mattercontrol/MatterControlLib/ConfigurationPage/PrintLeveling/LevelingFunctions.cs

/*
Copyright (c) 2018, Lars Brubaker
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.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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*/

using System;
using System.Collections.Generic;
using System.Text;
using MatterControl.Printing;
using MatterHackers.MatterControl.SlicerConfiguration;
using MatterHackers.VectorMath;
using MIConvexHull;

namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
{
	public class LevelingFunctions
	{
		private Vector2 bedSize;
		private Vector3 lastDestinationWithLevelingApplied = new Vector3();
		private Dictionary<(int, int), int> positionToRegion = new Dictionary<(int, int), int>();
		private PrinterSettings printerSettings;

		public LevelingFunctions(PrinterSettings printerSettings, PrintLevelingData levelingData)
		{
			this.printerSettings = printerSettings;
			this.SampledPositions = new List<Vector3>(levelingData.SampledPositions);

			bedSize = printerSettings.GetValue<Vector2>(SettingsKey.bed_size);

			// get the delaunay triangulation
			var zDictionary = new Dictionary<(double, double), double>();
			var vertices = new List<DefaultVertex>();

			if (SampledPositions.Count > 2)
			{
				foreach (var sample in SampledPositions)
				{
					vertices.Add(new DefaultVertex()
					{
						Position = new double[] { sample.X, sample.Y }
					});
					var key = (sample.X, sample.Y);
					if (!zDictionary.ContainsKey(key))
					{
						zDictionary.Add(key, sample.Z);
					}
				};
			}
			else
			{
				vertices.Add(new DefaultVertex()
				{
					Position = new double[] { 0, 0 }
				});
				zDictionary.Add((0, 0), 0);

				vertices.Add(new DefaultVertex()
				{
					Position = new double[] { 200, 0 }
				});
				zDictionary.Add((200, 0), 0);

				vertices.Add(new DefaultVertex()
				{
					Position = new double[] { 100, 200 }
				});
				zDictionary.Add((100, 200), 0);
			}

			int extraXPosition = -50000;
			vertices.Add(new DefaultVertex()
			{
				Position = new double[] { extraXPosition, vertices[0].Position[1] }
			});

			var triangles = DelaunayTriangulation<DefaultVertex, DefaultTriangulationCell<DefaultVertex>>.Create(vertices, .001);

			var probeOffset = new Vector3(0, 0, printerSettings.GetValue<double>(SettingsKey.z_probe_z_offset));
			// make all the triangle planes for these triangles
			foreach (var triangle in triangles.Cells)
			{
				var p0 = triangle.Vertices[0].Position;
				var p1 = triangle.Vertices[1].Position;
				var p2 = triangle.Vertices[2].Position;
				if (p0[0] != extraXPosition && p1[0] != extraXPosition && p2[0] != extraXPosition)
				{
					var v0 = new Vector3(p0[0], p0[1], zDictionary[(p0[0], p0[1])]);
					var v1 = new Vector3(p1[0], p1[1], zDictionary[(p1[0], p1[1])]);
					var v2 = new Vector3(p2[0], p2[1], zDictionary[(p2[0], p2[1])]);
					// add all the regions
					Regions.Add(new LevelingTriangle(v0 - probeOffset, v1 - probeOffset, v2 - probeOffset));
				}
			}
		}

		public List<Vector3> SampledPositions { get; }

		private List<LevelingTriangle> Regions { get; } = new List<LevelingTriangle>();

		public string ApplyLeveling(string lineBeingSent, Vector3 currentDestination)
		{
			double extruderDelta = 0;
			GCodeFile.GetFirstNumberAfter("E", lineBeingSent, ref extruderDelta);
			double feedRate = 0;
			GCodeFile.GetFirstNumberAfter("F", lineBeingSent, ref feedRate);

			StringBuilder newLine = new StringBuilder("G1 ");

			if (lineBeingSent.Contains("X") || lineBeingSent.Contains("Y") || lineBeingSent.Contains("Z"))
			{
				Vector3 outPosition = GetPositionWithZOffset(currentDestination);

				lastDestinationWithLevelingApplied = outPosition;

				newLine = newLine.Append(String.Format("X{0:0.##} Y{1:0.##} Z{2:0.###}", outPosition.X, outPosition.Y, outPosition.Z));
			}

			if (extruderDelta != 0)
			{
				newLine = newLine.Append(String.Format(" E{0:0.###}", extruderDelta));
			}

			if (feedRate != 0)
			{
				newLine = newLine.Append(String.Format(" F{0:0.##}", feedRate));
			}

			lineBeingSent = newLine.ToString();

			return lineBeingSent;
		}

		public Vector3 GetPositionWithZOffset(Vector3 currentDestination)
		{
			LevelingTriangle region = GetCorrectRegion(currentDestination);

			return region.GetPositionWithZOffset(currentDestination);
		}

		private LevelingTriangle GetCorrectRegion(Vector3 currentDestination)
		{
			int xIndex = (int)Math.Round(currentDestination.X * 100 / bedSize.X);
			int yIndex = (int)Math.Round(currentDestination.Y * 100 / bedSize.Y);

			int bestIndex;
			if (!positionToRegion.TryGetValue((xIndex, yIndex), out bestIndex))
			{
				// else calculate the region and store it
				double bestDist = double.PositiveInfinity;

				currentDestination.Z = 0;
				for (int regionIndex = 0; regionIndex < Regions.Count; regionIndex++)
				{
					var dist = (Regions[regionIndex].Center - currentDestination).LengthSquared;
					if (dist < bestDist)
					{
						bestIndex = regionIndex;
						bestDist = dist;
					}
				}

				positionToRegion.Add((xIndex, yIndex), bestIndex);
			}

			return Regions[bestIndex];
		}

		public class LevelingTriangle
		{
			public LevelingTriangle(Vector3 v0, Vector3 v1, Vector3 v2)
			{
				this.V0 = v0;
				this.V1 = v1;
				this.V2 = v2;
				this.Center = (V0 + V1 + V2) / 3;
				this.Plane = new Plane(V0, V1, V2);
			}

			public Vector3 Center { get; }
			public Plane Plane { get; }
			public Vector3 V0 { get; }
			public Vector3 V1 { get; }
			public Vector3 V2 { get; }

			public Vector3 GetPositionWithZOffset(Vector3 currentDestination)
			{
				var destinationAtZ0 = new Vector3(currentDestination.X, currentDestination.Y, 0);

				double hitDistance = this.Plane.GetDistanceToIntersection(destinationAtZ0, Vector3.UnitZ);
				currentDestination.Z += hitDistance;

				return currentDestination;
			}
		}
	}
}