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bed_mesh: track the probed_matrix and mesh_params exclusively in the ZMesh class 

Rather than have multiple classes keep a reference to these items, keep them in the z_mesh.

Signed-off-by:  Eric Callahan <arksine.code@gmail.com>
This commit is contained in:
Arksine 2020-07-15 12:08:55 -04:00 committed by KevinOConnor
parent 41eedda5d6
commit dbec03abd9
1 changed files with 51 additions and 42 deletions
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93
klippy/extras/bed_mesh.py
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@ -184,11 +184,10 @@ class BedMesh:
"mesh_matrix": [[]] "mesh_matrix": [[]]
} }
if self.z_mesh is not None: if self.z_mesh is not None:
params = self.z_mesh.mesh_params params = self.z_mesh.get_mesh_params()
mesh_min = (params['min_x'], params['min_y']) mesh_min = (params['min_x'], params['min_y'])
mesh_max = (params['max_x'], params['max_y']) mesh_max = (params['max_x'], params['max_y'])
probed_matrix = [[round(z, 6) for z in line] probed_matrix = self.z_mesh.get_probed_matrix()
for line in self.bmc.probed_matrix]
mesh_matrix = self.z_mesh.get_mesh_matrix() mesh_matrix = self.z_mesh.get_mesh_matrix()
status['profile_name'] = self.bmc.current_profile status['profile_name'] = self.bmc.current_profile
status['mesh_min'] = mesh_min status['mesh_min'] = mesh_min
@ -204,16 +203,16 @@ class BedMesh:
elif self.z_mesh is None: elif self.z_mesh is None:
gcmd.respond_info("Bed has not been probed") gcmd.respond_info("Bed has not been probed")
else: else:
self.bmc.print_probed_positions(gcmd.respond_info) self.z_mesh.print_probed_matrix(gcmd.respond_info)
self.z_mesh.print_mesh(gcmd.respond_raw, self.horizontal_move_z) self.z_mesh.print_mesh(gcmd.respond_raw, self.horizontal_move_z)
cmd_BED_MESH_MAP_help = "Serialize mesh and output to terminal" cmd_BED_MESH_MAP_help = "Serialize mesh and output to terminal"
def cmd_BED_MESH_MAP(self, gcmd): def cmd_BED_MESH_MAP(self, gcmd):
if self.z_mesh is not None: if self.z_mesh is not None:
params = self.z_mesh.mesh_params params = self.z_mesh.get_mesh_params()
outdict = { outdict = {
'mesh_min': (params['min_x'], params['min_y']), 'mesh_min': (params['min_x'], params['min_y']),
'mesh_max': (params['max_x'], params['max_y']), 'mesh_max': (params['max_x'], params['max_y']),
'z_positions': self.bmc.probed_matrix} 'z_positions': self.z_mesh.get_probed_matrix()}
gcmd.respond_raw("mesh_map_output " + json.dumps(outdict)) gcmd.respond_raw("mesh_map_output " + json.dumps(outdict))
else: else:
gcmd.respond_info("Bed has not been probed") gcmd.respond_info("Bed has not been probed")
@ -232,7 +231,7 @@ class BedMeshCalibrate:
self.relative_reference_index = config.getint( self.relative_reference_index = config.getint(
'relative_reference_index', None) 'relative_reference_index', None)
self.bedmesh = bedmesh self.bedmesh = bedmesh
self.probed_matrix = self.mesh_params = None self.z_mesh = None
self.mesh_config = collections.OrderedDict() self.mesh_config = collections.OrderedDict()
self.points = self._generate_points(config) self.points = self._generate_points(config)
self._init_mesh_config(config, self.points) self._init_mesh_config(config, self.points)
@ -417,28 +416,30 @@ class BedMeshCalibrate:
elif t is str: elif t is str:
params[key] = profile.get(key) params[key] = profile.get(key)
def save_profile(self, prof_name): def save_profile(self, prof_name):
if self.probed_matrix is None: if self.z_mesh is None:
self.gcode.respond_info( self.gcode.respond_info(
"Unable to save to profile [%s], the bed has not been probed" "Unable to save to profile [%s], the bed has not been probed"
% (prof_name)) % (prof_name))
return return
probed_matrix = self.z_mesh.get_probed_matrix()
mesh_params = self.z_mesh.get_mesh_params()
configfile = self.printer.lookup_object('configfile') configfile = self.printer.lookup_object('configfile')
cfg_name = self.name + " " + prof_name cfg_name = self.name + " " + prof_name
# set params # set params
z_values = "" z_values = ""
for line in self.probed_matrix: for line in probed_matrix:
z_values += "\n " z_values += "\n "
for p in line: for p in line:
z_values += "%.6f, " % p z_values += "%.6f, " % p
z_values = z_values[:-2] z_values = z_values[:-2]
configfile.set(cfg_name, 'version', PROFILE_VERSION) configfile.set(cfg_name, 'version', PROFILE_VERSION)
configfile.set(cfg_name, 'points', z_values) configfile.set(cfg_name, 'points', z_values)
for key, value in self.mesh_params.items(): for key, value in mesh_params.items():
configfile.set(cfg_name, key, value) configfile.set(cfg_name, key, value)
# save copy in local storage # save copy in local storage
self.profiles[prof_name] = profile = {} self.profiles[prof_name] = profile = {}
profile['points'] = list(self.probed_matrix) profile['points'] = probed_matrix
profile['mesh_params'] = collections.OrderedDict(self.mesh_params) profile['mesh_params'] = collections.OrderedDict(mesh_params)
self.gcode.respond_info( self.gcode.respond_info(
"Bed Mesh state has been saved to profile [%s]\n" "Bed Mesh state has been saved to profile [%s]\n"
"for the current session. The SAVE_CONFIG command will\n" "for the current session. The SAVE_CONFIG command will\n"
@ -449,15 +450,15 @@ class BedMeshCalibrate:
if profile is None: if profile is None:
raise self.gcode.error( raise self.gcode.error(
"bed_mesh: Unknown profile [%s]" % prof_name) "bed_mesh: Unknown profile [%s]" % prof_name)
self.probed_matrix = profile['points'] probed_matrix = profile['points']
self.mesh_params = profile['mesh_params'] mesh_params = profile['mesh_params']
zmesh = ZMesh(self.mesh_params) self.z_mesh = ZMesh(mesh_params)
try: try:
zmesh.build_mesh(self.probed_matrix) self.z_mesh.build_mesh(probed_matrix)
except BedMeshError as e: except BedMeshError as e:
raise self.gcode.error(e.message) raise self.gcode.error(e.message)
self.current_profile = prof_name self.current_profile = prof_name
self.bedmesh.set_mesh(zmesh) self.bedmesh.set_mesh(self.z_mesh)
def remove_profile(self, prof_name): def remove_profile(self, prof_name):
if prof_name in self.profiles: if prof_name in self.profiles:
configfile = self.printer.lookup_object('configfile') configfile = self.printer.lookup_object('configfile')
@ -492,21 +493,11 @@ class BedMeshCalibrate:
def cmd_BED_MESH_CALIBRATE(self, gcmd): def cmd_BED_MESH_CALIBRATE(self, gcmd):
self.bedmesh.set_mesh(None) self.bedmesh.set_mesh(None)
self.probe_helper.start_probe(gcmd) self.probe_helper.start_probe(gcmd)
def print_probed_positions(self, print_func):
if self.probed_matrix is not None:
msg = "Mesh Leveling Probed Z positions:\n"
for line in self.probed_matrix:
for x in line:
msg += " %f" % x
msg += "\n"
print_func(msg)
else:
print_func("bed_mesh: bed has not been probed")
def probe_finalize(self, offsets, positions): def probe_finalize(self, offsets, positions):
x_offset, y_offset, z_offset = offsets x_offset, y_offset, z_offset = offsets
positions = [(round(p[0], 2), round(p[1], 2), p[2]) positions = [(round(p[0], 2), round(p[1], 2), p[2])
for p in positions] for p in positions]
self.mesh_params = params = dict(self.mesh_config) params = dict(self.mesh_config)
params['min_x'] = min(positions, key=lambda p: p[0])[0] + x_offset params['min_x'] = min(positions, key=lambda p: p[0])[0] + x_offset
params['max_x'] = max(positions, key=lambda p: p[0])[0] + x_offset params['max_x'] = max(positions, key=lambda p: p[0])[0] + x_offset
params['min_y'] = min(positions, key=lambda p: p[1])[1] + y_offset params['min_y'] = min(positions, key=lambda p: p[1])[1] + y_offset
@ -519,13 +510,13 @@ class BedMeshCalibrate:
# set offset relative to reference index # set offset relative to reference index
z_offset = positions[self.relative_reference_index][2] z_offset = positions[self.relative_reference_index][2]
self.probed_matrix = [] probed_matrix = []
row = [] row = []
prev_pos = positions[0] prev_pos = positions[0]
for pos in positions: for pos in positions:
if not isclose(pos[1], prev_pos[1], abs_tol=.1): if not isclose(pos[1], prev_pos[1], abs_tol=.1):
# y has changed, append row and start new # y has changed, append row and start new
self.probed_matrix.append(row) probed_matrix.append(row)
row = [] row = []
if pos[0] > prev_pos[0]: if pos[0] > prev_pos[0]:
# probed in the positive direction # probed in the positive direction
@ -535,24 +526,24 @@ class BedMeshCalibrate:
row.insert(0, pos[2] - z_offset) row.insert(0, pos[2] - z_offset)
prev_pos = pos prev_pos = pos
# append last row # append last row
self.probed_matrix.append(row) probed_matrix.append(row)
# make sure the y-axis is the correct length # make sure the y-axis is the correct length
if len(self.probed_matrix) != y_cnt: if len(probed_matrix) != y_cnt:
raise self.gcode.error( raise self.gcode.error(
("bed_mesh: Invalid y-axis table length\n" ("bed_mesh: Invalid y-axis table length\n"
"Probed table length: %d Probed Table:\n%s") % "Probed table length: %d Probed Table:\n%s") %
(len(self.probed_matrix), str(self.probed_matrix))) (len(probed_matrix), str(probed_matrix)))
if self.radius is not None: if self.radius is not None:
# round bed, extrapolate probed values to create a square mesh # round bed, extrapolate probed values to create a square mesh
for row in self.probed_matrix: for row in probed_matrix:
row_size = len(row) row_size = len(row)
if not row_size & 1: if not row_size & 1:
# an even number of points in a row shouldn't be possible # an even number of points in a row shouldn't be possible
msg = "bed_mesh: incorrect number of points sampled on X\n" msg = "bed_mesh: incorrect number of points sampled on X\n"
msg += "Probed Table:\n" msg += "Probed Table:\n"
msg += str(self.probed_matrix) msg += str(probed_matrix)
raise self.gcode.error(msg) raise self.gcode.error(msg)
buf_cnt = (x_cnt - row_size) // 2 buf_cnt = (x_cnt - row_size) // 2
if buf_cnt == 0: if buf_cnt == 0:
@ -563,20 +554,20 @@ class BedMeshCalibrate:
row.extend(right_buffer) row.extend(right_buffer)
# make sure that the x-axis is the correct length # make sure that the x-axis is the correct length
for row in self.probed_matrix: for row in probed_matrix:
if len(row) != x_cnt: if len(row) != x_cnt:
raise self.gcode.error( raise self.gcode.error(
("bed_mesh: invalid x-axis table length\n" ("bed_mesh: invalid x-axis table length\n"
"Probed table length: %d Probed Table:\n%s") % "Probed table length: %d Probed Table:\n%s") %
(len(self.probed_matrix), str(self.probed_matrix))) (len(probed_matrix), str(probed_matrix)))
mesh = ZMesh(params) self.z_mesh = ZMesh(params)
try: try:
mesh.build_mesh(self.probed_matrix) self.z_mesh.build_mesh(probed_matrix)
except BedMeshError as e: except BedMeshError as e:
raise self.gcode.error(e.message) raise self.gcode.error(e.message)
self.current_profile = "default" self.current_profile = "default"
self.bedmesh.set_mesh(mesh) self.bedmesh.set_mesh(self.z_mesh)
self.gcode.respond_info("Mesh Bed Leveling Complete") self.gcode.respond_info("Mesh Bed Leveling Complete")
self.save_profile("default") self.save_profile("default")
@ -644,7 +635,7 @@ class MoveSplitter:
class ZMesh: class ZMesh:
def __init__(self, params): def __init__(self, params):
self.mesh_matrix = None self.probed_matrix = self.mesh_matrix = None
self.mesh_params = params self.mesh_params = params
self.avg_z = 0. self.avg_z = 0.
self.mesh_offset = 0. self.mesh_offset = 0.
@ -685,7 +676,24 @@ class ZMesh:
if self.mesh_matrix is not None: if self.mesh_matrix is not None:
return [[round(z + self.mesh_offset, 6) for z in line] return [[round(z + self.mesh_offset, 6) for z in line]
for line in self.mesh_matrix] for line in self.mesh_matrix]
return None return [[]]
def get_probed_matrix(self):
if self.probed_matrix is not None:
return [[round(z, 6) for z in line]
for line in self.probed_matrix]
return [[]]
def get_mesh_params(self):
return self.mesh_params
def print_probed_matrix(self, print_func):
if self.probed_matrix is not None:
msg = "Mesh Leveling Probed Z positions:\n"
for line in self.probed_matrix:
for x in line:
msg += " %f" % x
msg += "\n"
print_func(msg)
else:
print_func("bed_mesh: bed has not been probed")
def print_mesh(self, print_func, move_z=None): def print_mesh(self, print_func, move_z=None):
matrix = self.get_mesh_matrix() matrix = self.get_mesh_matrix()
if matrix is not None: if matrix is not None:
@ -706,6 +714,7 @@ class ZMesh:
else: else:
print_func("bed_mesh: Z Mesh not generated") print_func("bed_mesh: Z Mesh not generated")
def build_mesh(self, z_matrix): def build_mesh(self, z_matrix):
self.probed_matrix = z_matrix
self._sample(z_matrix) self._sample(z_matrix)
self.avg_z = (sum([sum(x) for x in self.mesh_matrix]) / self.avg_z = (sum([sum(x) for x in self.mesh_matrix]) /
sum([len(x) for x in self.mesh_matrix])) sum([len(x) for x in self.mesh_matrix]))