mattercontrol/MatterControlLib/ConfigurationPage/PrintLeveling/WizardPages/AutoProbeFeedback.cs

/*
Copyright (c) 2019, Lars Brubaker, John Lewin
All rights reserved.

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modification, are permitted provided that the following conditions are met:

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   list of conditions and the following disclaimer.
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   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

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*/

using System;
using System.Collections.Generic;
using System.Linq;
using MatterControl.Printing;
using MatterHackers.Agg.UI;
using MatterHackers.MatterControl.PrinterCommunication;
using MatterHackers.MatterControl.SlicerConfiguration;
using MatterHackers.VectorMath;

namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
{
	public class AutoProbeFeedback : WizardPage
	{
		private Vector3 lastReportedPosition;
		private List<ProbePosition> probePositions;
		private int probePositionsBeingEditedIndex;

		protected Vector3 probeStartPosition;

		public AutoProbeFeedback(ISetupWizard setupWizard, Vector3 probeStartPosition, string headerText, string details, List<ProbePosition> probePositions, int probePositionsBeingEditedIndex)
			: base(setupWizard, headerText, details)
		{
			this.probeStartPosition = probeStartPosition;
			this.probePositions = probePositions;

			this.lastReportedPosition = printer.Connection.LastReportedPosition;
			this.probePositionsBeingEditedIndex = probePositionsBeingEditedIndex;

			var spacer = new GuiWidget(15, 15);
			contentRow.AddChild(spacer);

			FlowLayoutWidget textFields = new FlowLayoutWidget(FlowDirection.TopToBottom);
		}

		private void GetZProbeHeight(object sender, string line)
		{
			if (line != null)
			{
				double sampleRead = double.MinValue;
				if (line.StartsWith("Bed")) // marlin G30 return code (looks like: 'Bed Position X:20 Y:32 Z:.01')
				{
					probePositions[probePositionsBeingEditedIndex].position.X = probeStartPosition.X;
					probePositions[probePositionsBeingEditedIndex].position.Y = probeStartPosition.Y;
					GCodeFile.GetFirstNumberAfter("Z:", line, ref sampleRead);
				}
				else if (line.StartsWith("Z:")) // smoothie G30 return code (looks like: 'Z:10.01')
				{
					probePositions[probePositionsBeingEditedIndex].position.X = probeStartPosition.X;
					probePositions[probePositionsBeingEditedIndex].position.Y = probeStartPosition.Y;
					// smoothie returns the position relative to the start position
					double reportedProbeZ = 0;
					GCodeFile.GetFirstNumberAfter("Z:", line, ref reportedProbeZ);
					sampleRead = probeStartPosition.Z - reportedProbeZ;
				}

				if (sampleRead != double.MinValue)
				{
					samples.Add(sampleRead);

					int numberOfSamples = printer.Settings.GetValue<int>(SettingsKey.z_probe_samples);
					if (samples.Count == numberOfSamples)
					{
						samples.Sort();
						if (samples.Count > 3)
						{
							// drop the high and low values
							samples.RemoveAt(0);
							samples.RemoveAt(samples.Count - 1);
						}

						probePositions[probePositionsBeingEditedIndex].position.Z = Math.Round(samples.Average(), 2);

						UiThread.RunOnIdle(() => NextButton.InvokeClick());
					}
					else if (!this.HasBeenClosed)
					{
						// add the next request for probe
						printer.Connection.QueueLine("G30");
						// raise the probe after each sample
						printer.Connection.MoveAbsolute(adjustedProbePosition, feedRates.X);
					}
				}
			}
		}

		List<double> samples = new List<double>();
		private int numberOfSamples;
		private Vector3 feedRates;
		private Vector3 adjustedProbePosition;

		public override void OnLoad(EventArgs args)
		{
			// always make sure we don't have print leveling turned on
			printer.Connection.AllowLeveling = false;

			if (printer.Settings.GetValue<bool>(SettingsKey.has_z_probe)
				&& printer.Settings.GetValue<bool>(SettingsKey.use_z_probe)
				&& printer.Settings.GetValue<bool>(SettingsKey.has_z_servo))
			{
				// make sure the servo is deployed
				var servoDeploy = printer.Settings.GetValue<double>(SettingsKey.z_servo_depolyed_angle);
				printer.Connection.QueueLine($"M280 P0 S{servoDeploy}");
			}

			feedRates = printer.Settings.Helpers.ManualMovementSpeeds();

			adjustedProbePosition = probeStartPosition;
			// subtract out the probe offset
			var probeOffset = printer.Settings.GetValue<Vector3>(SettingsKey.probe_offset);
			// we are only interested in the xy position
			probeOffset.Z = 0;
			adjustedProbePosition -= probeOffset;

			printer.Connection.MoveAbsolute(PrinterConnection.Axis.Z, probeStartPosition.Z, feedRates.Z);
			printer.Connection.MoveAbsolute(adjustedProbePosition, feedRates.X);

			numberOfSamples = printer.Settings.GetValue<int>(SettingsKey.z_probe_samples)-1;

			// probe the current position
			printer.Connection.QueueLine("G30");
			// raise the probe after each sample
			printer.Connection.MoveAbsolute(adjustedProbePosition, feedRates.X);

			NextButton.Enabled = false;

			if (printer.Connection.IsConnected
				&& !(printer.Connection.Printing
				|| printer.Connection.Paused))
			{
				printer.Connection.LineReceived += GetZProbeHeight;
			}

			base.OnLoad(args);
		}

		public override void OnClosed(EventArgs e)
		{
			printer.Connection.LineReceived -= GetZProbeHeight;
			base.OnClosed(e);
		}
	}
}