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Refactor Hilbert curve. Enhance Touch UI Bed Level Screen. (#21453)

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This commit is contained in:
Marcio T
2021-03-27 21:57:12 -06:00
committed by GitHub
parent 5d0e6c21aa
commit c45b91aa94
13 changed files with 341 additions and 144 deletions
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112
Marlin/src/feature/bedlevel/hilbert_curve.cpp Normal file
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@ -0,0 +1,112 @@
/*********************
* hilbert_curve.cpp *
*********************/
/****************************************************************************
* Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. *
* *
* This program is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* To view a copy of the GNU General Public License, go to the following *
* location: <https://www.gnu.org/licenses/>. *
****************************************************************************/
#include "../../inc/MarlinConfig.h"
#if ENABLED(UBL_HILBERT_CURVE)
#include "bedlevel.h"
#include "hilbert_curve.h"
constexpr int8_t to_fix(int8_t v) { return v * 2; }
constexpr int8_t to_int(int8_t v) { return v / 2; }
constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; }
constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; }
constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y));
constexpr uint8_t dim = _BV(ord);
static inline bool eval_candidate(int8_t x, int8_t y, hilbert_curve::callback_ptr func, void *data) {
// The print bed likely has fewer points than the full Hilbert
// curve, so cull unecessary points
return x < GRID_MAX_POINTS_X && y < GRID_MAX_POINTS_Y ? func(x, y, data) : false;
}
bool hilbert_curve::hilbert(int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n, hilbert_curve::callback_ptr func, void *data) {
/**
* Hilbert space-filling curve implementation
*
* x and y : coordinates of the bottom left corner
* xi and xj : i and j components of the unit x vector of the frame
* yi and yj : i and j components of the unit y vector of the frame
*
* From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html
*/
if (n)
return hilbert(x, y, yi/2, yj/2, xi/2, xj/2, n-1, func, data) ||
hilbert(x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) ||
hilbert(x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) ||
hilbert(x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1, func, data);
else
return eval_candidate(to_int(x+(xi+yi)/2), to_int(y+(xj+yj)/2), func, data);
}
/**
* Calls func(x, y, data) for all points in the Hilbert curve.
* If that function returns true, the search is terminated.
*/
bool hilbert_curve::search(hilbert_curve::callback_ptr func, void *data) {
return hilbert(to_fix(0), to_fix(0),to_fix(dim), to_fix(0), to_fix(0), to_fix(dim), ord, func, data);
}
/* Helper function for starting the search at a particular point */
typedef struct {
uint8_t x, y;
bool found_1st;
hilbert_curve::callback_ptr func;
void *data;
} search_from_t;
static bool search_from_helper(uint8_t x, uint8_t y, void *data) {
search_from_t *d = (search_from_t *) data;
if (d->x == x && d->y == y)
d->found_1st = true;
return d->found_1st ? d->func(x, y, d->data) : false;
}
/**
* Same as search, except start at a specific grid intersection point.
*/
bool hilbert_curve::search_from(uint8_t x, uint8_t y, hilbert_curve::callback_ptr func, void *data) {
search_from_t d;
d.x = x;
d.y = y;
d.found_1st = false;
d.func = func;
d.data = data;
// Call twice to allow search to wrap back to the beginning and picked up points prior to the start.
return search(search_from_helper, &d) || search(search_from_helper, &d);
}
/**
* Like search_from, but takes a bed position and starts from the nearest
* point on the Hilbert curve.
*/
bool hilbert_curve::search_from_closest(const xy_pos_t &pos, hilbert_curve::callback_ptr func, void *data) {
// Find closest grid intersection
uint8_t grid_x = LROUND(float(pos.x - MESH_MIN_X) / MESH_X_DIST);
uint8_t grid_y = LROUND(float(pos.y - MESH_MIN_Y) / MESH_Y_DIST);
LIMIT(grid_x, 0, GRID_MAX_POINTS_X);
LIMIT(grid_y, 0, GRID_MAX_POINTS_Y);
return search_from(grid_x, grid_y, func, data);
}
#endif // UBL_HILBERT_CURVE

32
Marlin/src/feature/bedlevel/hilbert_curve.h Normal file
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@ -0,0 +1,32 @@
/*******************
* hilbert_curve.h *
*******************/
/****************************************************************************
* Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. *
* *
* This program is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* To view a copy of the GNU General Public License, go to the following *
* location: <https://www.gnu.org/licenses/>. *
****************************************************************************/
#pragma once
class hilbert_curve {
public:
typedef bool (*callback_ptr)(uint8_t x, uint8_t y, void *data);
static bool search(callback_ptr func, void *data);
static bool search_from(uint8_t x, uint8_t y, callback_ptr func, void *data);
static bool search_from_closest(const xy_pos_t &pos, callback_ptr func, void *data);
private:
static bool hilbert(int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n, callback_ptr func, void *data);
};

5
Marlin/src/feature/bedlevel/ubl/ubl.h
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@ -101,11 +101,6 @@ public:
static void display_map(const int) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
#if ENABLED(UBL_HILBERT_CURVE)
static void check_if_missing(mesh_index_pair &pt, int x, int y);
static void hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n);
static mesh_index_pair find_next_mesh_point();
#endif
static void reset();
static void invalidate();
static void set_all_mesh_points_to_value(const float value);

158
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
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@ -49,6 +49,10 @@
#include "../../../lcd/extui/ui_api.h"
#endif
#if ENABLED(UBL_HILBERT_CURVE)
#include "../hilbert_curve.h"
#endif
#include <math.h>
#define UBL_G29_P31
@ -747,11 +751,9 @@ void unified_bed_leveling::shift_mesh_height() {
}
#endif
best = do_furthest ? find_furthest_invalid_mesh_point()
: TERN(UBL_HILBERT_CURVE,
find_next_mesh_point(),
find_closest_mesh_point_of_type(INVALID, nearby, true)
);
best = do_furthest
? find_furthest_invalid_mesh_point()
: find_closest_mesh_point_of_type(INVALID, nearby, true);
if (best.pos.x >= 0) { // mesh point found and is reachable by probe
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::PROBE_START));
@ -1269,97 +1271,93 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
return farthest;
}
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) {
mesh_index_pair closest;
closest.invalidate();
closest.distance = -99999.9f;
#if ENABLED(UBL_HILBERT_CURVE)
// Get the reference position, either nozzle or probe
const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
typedef struct {
MeshPointType type;
MeshFlags *done_flags;
bool probe_relative;
mesh_index_pair closest;
} find_closest_t;
float best_so_far = 99999.99f;
GRID_LOOP(i, j) {
if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
|| (type == SET_IN_BITMAP && !done_flags->marked(i, j))
static bool test_func(uint8_t i, uint8_t j, void *data) {
find_closest_t *d = (find_closest_t*)data;
if ( (d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL))
|| (d->type == SET_IN_BITMAP && !d->done_flags->marked(i, j))
) {
// Found a Mesh Point of the specified type!
const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
const xy_pos_t mpos = { ubl.mesh_index_to_xpos(i), ubl.mesh_index_to_ypos(j) };
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (!(probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos)))
continue;
// Reachable. Check if it's the best_so_far location to the nozzle.
const xy_pos_t diff = current_position - mpos;
const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f;
// factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed.
if (distance < best_so_far) {
best_so_far = distance; // Found a closer location with the desired value type.
closest.pos.set(i, j);
closest.distance = best_so_far;
}
}
} // GRID_LOOP
return closest;
}
#if ENABLED(UBL_HILBERT_CURVE)
constexpr int8_t to_fix(int8_t v) { return v << 1; }
constexpr int8_t to_int(int8_t v) { return v >> 1; }
constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; }
constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; }
void unified_bed_leveling::hilbert(mesh_index_pair &pt, int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n) {
/* Hilbert space filling curve implementation
*
* x and y are the coordinates of the bottom left corner
* xi & xj are the i & j components of the unit x vector of the frame
* similarly yi and yj
*
* From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html
*/
if (n <= 0)
check_if_missing(pt, to_int(x+(xi+yi)/2),to_int(y+(xj+yj)/2));
else {
hilbert(pt, x, y, yi/2, yj/2, xi/2, xj/2, n-1);
hilbert(pt, x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1);
hilbert(pt, x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1);
hilbert(pt, x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1);
if (!(d->probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos)))
return false;
d->closest.pos.set(i, j);
return true;
}
return false;
}
void unified_bed_leveling::check_if_missing(mesh_index_pair &pt, int x, int y) {
if ( pt.distance < 0
&& x < GRID_MAX_POINTS_X
&& y < GRID_MAX_POINTS_Y
&& isnan(z_values[x][y])
&& probe.can_reach(mesh_index_to_xpos(x), mesh_index_to_ypos(y))
#endif
mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) {
#if ENABLED(UBL_HILBERT_CURVE)
find_closest_t d;
d.type = type;
d.done_flags = done_flags;
d.probe_relative = probe_relative;
d.closest.invalidate();
hilbert_curve::search_from_closest(pos, test_func, &d);
return d.closest;
#else
mesh_index_pair closest;
closest.invalidate();
closest.distance = -99999.9f;
// Get the reference position, either nozzle or probe
const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
float best_so_far = 99999.99f;
GRID_LOOP(i, j) {
if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
|| (type == SET_IN_BITMAP && !done_flags->marked(i, j))
) {
pt.pos.set(x, y);
pt.distance = 1;
// Found a Mesh Point of the specified type!
const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed the nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (!(probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos)))
continue;
// Reachable. Check if it's the best_so_far location to the nozzle.
const xy_pos_t diff = current_position - mpos;
const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f;
// factor in the distance from the current location for the normal case
// so the nozzle isn't running all over the bed.
if (distance < best_so_far) {
best_so_far = distance; // Found a closer location with the desired value type.
closest.pos.set(i, j);
closest.distance = best_so_far;
}
}
}
} // GRID_LOOP
mesh_index_pair unified_bed_leveling::find_next_mesh_point() {
mesh_index_pair pt;
pt.invalidate();
pt.distance = -99999.9f;
constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y));
constexpr uint8_t dim = _BV(ord);
hilbert(pt, to_fix(0), to_fix(0), to_fix(dim), to_fix(0), to_fix(0), to_fix(dim), ord);
return pt;
}
return closest;
#endif // UBL_HILBERT_CURVE
#endif
}
/**
* 'Smart Fill': Scan from the outward edges of the mesh towards the center.