);
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// If we are sampling the first point, check if it is unchanged from the last time we ran leveling
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if (activeProbeIndex == 0)
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{
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var levelingData = printer.Settings.Helpers.PrintLevelingData;
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var currentSample = sampledPositions[activeProbeIndex].Position.Z;
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var oldSample = levelingData.SampledPositions.Count > 0 ? levelingData.SampledPositions[activeProbeIndex].Z : 0;
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var delta = currentSample - oldSample;
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printer.Connection.TerminalLog.WriteLine($"Validation Sample: Old {oldSample}, New {currentSample}, Delta {delta}");
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if (levelingData.SampledPositions.Count == sampledPositions.Count
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&& Math.Abs(delta) < printer.Settings.GetValue<double>(SettingsKey.validation_threshold))
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{
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// the last leveling is still good abort this new calibration and start printing
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CancelValidation();
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waitingToCompleteNextSample = false;
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validationRunning = false;
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validationHasBeenRun = true;
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}
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}
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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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// and go on to the next point
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activeProbeIndex++;
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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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queuedCommands.Enqueue("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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queuedCommands.Enqueue($"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 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);
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if (activeProbeIndex < positionsToSample.Count)
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{
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var validProbePosition2D = PrintLevelingWizard.EnsureInPrintBounds(printer, positionsToSample[activeProbeIndex]);
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positionToSample = new Vector3(validProbePosition2D, startProbeHeight);
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this.SampleNextPoint();
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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 SaveSamplePoints()
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{
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PrintLevelingData levelingData = printer.Settings.Helpers.PrintLevelingData;
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levelingData.SampledPositions.Clear();
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for (int i = 0; i < sampledPositions.Count; i++)
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{
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levelingData.SampledPositions.Add(sampledPositions[i].Position);
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}
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levelingData.LevelingSystem = printer.Settings.GetValue<LevelingSystem>(SettingsKey.print_leveling_solution);
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levelingData.CreationDate = DateTime.Now;
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// record the temp the bed was when we measured it (or 0 if no heated bed)
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levelingData.BedTemperature = printer.Settings.GetValue<bool>(SettingsKey.has_heated_bed) ?
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printer.Settings.Helpers.ActiveBedTemperature
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: 0;
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levelingData.IssuedLevelingTempWarning = false;
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// Invoke setter forcing persistence of leveling data
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printer.Settings.Helpers.PrintLevelingData = levelingData;
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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 = true;
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printer.Settings.Helpers.DoPrintLeveling(true);
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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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activeProbeIndex = 0;
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printer.Connection.LineReceived += GetZProbeHeight;
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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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// clear them while we measure the offsets
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printer.Settings.SetValue(key, "0");
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});
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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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switch (levelingData.LevelingSystem)
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{
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case LevelingSystem.Probe3Points:
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levelingPlan = new LevelWizard3Point(printer);
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break;
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case LevelingSystem.Probe7PointRadial:
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levelingPlan = new LevelWizard7PointRadial(printer);
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break;
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case LevelingSystem.Probe13PointRadial:
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levelingPlan = new LevelWizard13PointRadial(printer);
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break;
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case LevelingSystem.Probe100PointRadial:
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levelingPlan = new LevelWizard100PointRadial(printer);
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break;
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case LevelingSystem.Probe3x3Mesh:
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levelingPlan = new LevelWizardMesh(printer, 3, 3);
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break;
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case LevelingSystem.Probe5x5Mesh:
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levelingPlan = new LevelWizardMesh(printer, 5, 5);
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break;
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case LevelingSystem.Probe10x10Mesh:
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levelingPlan = new LevelWizardMesh(printer, 10, 10);
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break;
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case LevelingSystem.ProbeCustom:
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levelingPlan = new LevelWizardCustom(printer);
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break;
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default:
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throw new NotImplementedException();
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}
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sampledPositions = new List<PrintLevelingWizard.ProbePosition>(levelingPlan.ProbeCount);
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for (int j = 0; j < levelingPlan.ProbeCount; j++)
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{
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sampledPositions.Add(new PrintLevelingWizard.ProbePosition());
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}
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positionsToSample = levelingPlan.GetPositionsToSample(printer.Connection.HomingPosition).ToList();
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StartReporting();
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}
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private void StartReporting()
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{
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ApplicationController.Instance.Tasks.Execute(
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"Leveling".Localize(),
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printer,
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(reporter, cancellationToken) =>
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{
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var progressStatus = new ProgressStatus();
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while (validationRunning)
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{
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if (activeProbeIndex == 0)
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{
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progressStatus.Status = "Validating";
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}
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else
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{
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progressStatus.Status = $"Probing point {activeProbeIndex} of {sampledPositions.Count}";
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}
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progressStatus.Progress0To1 = (activeProbeIndex + 1) / (double)sampledPositions.Count;
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reporter.Report(progressStatus);
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Thread.Sleep(100);
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}
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return Task.CompletedTask;
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},
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new RunningTaskOptions()
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{
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ReadOnlyReporting = true
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});
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}
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private void SampleNextPoint()
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{
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waitingToCompleteNextSample = true;
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samplesForSinglePosition.Clear();
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if (printer.Settings.GetValue<bool>(SettingsKey.has_z_servo))
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{
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// make sure the servo is deployed
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var servoDeployCommand = printer.Settings.GetValue<double>(SettingsKey.z_servo_depolyed_angle);
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queuedCommands.Enqueue($"M280 P0 S{servoDeployCommand}");
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}
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positionToSampleWithProbeOffset = positionToSample;
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// subtract out the probe offset
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var probeOffset = printer.Settings.GetValue<Vector3>(SettingsKey.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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var feedRates = printer.Settings.Helpers.ManualMovementSpeeds();
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queuedCommands.Enqueue($"G1 Z{positionToSample.Z:0.###} F{feedRates.Z}");
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queuedCommands.Enqueue($"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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queuedCommands.Enqueue("G30");
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// raise the probe after each sample
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queuedCommands.Enqueue($"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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} |