203 lines
9.7 KiB
C#
203 lines
9.7 KiB
C#
/*
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Copyright (c) 2016, Lars Brubaker, John Lewin
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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 MatterHackers.Agg;
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using MatterHackers.Agg.PlatformAbstract;
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using MatterHackers.GCodeVisualizer;
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using MatterHackers.MatterControl.ConfigurationPage.PrintLeveling;
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using MatterHackers.MatterControl.SlicerConfiguration;
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using MatterHackers.MatterControl.Tests.Automation;
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using MatterHackers.VectorMath;
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using NUnit.Framework;
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using System.Collections.Generic;
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using System.IO;
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namespace MatterControl.Tests.MatterControl
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{
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[TestFixture]
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public class LevelingTests
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{
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static LevelingTests()
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{
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MatterControlUtilities.OverrideAppDataLocation();
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}
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[Test, Category("Leveling")]
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public void Leveling7PointsNeverGetsTooHigh()
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{
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StaticData.Instance = new MatterHackers.Agg.FileSystemStaticData(Path.Combine("..", "..", "..", "..", "StaticData"));
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MatterControlUtilities.OverrideAppDataLocation();
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var levelingData = new PrintLevelingData(ActiveSliceSettings.Instance);
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double radius = 100;
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levelingData.SampledPositions = new List<Vector3>();
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levelingData.SampledPositions.Add(new Vector3(130.00, 0.00, 0));
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levelingData.SampledPositions.Add(new Vector3(65.00, 112.58, 10));
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levelingData.SampledPositions.Add(new Vector3(-65.00, 112.58, 0));
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levelingData.SampledPositions.Add(new Vector3(-130.00, 0.00, 10));
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levelingData.SampledPositions.Add(new Vector3(-65.00, -112.58, 0));
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levelingData.SampledPositions.Add(new Vector3(65.00, -112.58, 10));
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levelingData.SampledPositions.Add(new Vector3(0, 0, 0));
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levelingData.SampledPositions.Add(new Vector3(0, 0, 6));
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Vector2 bedCenter = Vector2.Zero;
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RadialLevlingFunctions levelingFunctions7Point = new RadialLevlingFunctions(6, levelingData, bedCenter);
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int totalPoints = 2000;
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for (int curPoint = 0; curPoint < totalPoints; curPoint++)
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{
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Vector2 currentTestPoint = new Vector2(radius, 0);
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currentTestPoint.Rotate(MathHelper.Tau / totalPoints * curPoint);
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Vector3 destPosition = new Vector3(currentTestPoint, 0);
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Vector3 outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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Assert.IsTrue(outPosition.z <= 10);
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string outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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double outZ = 0;
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Assert.IsTrue(GCodeFile.GetFirstNumberAfter("Z", outPositionString, ref outZ));
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Assert.IsTrue(outZ <= 10);
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}
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}
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[Test, Category("Leveling")]
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public void Leveling7PointsCorectInterpolation()
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{
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StaticData.Instance = new MatterHackers.Agg.FileSystemStaticData(Path.Combine("..", "..", "..", "..", "StaticData"));
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MatterControlUtilities.OverrideAppDataLocation();
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var levelingData = new PrintLevelingData(ActiveSliceSettings.Instance);
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double radius = 100;
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levelingData.SampledPositions = new List<Vector3>();
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Vector2 currentEdgePoint = new Vector2(radius, 0);
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for (int i = 0; i < 6; i++)
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{
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levelingData.SampledPositions.Add(new Vector3(currentEdgePoint, i));
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currentEdgePoint.Rotate(MathHelper.Tau / 6);
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}
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levelingData.SampledPositions.Add(new Vector3(0, 0, 6));
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Vector2 bedCenter = Vector2.Zero;
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RadialLevlingFunctions levelingFunctions7Point = new RadialLevlingFunctions(6, levelingData, bedCenter);
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for (int curPoint = 0; curPoint < 6; curPoint++)
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{
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int nextPoint = curPoint < 5 ? curPoint + 1 : 0;
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// test actual sample position
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Vector2 currentTestPoint = new Vector2(radius, 0);
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currentTestPoint.Rotate(MathHelper.Tau / 6 * curPoint);
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Vector3 destPosition = new Vector3(currentTestPoint, 0);
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Vector3 outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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Assert.AreEqual(outPosition.z, levelingData.SampledPositions[curPoint].z, .001);
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string outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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Assert.AreEqual(GetGCodeString(outPosition), outPositionString);
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// test mid point between samples
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Vector3 midPoint = (levelingData.SampledPositions[curPoint] + levelingData.SampledPositions[nextPoint]) / 2;
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currentTestPoint = new Vector2(midPoint.x, midPoint.y);
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destPosition = new Vector3(currentTestPoint, 0);
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outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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Assert.AreEqual(outPosition.z, midPoint.z, .001);
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outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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Assert.AreEqual(GetGCodeString(outPosition), outPositionString);
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// test mid point between samples with offset
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Vector3 midPointWithOffset = (levelingData.SampledPositions[curPoint] + levelingData.SampledPositions[nextPoint]) / 2 + new Vector3(0, 0, 3);
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currentTestPoint = new Vector2(midPointWithOffset.x, midPointWithOffset.y);
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destPosition = new Vector3(currentTestPoint, 3);
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outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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Assert.AreEqual(outPosition.z, midPointWithOffset.z, .001);
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outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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Assert.AreEqual(GetGCodeString(outPosition), outPositionString);
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// test 1/2 angles (mid way between samples on radius)
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currentTestPoint = new Vector2(radius, 0);
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currentTestPoint.Rotate(MathHelper.Tau / 6 * (curPoint + .5));
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destPosition = new Vector3(currentTestPoint, 0);
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outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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// the center is the higest point so the point on the radius has to be less than the mid point of the sample points (it is lower)
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Assert.IsTrue(outPosition.z < (levelingData.SampledPositions[curPoint].z + levelingData.SampledPositions[nextPoint].z) / 2 - .001);
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outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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Assert.AreEqual(GetGCodeString(outPosition), outPositionString);
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// test 1/2 to center
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currentTestPoint = new Vector2(radius / 2, 0);
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currentTestPoint.Rotate(MathHelper.Tau / 6 * curPoint);
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destPosition = new Vector3(currentTestPoint, 0);
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outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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Assert.AreEqual(outPosition.z, (levelingData.SampledPositions[curPoint].z + levelingData.SampledPositions[6].z) / 2, .001);
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outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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Assert.AreEqual(GetGCodeString(outPosition), outPositionString);
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}
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// prove that relative offsets work
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{
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Vector2 prevTestPoint = new Vector2(radius, 0);
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Vector3 prevDestPosition = new Vector3(prevTestPoint, 0);
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Vector3 prevOutPosition = levelingFunctions7Point.GetPositionWithZOffset(prevDestPosition);
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string prevOutPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(prevDestPosition), prevDestPosition, PrinterMachineInstruction.MovementTypes.Absolute);
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for (int curPoint = 1; curPoint < 6; curPoint++)
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{
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// test actual sample position
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Vector2 currentTestPoint = new Vector2(radius, 0);
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currentTestPoint.Rotate(MathHelper.Tau / 6 * curPoint);
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Vector3 destPosition = new Vector3(currentTestPoint, 0);
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Vector3 outPosition = levelingFunctions7Point.GetPositionWithZOffset(destPosition);
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string outPositionString = levelingFunctions7Point.DoApplyLeveling(GetGCodeString(destPosition), destPosition, PrinterMachineInstruction.MovementTypes.Relative);
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Vector3 delatFromPrevToCurrent = outPosition - prevOutPosition;
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Assert.AreEqual(GetGCodeString(delatFromPrevToCurrent), outPositionString);
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prevTestPoint = currentTestPoint;
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prevDestPosition = destPosition;
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prevOutPosition = outPosition;
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}
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}
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Vector3 outPosition2 = levelingFunctions7Point.GetPositionWithZOffset(Vector3.Zero);
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Assert.AreEqual(outPosition2.z, levelingData.SampledPositions[6].z, .001);
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}
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private string GetGCodeString(Vector3 destPosition)
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{
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return "G1 X{0:0.##} Y{1:0.##} Z{2:0.###}".FormatWith(destPosition.x, destPosition.y, destPosition.z);
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}
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// TODO: do all the same tests for 13 point leveling.
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}
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}
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