Encapsulate probe as singleton class (#16751)
This commit is contained in:
Scott Lahteine
GitHub
@ -22,132 +22,150 @@
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#pragma once
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/**
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* probe.h - Move, deploy, enable, etc.
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* module/probe.h - Move, deploy, enable, etc.
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*/
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#include "../inc/MarlinConfig.h"
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#if HAS_BED_PROBE
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extern xyz_pos_t probe_offset;
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#if HAS_PROBE_XY_OFFSET
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extern xyz_pos_t &probe_offset_xy;
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#else
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constexpr xy_pos_t probe_offset_xy{0};
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#endif
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bool set_probe_deployed(const bool deploy);
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#ifdef Z_AFTER_PROBING
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void move_z_after_probing();
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#endif
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enum ProbePtRaise : unsigned char {
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PROBE_PT_NONE, // No raise or stow after run_z_probe
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PROBE_PT_STOW, // Do a complete stow after run_z_probe
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PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
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enum ProbePtRaise : uint8_t {
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PROBE_PT_NONE, // No raise or stow after run_z_probe
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PROBE_PT_STOW, // Do a complete stow after run_z_probe
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PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
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PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
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};
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float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
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inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
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return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
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}
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#define DEPLOY_PROBE() set_probe_deployed(true)
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#define STOW_PROBE() set_probe_deployed(false)
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#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
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extern const char msg_wait_for_bed_heating[25];
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#endif
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#else
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constexpr xyz_pos_t probe_offset{0};
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constexpr xy_pos_t probe_offset_xy{0};
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#define DEPLOY_PROBE()
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#define STOW_PROBE()
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#endif
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#if HAS_BED_PROBE || HAS_LEVELING
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#if IS_KINEMATIC
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constexpr float printable_radius = (
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#if ENABLED(DELTA)
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DELTA_PRINTABLE_RADIUS
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#elif IS_SCARA
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SCARA_PRINTABLE_RADIUS
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#endif
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);
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class Probe {
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public:
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inline float probe_radius() {
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return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
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#if HAS_BED_PROBE
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static xyz_pos_t offset;
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// Use offset_xy for read only access
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// More optimal the XY offset is known to always be zero.
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#if HAS_PROBE_XY_OFFSET
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static const xyz_pos_t &offset_xy;
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#else
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static constexpr xy_pos_t offset_xy{0};
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#endif
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static bool set_deployed(const bool deploy);
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#ifdef Z_AFTER_PROBING
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static void move_z_after_probing();
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#endif
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static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
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static inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
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return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
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}
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#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
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static PGM_P msg_wait_for_bed_heating[25];
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#endif
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#else
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static constexpr xyz_pos_t offset{0};
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static constexpr xy_pos_t offset_xy{0};
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static bool set_deployed(const bool) { return false; }
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#endif
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inline float probe_min_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) - probe_radius()
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#else
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_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
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#endif
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);
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}
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inline float probe_max_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) + probe_radius()
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#else
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_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
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#endif
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);
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}
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inline float probe_min_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) - probe_radius()
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#else
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_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
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#endif
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);
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}
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inline float probe_max_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) + probe_radius()
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#else
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_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
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#endif
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);
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}
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static inline bool deploy() { return set_deployed(true); }
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static inline bool stow() { return set_deployed(false); }
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#if NEEDS_THREE_PROBE_POINTS
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// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
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template <typename T>
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inline void get_three_probe_points(T points[3]) {
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#if ENABLED(HAS_FIXED_3POINT)
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points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
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points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
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points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
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#else
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#if IS_KINEMATIC
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constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
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COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
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points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
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points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
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points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
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#else
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points[0].set(probe_min_x(), probe_min_y());
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points[1].set(probe_max_x(), probe_min_y());
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points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
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#if HAS_BED_PROBE || HAS_LEVELING
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#if IS_KINEMATIC
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static constexpr float printable_radius = (
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#if ENABLED(DELTA)
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DELTA_PRINTABLE_RADIUS
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#elif IS_SCARA
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SCARA_PRINTABLE_RADIUS
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#endif
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#endif
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);
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static inline float probe_radius() {
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return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(offset_xy.x, offset_xy.y));
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}
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#endif
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static inline float min_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) - probe_radius()
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#else
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_MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + offset_xy.x)
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#endif
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);
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}
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static inline float max_x() {
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return (
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#if IS_KINEMATIC
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(X_CENTER) + probe_radius()
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#else
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_MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + offset_xy.x)
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#endif
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);
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}
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static inline float min_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) - probe_radius()
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#else
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_MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + offset_xy.y)
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#endif
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);
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}
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static inline float max_y() {
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return (
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#if IS_KINEMATIC
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(Y_CENTER) + probe_radius()
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#else
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_MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + offset_xy.y)
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#endif
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);
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}
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#if NEEDS_THREE_PROBE_POINTS
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// Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
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template <typename T>
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static inline void get_three_points(T points[3]) {
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#if ENABLED(HAS_FIXED_3POINT)
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points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
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points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
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points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
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#else
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#if IS_KINEMATIC
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constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
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COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
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points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
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points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
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points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
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#else
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points[0].set(min_x(), min_y());
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points[1].set(max_x(), min_y());
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points[2].set((max_x() - min_x()) / 2, max_y());
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#endif
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#endif
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}
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#endif
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#endif // HAS_BED_PROBE
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#if HAS_Z_SERVO_PROBE
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static void servo_probe_init();
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#endif
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#endif
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#if HAS_Z_SERVO_PROBE
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void servo_probe_init();
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#endif
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#if QUIET_PROBING
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static void set_probing_paused(const bool p);
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#endif
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#if QUIET_PROBING
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void probing_pause(const bool p);
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#endif
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private:
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static bool move_to_z(const float z, const feedRate_t fr_mm_s);
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static void do_z_raise(const float z_raise);
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static float run_z_probe();
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};
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extern Probe probe;
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