bed_mesh: refactoring
Renamed some variables in set_mesh() previous called "mesh_min" and "mesh_max" to alleviate confusion with the config options. Renamed several attributes for clarity. The "calibrate" attribute is now bmc, "probe_params" is now "mesh_params", "probed_z_table" is now "probed_matrix", "mesh_z_table" is now "mesh_matrix". Signed-off-by: Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Arksine
KevinOConnor
parent
74892a7702
commit
5b20ac416c
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@ -56,7 +56,7 @@ class BedMesh:
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self.printer.register_event_handler("klippy:ready",
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self.handle_ready)
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self.last_position = [0., 0., 0., 0.]
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self.calibrate = BedMeshCalibrate(config, self)
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self.bmc = BedMeshCalibrate(config, self)
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self.z_mesh = None
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self.toolhead = None
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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@ -79,8 +79,8 @@ class BedMesh:
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self.gcode.set_move_transform(self)
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def handle_ready(self):
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self.toolhead = self.printer.lookup_object('toolhead')
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self.calibrate.print_generated_points(logging.info)
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self.calibrate.load_default_profile()
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self.bmc.print_generated_points(logging.info)
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self.bmc.load_default_profile()
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def set_mesh(self, mesh):
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if mesh is not None and self.fade_end != self.FADE_DISABLE:
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self.log_fade_complete = True
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@ -88,8 +88,8 @@ class BedMesh:
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self.fade_target = mesh.avg_z
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else:
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self.fade_target = self.base_fade_target
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mesh_min, mesh_max = mesh.get_z_range()
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if (not mesh_min <= self.fade_target <= mesh_max and
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min_z, max_z = mesh.get_z_range()
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if (not min_z <= self.fade_target <= max_z and
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self.fade_target != 0.):
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# fade target is non-zero, out of mesh range
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err_target = self.fade_target
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@ -98,18 +98,18 @@ class BedMesh:
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raise self.gcode.error(
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"bed_mesh: ERROR, fade_target lies outside of mesh z "
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"range\nmin: %.4f, max: %.4f, fade_target: %.4f"
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% (mesh_min, mesh_max, err_target))
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% (min_z, max_z, err_target))
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if self.fade_target:
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mesh.offset_mesh(self.fade_target)
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mesh_min, mesh_max = mesh.get_z_range()
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if self.fade_dist <= max(abs(mesh_min), abs(mesh_max)):
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min_z, max_z = mesh.get_z_range()
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if self.fade_dist <= max(abs(min_z), abs(max_z)):
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self.z_mesh = None
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self.fade_target = 0.
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raise self.gcode.error(
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"bed_mesh: Mesh extends outside of the fade range, "
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"please see the fade_start and fade_end options in"
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"example-extras.cfg. fade distance: %.2f mesh min: %.4f"
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"mesh max: %.4f" % (self.fade_dist, mesh_min, mesh_max))
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"mesh max: %.4f" % (self.fade_dist, min_z, max_z))
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else:
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self.fade_target = 0.
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self.z_mesh = mesh
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@ -173,11 +173,11 @@ class BedMesh:
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def cmd_BED_MESH_OUTPUT(self, params):
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if self.gcode.get_int('PGP', params, 0):
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# Print Generated Points instead of mesh
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self.calibrate.print_generated_points(self.gcode.respond_info)
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self.bmc.print_generated_points(self.gcode.respond_info)
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elif self.z_mesh is None:
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self.gcode.respond_info("Bed has not been probed")
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else:
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self.calibrate.print_probed_positions(self.gcode.respond_info)
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self.bmc.print_probed_positions(self.gcode.respond_info)
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self.z_mesh.print_mesh(self.gcode.respond, self.horizontal_move_z)
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cmd_BED_MESH_CLEAR_help = "Clear the Mesh so no z-adjusment is made"
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def cmd_BED_MESH_CLEAR(self, params):
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@ -193,11 +193,11 @@ class BedMeshCalibrate:
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self.relative_reference_index = config.getint(
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'relative_reference_index', None)
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self.bedmesh = bedmesh
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self.probed_z_table = None
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self.probed_matrix = None
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self.build_map = False
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self.probe_params = collections.OrderedDict()
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self.mesh_params = collections.OrderedDict()
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self.points = self._generate_points(config)
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self._init_probe_params(config, self.points)
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self._init_mesh_params(config, self.points)
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self.probe_helper = probe.ProbePointsHelper(
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config, self.probe_finalize, self.points)
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self.probe_helper.minimum_points(3)
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@ -237,8 +237,8 @@ class BedMeshCalibrate:
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if max_x <= min_x or max_y <= min_y:
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raise config.error('bed_mesh: invalid min/max points')
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self.probe_params['x_count'] = x_cnt
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self.probe_params['y_count'] = y_cnt
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self.mesh_params['x_count'] = x_cnt
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self.mesh_params['y_count'] = y_cnt
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x_dist = (max_x - min_x) / (x_cnt - 1)
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y_dist = (max_y - min_y) / (y_cnt - 1)
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# floor distances down to next hundredth
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@ -297,20 +297,20 @@ class BedMeshCalibrate:
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(rri, self.points[rri][0] - x_offset,
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self.points[rri][1] - y_offset,
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self.points[rri][0], self.points[rri][1]))
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def _init_probe_params(self, config, points):
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self.probe_params['x_offset'] = 0.
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self.probe_params['y_offset'] = 0.
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def _init_mesh_params(self, config, points):
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self.mesh_params['x_offset'] = 0.
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self.mesh_params['y_offset'] = 0.
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pps = parse_pair(config, ('mesh_pps', '2'), check=False,
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cast=int, minval=0)
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self.probe_params['mesh_x_pps'] = pps[0]
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self.probe_params['mesh_y_pps'] = pps[1]
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self.probe_params['algo'] = config.get('algorithm', 'lagrange') \
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self.mesh_params['mesh_x_pps'] = pps[0]
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self.mesh_params['mesh_y_pps'] = pps[1]
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self.mesh_params['algo'] = config.get('algorithm', 'lagrange') \
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.strip().lower()
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if self.probe_params['algo'] not in self.ALGOS:
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if self.mesh_params['algo'] not in self.ALGOS:
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raise config.error(
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"bed_mesh: Unknown algorithm <%s>"
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% (self.probe_params['algo']))
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self.probe_params['tension'] = config.getfloat(
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% (self.mesh_params['algo']))
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self.mesh_params['tension'] = config.getfloat(
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'bicubic_tension', .2, minval=0., maxval=2.)
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def _load_storage(self, config):
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stored_profs = config.get_prefix_sections(self.name)
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@ -324,9 +324,9 @@ class BedMeshCalibrate:
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self.profiles[name]['points'] = \
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[[float(pt.strip()) for pt in line.split(',')]
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for line in z_values if line.strip()]
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self.profiles[name]['probe_params'] = params = \
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self.profiles[name]['mesh_params'] = params = \
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collections.OrderedDict()
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for key, value in self.probe_params.iteritems():
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for key, value in self.mesh_params.iteritems():
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if type(value) is int:
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params[key] = profile.getint(key)
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elif type(value) is float:
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@ -334,7 +334,7 @@ class BedMeshCalibrate:
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elif type(value) is str:
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params[key] = profile.get(key)
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def save_profile(self, prof_name):
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if self.probed_z_table is None:
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if self.probed_matrix is None:
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self.gcode.respond_info(
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"Unable to save to profile [%s], the bed has not been probed"
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% (prof_name))
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@ -343,18 +343,18 @@ class BedMeshCalibrate:
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cfg_name = self.name + " " + prof_name
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# set params
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z_values = ""
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for line in self.probed_z_table:
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for line in self.probed_matrix:
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z_values += "\n "
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for p in line:
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z_values += "%.6f, " % p
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z_values = z_values[:-2]
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configfile.set(cfg_name, 'points', z_values)
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for key, value in self.probe_params.iteritems():
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for key, value in self.mesh_params.iteritems():
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configfile.set(cfg_name, key, value)
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# save copy in local storage
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self.profiles[prof_name] = profile = {}
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profile['points'] = list(self.probed_z_table)
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profile['probe_params'] = collections.OrderedDict(self.probe_params)
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profile['points'] = list(self.probed_matrix)
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profile['mesh_params'] = collections.OrderedDict(self.mesh_params)
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self.gcode.respond_info(
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"Bed Mesh state has been saved to profile [%s]\n"
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"for the current session. The SAVE_CONFIG command will\n"
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@ -365,10 +365,10 @@ class BedMeshCalibrate:
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if profile is None:
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raise self.gcode.error(
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"bed_mesh: Unknown profile [%s]" % prof_name)
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self.probed_z_table = profile['points']
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zmesh = ZMesh(profile['probe_params'])
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self.probed_matrix = profile['points']
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zmesh = ZMesh(profile['mesh_params'])
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try:
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zmesh.build_mesh(self.probed_z_table)
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zmesh.build_mesh(self.probed_matrix)
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except BedMeshError as e:
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raise self.gcode.error(e.message)
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self.bedmesh.set_mesh(zmesh)
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@ -418,9 +418,9 @@ class BedMeshCalibrate:
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self.bedmesh.set_mesh(None)
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self.probe_helper.start_probe(params)
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def print_probed_positions(self, print_func):
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if self.probed_z_table is not None:
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if self.probed_matrix is not None:
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msg = "Mesh Leveling Probed Z positions:\n"
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for line in self.probed_z_table:
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for line in self.probed_matrix:
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for x in line:
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msg += " %f" % x
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msg += "\n"
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@ -428,29 +428,29 @@ class BedMeshCalibrate:
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else:
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print_func("bed_mesh: bed has not been probed")
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def probe_finalize(self, offsets, positions):
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self.probe_params['x_offset'] = offsets[0]
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self.probe_params['y_offset'] = offsets[1]
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self.probe_params['min_x'] = min(positions, key=lambda p: p[0])[0]
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self.probe_params['max_x'] = max(positions, key=lambda p: p[0])[0]
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self.probe_params['min_y'] = min(positions, key=lambda p: p[1])[1]
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self.probe_params['max_y'] = max(positions, key=lambda p: p[1])[1]
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self.mesh_params['x_offset'] = offsets[0]
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self.mesh_params['y_offset'] = offsets[1]
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self.mesh_params['min_x'] = min(positions, key=lambda p: p[0])[0]
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self.mesh_params['max_x'] = max(positions, key=lambda p: p[0])[0]
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self.mesh_params['min_y'] = min(positions, key=lambda p: p[1])[1]
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self.mesh_params['max_y'] = max(positions, key=lambda p: p[1])[1]
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z_offset = offsets[2]
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x_cnt = self.probe_params['x_count']
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y_cnt = self.probe_params['y_count']
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x_cnt = self.mesh_params['x_count']
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y_cnt = self.mesh_params['y_count']
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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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self.probed_z_table = []
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self.probed_matrix = []
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row = []
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prev_pos = positions[0]
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for pos in positions:
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if not isclose(pos[1], prev_pos[1], abs_tol=.1):
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# y has changed, append row and start new
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self.probed_z_table.append(row)
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self.probed_matrix.append(row)
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row = []
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if pos[0] > prev_pos[0]:
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# probed in the positive direction
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@ -460,24 +460,24 @@ class BedMeshCalibrate:
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row.insert(0, pos[2] - z_offset)
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prev_pos = pos
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# append last row
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self.probed_z_table.append(row)
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self.probed_matrix.append(row)
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# make sure the y-axis is the correct length
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if len(self.probed_z_table) != y_cnt:
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if len(self.probed_matrix) != y_cnt:
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raise self.gcode.error(
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("bed_mesh: Invalid y-axis table length\n"
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"Probed table length: %d Probed Table:\n%s") %
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(len(self.probed_z_table), str(self.probed_z_table)))
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(len(self.probed_matrix), str(self.probed_matrix)))
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if self.radius is not None:
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# round bed, extrapolate probed values to create a square mesh
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for row in self.probed_z_table:
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for row in self.probed_matrix:
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row_size = len(row)
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if not row_size & 1:
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# an even number of points in a row shouldn't be possible
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msg = "bed_mesh: incorrect number of points sampled on X\n"
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msg += "Probed Table:\n"
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msg += str(self.probed_z_table)
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msg += str(self.probed_matrix)
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raise self.gcode.error(msg)
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buf_cnt = (x_cnt - row_size) / 2
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if buf_cnt == 0:
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@ -488,26 +488,26 @@ class BedMeshCalibrate:
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row.extend(right_buffer)
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# make sure that the x-axis is the correct length
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for row in self.probed_z_table:
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for row in self.probed_matrix:
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if len(row) != x_cnt:
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raise self.gcode.error(
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("bed_mesh: invalid x-axis table length\n"
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"Probed table length: %d Probed Table:\n%s") %
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(len(self.probed_z_table), str(self.probed_z_table)))
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(len(self.probed_matrix), str(self.probed_matrix)))
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if self.build_map:
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params = self.probe_params
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params = self.mesh_params
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outdict = {
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'min_point': (params['min_x'], params['min_y']),
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'max_point': (params['max_x'], params['max_y']),
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'xy_offset': offsets[:2],
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'z_positions': self.probed_z_table}
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'z_positions': self.probed_matrix}
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self.gcode.respond(
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"mesh_map_output " + json.dumps(outdict))
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else:
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mesh = ZMesh(self.probe_params)
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mesh = ZMesh(self.mesh_params)
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try:
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mesh.build_mesh(self.probed_z_table)
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mesh.build_mesh(self.probed_matrix)
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except BedMeshError as e:
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raise self.gcode.error(e.message)
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self.bedmesh.set_mesh(mesh)
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@ -578,12 +578,12 @@ class MoveSplitter:
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class ZMesh:
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def __init__(self, params):
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self.mesh_z_table = None
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self.probe_params = params
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self.mesh_matrix = None
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self.mesh_params = params
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self.avg_z = 0.
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self.mesh_offset = 0.
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logging.debug('bed_mesh: probe/mesh parameters:')
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for key, value in self.probe_params.iteritems():
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for key, value in self.mesh_params.iteritems():
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logging.debug("%s : %s" % (key, value))
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self.mesh_x_min = params['min_x'] + params['x_offset']
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self.mesh_x_max = params['max_x'] + params['x_offset']
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@ -606,11 +606,11 @@ class ZMesh:
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# a mesh with 3 points on either axis defaults to legrange
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# upsampling
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self._sample = self._sample_lagrange
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self.probe_params['algo'] = 'lagrange'
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self.mesh_params['algo'] = 'lagrange'
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if mesh_x_pps == 0 and mesh_y_pps == 0:
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# No interpolation, sample the probed points directly
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self._sample = self._sample_direct
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self.probe_params['algo'] = 'direct'
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self.mesh_params['algo'] = 'direct'
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self.mesh_x_count = (px_cnt - 1) * mesh_x_pps + px_cnt
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self.mesh_y_count = (py_cnt - 1) * mesh_y_pps + py_cnt
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self.x_mult = mesh_x_pps + 1
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@ -622,7 +622,7 @@ class ZMesh:
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self.mesh_y_dist = (self.mesh_y_max - self.mesh_y_min) / \
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(self.mesh_y_count - 1)
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def print_mesh(self, print_func, move_z=None):
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if self.mesh_z_table is not None:
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if self.mesh_matrix is not None:
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msg = "Mesh X,Y: %d,%d\n" % (self.mesh_x_count, self.mesh_y_count)
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if move_z is not None:
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msg += "Search Height: %d\n" % (move_z)
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@ -630,28 +630,28 @@ class ZMesh:
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rng = self.get_z_range()
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msg += "Mesh Range: min=%.4f max=%.4f\n" % (rng[0], rng[1])
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msg += "Interpolation Algorithm: %s\n" \
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% (self.probe_params['algo'])
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% (self.mesh_params['algo'])
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msg += "Measured points:\n"
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for y_line in range(self.mesh_y_count - 1, -1, -1):
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for z in self.mesh_z_table[y_line]:
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for z in self.mesh_matrix[y_line]:
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msg += " %f" % (z + self.mesh_offset)
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msg += "\n"
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print_func(msg)
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else:
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print_func("bed_mesh: Z Mesh not generated")
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def build_mesh(self, z_table):
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self._sample(z_table)
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self.avg_z = (sum([sum(x) for x in self.mesh_z_table]) /
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sum([len(x) for x in self.mesh_z_table]))
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def build_mesh(self, z_matrix):
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self._sample(z_matrix)
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self.avg_z = (sum([sum(x) for x in self.mesh_matrix]) /
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sum([len(x) for x in self.mesh_matrix]))
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# Round average to the nearest 100th. This
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# should produce an offset that is divisible by common
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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)
|
||||
def offset_mesh(self, offset):
|
||||
if self.mesh_z_table:
|
||||
if self.mesh_matrix:
|
||||
self.mesh_offset = offset
|
||||
for y_line in self.mesh_z_table:
|
||||
for y_line in self.mesh_matrix:
|
||||
for idx, z in enumerate(y_line):
|
||||
y_line[idx] = z - self.mesh_offset
|
||||
def get_x_coordinate(self, index):
|
||||
|
|
@ -659,8 +659,8 @@ class ZMesh:
|
|||
def get_y_coordinate(self, index):
|
||||
return self.mesh_y_min + self.mesh_y_dist * index
|
||||
def calc_z(self, x, y):
|
||||
if self.mesh_z_table is not None:
|
||||
tbl = self.mesh_z_table
|
||||
if self.mesh_matrix is not None:
|
||||
tbl = self.mesh_matrix
|
||||
tx, xidx = self._get_linear_index(x, 0)
|
||||
ty, yidx = self._get_linear_index(y, 1)
|
||||
z0 = lerp(tx, tbl[yidx][xidx], tbl[yidx][xidx+1])
|
||||
|
|
@ -670,9 +670,9 @@ class ZMesh:
|
|||
# No mesh table generated, no z-adjustment
|
||||
return 0.
|
||||
def get_z_range(self):
|
||||
if self.mesh_z_table is not None:
|
||||
mesh_min = min([min(x) for x in self.mesh_z_table])
|
||||
mesh_max = max([max(x) for x in self.mesh_z_table])
|
||||
if self.mesh_matrix is not None:
|
||||
mesh_min = min([min(x) for x in self.mesh_matrix])
|
||||
mesh_max = max([max(x) for x in self.mesh_matrix])
|
||||
return mesh_min, mesh_max
|
||||
else:
|
||||
return 0., 0.
|
||||
|
|
@ -694,17 +694,17 @@ class ZMesh:
|
|||
idx = constrain(idx, 0, mesh_cnt - 2)
|
||||
t = (coord - cfunc(idx)) / mesh_dist
|
||||
return constrain(t, 0., 1.), idx
|
||||
def _sample_direct(self, z_table):
|
||||
self.mesh_z_table = z_table
|
||||
def _sample_lagrange(self, z_table):
|
||||
def _sample_direct(self, z_matrix):
|
||||
self.mesh_matrix = z_matrix
|
||||
def _sample_lagrange(self, z_matrix):
|
||||
x_mult = self.x_mult
|
||||
y_mult = self.y_mult
|
||||
self.mesh_z_table = \
|
||||
self.mesh_matrix = \
|
||||
[[0. if ((i % x_mult) or (j % y_mult))
|
||||
else z_table[j/y_mult][i/x_mult]
|
||||
else z_matrix[j/y_mult][i/x_mult]
|
||||
for i in range(self.mesh_x_count)]
|
||||
for j in range(self.mesh_y_count)]
|
||||
xpts, ypts = self._get_lagrange_coords(z_table)
|
||||
xpts, ypts = self._get_lagrange_coords()
|
||||
# Interpolate X coordinates
|
||||
for i in range(self.mesh_y_count):
|
||||
# only interpolate X-rows that have probed coordinates
|
||||
|
|
@ -714,20 +714,20 @@ class ZMesh:
|
|||
if j % x_mult == 0:
|
||||
continue
|
||||
x = self.get_x_coordinate(j)
|
||||
self.mesh_z_table[i][j] = self._calc_lagrange(xpts, x, i, 0)
|
||||
self.mesh_matrix[i][j] = self._calc_lagrange(xpts, x, i, 0)
|
||||
# Interpolate Y coordinates
|
||||
for i in range(self.mesh_x_count):
|
||||
for j in range(self.mesh_y_count):
|
||||
if j % y_mult == 0:
|
||||
continue
|
||||
y = self.get_y_coordinate(j)
|
||||
self.mesh_z_table[j][i] = self._calc_lagrange(ypts, y, i, 1)
|
||||
def _get_lagrange_coords(self, z_table):
|
||||
self.mesh_matrix[j][i] = self._calc_lagrange(ypts, y, i, 1)
|
||||
def _get_lagrange_coords(self):
|
||||
xpts = []
|
||||
ypts = []
|
||||
for i in range(self.probe_params['x_count']):
|
||||
for i in range(self.mesh_params['x_count']):
|
||||
xpts.append(self.get_x_coordinate(i * self.x_mult))
|
||||
for j in range(self.probe_params['y_count']):
|
||||
for j in range(self.mesh_params['y_count']):
|
||||
ypts.append(self.get_y_coordinate(j * self.y_mult))
|
||||
return xpts, ypts
|
||||
def _calc_lagrange(self, lpts, c, vec, axis=0):
|
||||
|
|
@ -743,20 +743,20 @@ class ZMesh:
|
|||
d *= (lpts[i] - lpts[j])
|
||||
if axis == 0:
|
||||
# Calc X-Axis
|
||||
z = self.mesh_z_table[vec][i*self.x_mult]
|
||||
z = self.mesh_matrix[vec][i*self.x_mult]
|
||||
else:
|
||||
# Calc Y-Axis
|
||||
z = self.mesh_z_table[i*self.y_mult][vec]
|
||||
z = self.mesh_matrix[i*self.y_mult][vec]
|
||||
total += z * n / d
|
||||
return total
|
||||
def _sample_bicubic(self, z_table):
|
||||
def _sample_bicubic(self, z_matrix):
|
||||
# should work for any number of probe points above 3x3
|
||||
x_mult = self.x_mult
|
||||
y_mult = self.y_mult
|
||||
c = self.probe_params['tension']
|
||||
self.mesh_z_table = \
|
||||
c = self.mesh_params['tension']
|
||||
self.mesh_matrix = \
|
||||
[[0. if ((i % x_mult) or (j % y_mult))
|
||||
else z_table[j/y_mult][i/x_mult]
|
||||
else z_matrix[j/y_mult][i/x_mult]
|
||||
for i in range(self.mesh_x_count)]
|
||||
for j in range(self.mesh_y_count)]
|
||||
# Interpolate X values
|
||||
|
|
@ -767,18 +767,18 @@ class ZMesh:
|
|||
if x % x_mult == 0:
|
||||
continue
|
||||
pts = self._get_x_ctl_pts(x, y)
|
||||
self.mesh_z_table[y][x] = self._cardinal_spline(pts, c)
|
||||
self.mesh_matrix[y][x] = self._cardinal_spline(pts, c)
|
||||
# Interpolate Y values
|
||||
for x in range(self.mesh_x_count):
|
||||
for y in range(self.mesh_y_count):
|
||||
if y % y_mult == 0:
|
||||
continue
|
||||
pts = self._get_y_ctl_pts(x, y)
|
||||
self.mesh_z_table[y][x] = self._cardinal_spline(pts, c)
|
||||
self.mesh_matrix[y][x] = self._cardinal_spline(pts, c)
|
||||
def _get_x_ctl_pts(self, x, y):
|
||||
# Fetch control points and t for a X value in the mesh
|
||||
x_mult = self.x_mult
|
||||
x_row = self.mesh_z_table[y]
|
||||
x_row = self.mesh_matrix[y]
|
||||
last_pt = self.mesh_x_count - 1 - x_mult
|
||||
if x < x_mult:
|
||||
p0 = p1 = x_row[0]
|
||||
|
|
@ -809,7 +809,7 @@ class ZMesh:
|
|||
# Fetch control points and t for a Y value in the mesh
|
||||
y_mult = self.y_mult
|
||||
last_pt = self.mesh_y_count - 1 - y_mult
|
||||
y_col = self.mesh_z_table
|
||||
y_col = self.mesh_matrix
|
||||
if y < y_mult:
|
||||
p0 = p1 = y_col[0][x]
|
||||
p2 = y_col[y_mult][x]
|
||||
|
|
|
|||
Loading…
Reference in New Issue