bed_mesh: introduce "faulty_regions" option
Users may define "faulty regions", locations within the mesh where a probed value is unreliable. When bed mesh generates points it will substitute points in faulty regions with up to 4 points nearest to the region. After calibration is complete the Z values at these points will be averaged and assigned to the original value inside the faulty region. Signed-off-by: Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Arksine
KevinOConnor
parent
5f5dfbaa7f
commit
60372fd0cf
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@ -21,6 +21,12 @@ class BedMeshError(Exception):
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def isclose(a, b, rel_tol=1e-09, abs_tol=0.0):
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return abs(a-b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
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# return true if a coordinate is within the region
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# specified by min_c and max_c
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def within(coord, min_c, max_c, tol=0.0):
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return (max_c[0] + tol) >= coord[0] >= (min_c[0] - tol) and \
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(max_c[1] + tol) >= coord[1] >= (min_c[1] - tol)
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# Constrain value between min and max
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def constrain(val, min_val, max_val):
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return min(max_val, max(min_val, val))
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@ -240,6 +246,8 @@ class BedMeshCalibrate:
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self.mesh_min = self.mesh_max = (0., 0.)
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self.relative_reference_index = config.getint(
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'relative_reference_index', None)
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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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@ -247,7 +255,7 @@ class BedMeshCalibrate:
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self._generate_points(config.error)
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self.orig_points = 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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config, self.probe_finalize, self._get_adjusted_points())
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self.probe_helper.minimum_points(3)
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self.probe_helper.use_xy_offsets(True)
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self.gcode = self.printer.lookup_object('gcode')
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@ -297,6 +305,45 @@ 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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if not self.faulty_regions:
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return
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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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for i, coord in enumerate(self.points):
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if not isclose(coord[1], last_y):
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is_reversed = not is_reversed
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last_y = coord[1]
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adj_coords = []
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for min_c, max_c in self.faulty_regions:
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if within(coord, min_c, max_c, tol=.00001):
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# Point lies within a faulty region
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adj_coords = [
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(min_c[0], coord[1]), (coord[0], min_c[1]),
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(coord[0], max_c[1]), (max_c[0], coord[1])]
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if is_reversed:
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# Swap first and last points for zig-zag pattern
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first = adj_coords[0]
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adj_coords[0] = adj_coords[-1]
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adj_coords[-1] = first
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break
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if not adj_coords:
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# coord is not located within a faulty region
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continue
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valid_coords = []
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for ac in adj_coords:
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# make sure that coordinates are within the mesh boundary
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if self.radius is None:
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if within(ac, (min_x, min_y), (max_x, max_y), .000001):
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valid_coords.append(ac)
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else:
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dist_from_origin = math.sqrt(ac[0]*ac[0] + ac[1]*ac[1])
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if dist_from_origin <= self.radius:
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valid_coords.append(ac)
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if not valid_coords:
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raise error("bed_mesh: Unable to generate coordinates"
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" for faulty region at index: %d" % (i))
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self.substituted_indices[i] = valid_coords
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def print_generated_points(self, print_func):
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x_offset = y_offset = 0.
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probe = self.printer.lookup_object('probe', None)
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@ -314,6 +361,12 @@ class BedMeshCalibrate:
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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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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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pt = self.points[i]
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print_func("%d (%.2f, %.2f), substituted points: %s"
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% (i, pt[0], pt[1], repr(v)))
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def _init_mesh_config(self, config):
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mesh_cfg = self.mesh_config
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orig_cfg = self.orig_config
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@ -352,6 +405,41 @@ class BedMeshCalibrate:
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config.get('algorithm', 'lagrange').strip().lower()
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orig_cfg['tension'] = mesh_cfg['tension'] = config.getfloat(
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'bicubic_tension', .2, minval=0., maxval=2.)
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for i in list(range(1, 100, 1)):
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min_opt = "faulty_region_%d_min" % (i,)
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max_opt = "faulty_region_%d_max" % (i,)
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if config.get(min_opt, None) is None:
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break
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start = parse_pair(config, (min_opt,))
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end = parse_pair(config, (max_opt,))
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# Validate the corners. If necessary reorganize them.
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# c1 = min point, c3 = max point
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# c4 ---- c3
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# | |
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# c1 ---- c2
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c1 = [min([s, e]) for s, e in zip(start, end)]
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c3 = [max([s, e]) for s, e in zip(start, end)]
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c2 = [c1[0], c3[1]]
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c4 = [c3[0], c1[1]]
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# Check for overlapping regions
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for j, (prev_c1, prev_c3) in enumerate(self.faulty_regions):
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prev_c2 = [prev_c1[0], prev_c3[1]]
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prev_c4 = [prev_c3[0], prev_c1[1]]
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# Validate that no existing corner is within the new region
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for coord in [prev_c1, prev_c2, prev_c3, prev_c4]:
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if within(coord, c1, c3):
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raise config.error(
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"bed_mesh: Existing faulty_region_%d %s overlaps "
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"added faulty_region_%d %s"
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% (j, repr([prev_c1, prev_c3]), i, repr([c1, c3])))
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# Validate that no new corner is within an existing region
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for coord in [c1, c2, c3, c4]:
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if within(coord, prev_c1, prev_c3):
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raise config.error(
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"bed_mesh: Added faulty_region_%d %s overlaps "
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"existing faulty_region_%d %s"
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% (i, repr([c1, c3]), j, repr([prev_c1, prev_c3])))
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self.faulty_regions.append((c1, c3))
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self._verify_algorithm(config.error)
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def _verify_algorithm(self, error):
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params = self.mesh_config
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@ -445,7 +533,8 @@ class BedMeshCalibrate:
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self._generate_points(gcmd.error)
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gcmd.respond_info("Generating new points...")
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self.print_generated_points(gcmd.respond_info)
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self.probe_helper.update_probe_points(self.points, 3)
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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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msg = "relative_reference_index: %s\n" % \
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(self.relative_reference_index)
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msg += "\n".join(["%s: %s" % (k, v) for k, v
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@ -453,8 +542,21 @@ class BedMeshCalibrate:
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logging.info("Updated Mesh Configuration:\n" + msg)
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else:
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self.points = self.orig_points
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self.probe_helper.update_probe_points(self.points, 3)
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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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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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adj_pts.extend(pts)
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# Add one to the last index to skip the point
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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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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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self.bedmesh.set_mesh(None)
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@ -462,7 +564,7 @@ class BedMeshCalibrate:
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self.probe_helper.start_probe(gcmd)
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def probe_finalize(self, offsets, positions):
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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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positions = [[round(p[0], 2), round(p[1], 2), p[2]]
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for p in positions]
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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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@ -472,6 +574,48 @@ class BedMeshCalibrate:
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x_cnt = params['x_count']
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y_cnt = params['y_count']
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if self.substituted_indices:
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# Replace substituted points with the original generated
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# point. Its Z Value is the average probed Z of the
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# substituted points.
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corrected_pts = []
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idx_offset = 0
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start_idx = 0
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for i, pts in self.substituted_indices.items():
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fpt = [p - o for p, o in zip(self.points[i], offsets[:2])]
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# offset the index to account for additional samples
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idx = i + idx_offset
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# Add "normal" points
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corrected_pts.extend(positions[start_idx:idx])
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avg_z = sum([p[2] for p in positions[idx:idx+len(pts)]]) \
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/ len(pts)
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idx_offset += len(pts) - 1
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start_idx = idx + len(pts)
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fpt.append(avg_z)
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logging.info(
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"bed_mesh: Replacing value at faulty index %d"
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" (%.4f, %.4f): avg value = %.6f, avg w/ z_offset = %.6f"
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% (i, fpt[0], fpt[1], avg_z, avg_z - z_offset))
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corrected_pts.append(fpt)
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corrected_pts.extend(positions[start_idx:])
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# validate corrected positions
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if len(self.points) != len(corrected_pts):
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self._dump_points(positions, corrected_pts, offsets)
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raise self.gcode.error(
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"bed_mesh: invalid position list size, "
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"generated count: %d, probed count: %d"
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% (len(self.points), len(corrected_pts)))
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for gen_pt, probed in zip(self.points, corrected_pts):
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off_pt = [p - o for p, o in zip(gen_pt, offsets[:2])]
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if not isclose(off_pt[0], probed[0], abs_tol=.1) or \
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not isclose(off_pt[1], probed[1], abs_tol=.1):
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self._dump_points(positions, corrected_pts, offsets)
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raise self.gcode.error(
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"bed_mesh: point mismatch, orig = (%.2f, %.2f)"
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", probed = (%.2f, %.2f)"
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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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@ -536,6 +680,24 @@ class BedMeshCalibrate:
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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("default")
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def _dump_points(self, probed_pts, corrected_pts, offsets):
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# logs generated points with offset applied, points received
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# from the finalize callback, and the list of corrected points
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max_len = max([len(self.points), len(probed_pts), len(corrected_pts)])
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logging.info(
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"bed_mesh: calibration point dump\nIndex | %-17s| %-25s|"
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" Corrected Point" % ("Generated Point", "Probed Point"))
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for i in list(range(max_len)):
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gen_pt = probed_pt = corr_pt = ""
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if i < len(self.points):
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off_pt = [p - o for p, o in zip(self.points[i], offsets[:2])]
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gen_pt = "(%.2f, %.2f)" % tuple(off_pt)
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if i < len(probed_pts):
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probed_pt = "(%.2f, %.2f, %.4f)" % tuple(probed_pts[i])
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if i < len(corrected_pts):
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corr_pt = "(%.2f, %.2f, %.4f)" % tuple(corrected_pts[i])
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logging.info(
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" %-4d| %-17s| %-25s| %s" % (i, gen_pt, probed_pt, corr_pt))
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class MoveSplitter:
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