bed_mesh: improve zero reference offset
The relative_reference_index will now refer to a coordinate that is static and cannot be changed at runtime. If new mesh parameters are specifed and the reference lies outside of the mesh then the reference location will be probed. Additionally this introduces a 'zero_reference_position' option which accepts a specific X/Y coordinate. This may be used in place of the relative_reference_index. Signed-off-by: Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Eric Callahan
KevinOConnor
parent
775092fc01
commit
1ad4c0fd6e
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@ -278,6 +278,12 @@ class BedMesh:
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gcmd.respond_info("No mesh loaded to offset")
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class ZrefMode:
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DISABLED = 0 # Zero reference disabled
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IN_MESH = 1 # Zero reference position within mesh
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PROBE = 2 # Zero refrennce position outside of mesh, probe needed
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class BedMeshCalibrate:
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ALGOS = ['lagrange', 'bicubic']
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def __init__(self, config, bedmesh):
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@ -285,11 +291,25 @@ class BedMeshCalibrate:
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self.orig_config = {'radius': None, 'origin': None}
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self.radius = self.origin = None
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self.mesh_min = self.mesh_max = (0., 0.)
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self.zero_ref_pos = config.getfloatlist(
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"zero_reference_position", None, count=2
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)
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self.relative_reference_index = config.getint(
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'relative_reference_index', None)
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'relative_reference_index', None, minval=0)
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config.deprecate('relative_reference_index')
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if (
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self.zero_ref_pos is not None and
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self.relative_reference_index is not None
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):
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self.relative_reference_index = None
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logging.info(
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"bed_mesh: both 'zero_reference_postion' and "
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"'relative_reference_index' options are specified, "
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"the 'zero_reference_position' value will be used."
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)
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self.zero_reference_mode = ZrefMode.DISABLED
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self.faulty_regions = []
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self.substituted_indices = collections.OrderedDict()
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self.orig_config['rri'] = self.relative_reference_index
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self.bedmesh = bedmesh
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self.mesh_config = collections.OrderedDict()
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self._init_mesh_config(config)
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@ -346,9 +366,37 @@ class BedMeshCalibrate:
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(self.origin[0] + pos_x, self.origin[1] + pos_y))
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pos_y += y_dist
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self.points = points
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rri = self.relative_reference_index
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if self.zero_ref_pos is None and rri is not None:
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# Zero ref position needs to be initialized
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if rri >= len(self.points):
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raise error("bed_mesh: relative reference index out of range")
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self.zero_ref_pos = points[rri]
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if self.zero_ref_pos is None:
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# Zero Reference Disabled
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self.zero_reference_mode = ZrefMode.DISABLED
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elif within(self.zero_ref_pos, self.mesh_min, self.mesh_max):
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# Zero Reference position within mesh
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self.zero_reference_mode = ZrefMode.IN_MESH
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else:
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# Zero Reference position outside of mesh
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self.zero_reference_mode = ZrefMode.PROBE
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if not self.faulty_regions:
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return
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self.substituted_indices.clear()
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if self.zero_reference_mode == ZrefMode.PROBE:
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# Cannot probe a reference within a faulty region
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for min_c, max_c in self.faulty_regions:
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if within(self.zero_ref_pos, min_c, max_c):
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opt = "zero_reference_position"
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if self.relative_reference_index is not None:
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opt = "relative_reference_index"
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raise error(
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"bed_mesh: Cannot probe zero reference position at "
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"(%.2f, %.2f) as it is located within a faulty region."
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" Check the value for option '%s'"
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% (self.zero_ref_pos[0], self.zero_ref_pos[1], opt,)
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)
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# Check to see if any points fall within faulty regions
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last_y = self.points[0][1]
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is_reversed = False
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@ -398,11 +446,18 @@ class BedMeshCalibrate:
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mesh_pt = "(%.1f, %.1f)" % (x, y)
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print_func(
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" %-4d| %-16s| %s" % (i, adj_pt, mesh_pt))
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if self.relative_reference_index is not None:
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if self.zero_ref_pos is not None:
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rri = self.relative_reference_index
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if rri is not None:
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print_func(
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"bed_mesh: relative_reference_index %d is (%.2f, %.2f)"
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% (rri, self.points[rri][0], self.points[rri][1]))
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% (rri, self.zero_ref_pos[0], self.zero_ref_pos[1])
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)
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else:
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print_func(
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"bed_mesh: zero_reference_position is (%.2f, %.2f)"
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% (self.zero_ref_pos[0], self.zero_ref_pos[1])
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)
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if self.substituted_indices:
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print_func("bed_mesh: faulty region points")
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for i, v in self.substituted_indices.items():
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@ -522,7 +577,6 @@ class BedMeshCalibrate:
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# reset default configuration
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self.radius = self.orig_config['radius']
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self.origin = self.orig_config['origin']
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self.relative_reference_index = self.orig_config['rri']
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self.mesh_min = self.orig_config['mesh_min']
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self.mesh_max = self.orig_config['mesh_max']
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for key in list(self.mesh_config.keys()):
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@ -530,12 +584,6 @@ class BedMeshCalibrate:
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params = gcmd.get_command_parameters()
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need_cfg_update = False
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if 'RELATIVE_REFERENCE_INDEX' in params:
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self.relative_reference_index = gcmd.get_int(
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'RELATIVE_REFERENCE_INDEX')
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if self.relative_reference_index < 0:
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self.relative_reference_index = None
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need_cfg_update = True
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if self.radius is not None:
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if "MESH_RADIUS" in params:
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self.radius = gcmd.get_float("MESH_RADIUS")
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@ -585,9 +633,8 @@ class BedMeshCalibrate:
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pts = self._get_adjusted_points()
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self.probe_helper.update_probe_points(pts, 3)
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def _get_adjusted_points(self):
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if not self.substituted_indices:
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return self.points
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adj_pts = []
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if self.substituted_indices:
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last_index = 0
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for i, pts in self.substituted_indices.items():
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adj_pts.extend(self.points[last_index:i])
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@ -596,6 +643,10 @@ class BedMeshCalibrate:
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# we are replacing
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last_index = i + 1
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adj_pts.extend(self.points[last_index:])
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else:
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adj_pts = list(self.points)
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if self.zero_reference_mode == ZrefMode.PROBE:
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adj_pts.append(self.zero_ref_pos)
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return adj_pts
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cmd_BED_MESH_CALIBRATE_help = "Perform Mesh Bed Leveling"
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def cmd_BED_MESH_CALIBRATE(self, gcmd):
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@ -609,6 +660,14 @@ class BedMeshCalibrate:
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x_offset, y_offset, z_offset = offsets
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positions = [[round(p[0], 2), round(p[1], 2), p[2]]
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for p in positions]
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if self.zero_reference_mode == ZrefMode.PROBE :
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ref_pos = positions.pop()
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logging.info(
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"bed_mesh: z-offset replaced with probed z value at "
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"position (%.2f, %.2f, %.6f)"
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% (ref_pos[0], ref_pos[1], ref_pos[2])
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)
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z_offset = ref_pos[2]
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params = dict(self.mesh_config)
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params['min_x'] = min(positions, key=lambda p: p[0])[0] + x_offset
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params['max_x'] = max(positions, key=lambda p: p[0])[0] + x_offset
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@ -659,11 +718,6 @@ class BedMeshCalibrate:
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% (off_pt[0], off_pt[1], probed[0], probed[1]))
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positions = corrected_pts
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if self.relative_reference_index is not None:
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# zero out probe z offset and
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# set offset relative to reference index
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z_offset = positions[self.relative_reference_index][2]
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probed_matrix = []
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row = []
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prev_pos = positions[0]
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@ -720,6 +774,11 @@ class BedMeshCalibrate:
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z_mesh.build_mesh(probed_matrix)
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except BedMeshError as e:
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raise self.gcode.error(str(e))
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if self.zero_reference_mode == ZrefMode.IN_MESH:
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# The reference can be anywhere in the mesh, therefore
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# it is necessary to set the reference after the initial mesh
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# is generated to lookup the correct z value.
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z_mesh.set_zero_reference(*self.zero_ref_pos)
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self.bedmesh.set_mesh(z_mesh)
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self.gcode.respond_info("Mesh Bed Leveling Complete")
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self.bedmesh.save_profile(self._profile_name)
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@ -899,6 +958,16 @@ class ZMesh:
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# z step distances
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self.avg_z = round(self.avg_z, 2)
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self.print_mesh(logging.debug)
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def set_zero_reference(self, xpos, ypos):
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offset = self.calc_z(xpos, ypos)
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logging.info(
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"bed_mesh: setting zero reference at (%.2f, %.2f, %.6f)"
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% (xpos, ypos, offset)
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)
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for matrix in [self.probed_matrix, self.mesh_matrix]:
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for yidx in range(len(matrix)):
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for xidx in range(len(matrix[yidx])):
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matrix[yidx][xidx] -= offset
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def set_mesh_offsets(self, offsets):
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for i, o in enumerate(offsets):
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if o is not None:
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