MarlinFirmware/Marlin/UBL_line_to_destination.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */
#include "Marlin.h"

#if ENABLED(AUTO_BED_LEVELING_UBL)

  #include "UBL.h"
  #include "planner.h"
  #include <avr/io.h>
  #include <math.h>

  extern void set_current_to_destination();
  extern bool G26_Debug_flag;
  void debug_current_and_destination(char *title);

  void wait_for_button_press();

  void UBL_line_to_destination(const float &x_end, const float &y_end, const float &z_end, const float &e_end, const float &feed_rate, uint8_t extruder) {

    int cell_start_xi, cell_start_yi, cell_dest_xi, cell_dest_yi;
    int left_flag, down_flag;
    int current_xi, current_yi;
    int dxi, dyi, xi_cnt, yi_cnt;
    bool use_X_dist, inf_normalized_flag, inf_m_flag;
    float x_start, y_start;
    float x, y, z1, z2, z0 /*, z_optimized */;
    float next_mesh_line_x, next_mesh_line_y, a0ma1diva2ma1;
    float on_axis_distance, e_normalized_dist, e_position, e_start, z_normalized_dist, z_position, z_start;
    float dx, dy, adx, ady, m, c;

    //
    // Much of the nozzle movement will be within the same cell.  So we will do as little computation
    // as possible to determine if this is the case.  If this move is within the same cell, we will
    // just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
    //

    x_start = current_position[X_AXIS];
    y_start = current_position[Y_AXIS];
    z_start = current_position[Z_AXIS];
    e_start = current_position[E_AXIS];

    cell_start_xi = blm.get_cell_index_x(x_start);
    cell_start_yi = blm.get_cell_index_y(y_start);
    cell_dest_xi  = blm.get_cell_index_x(x_end);
    cell_dest_yi  = blm.get_cell_index_y(y_end);

    if (G26_Debug_flag!=0) {
      SERIAL_ECHOPGM(" UBL_line_to_destination(xe=");
      SERIAL_ECHO(x_end);
      SERIAL_ECHOPGM(",ye=");
      SERIAL_ECHO(y_end);
      SERIAL_ECHOPGM(",ze=");
      SERIAL_ECHO(z_end);
      SERIAL_ECHOPGM(",ee=");
      SERIAL_ECHO(e_end);
      SERIAL_ECHOPGM(")\n");
      debug_current_and_destination( (char *) "Start of UBL_line_to_destination()");
    }

    if ((cell_start_xi == cell_dest_xi) && (cell_start_yi == cell_dest_yi)) { // if the whole move is within the same cell,
      // we don't need to break up the move
      //
      // If we are moving off the print bed, we are going to allow the move at this level.
      // But we detect it and isolate it.   For now, we just pass along the request.
      //

      if (cell_dest_xi<0 || cell_dest_yi<0 || cell_dest_xi >= UBL_MESH_NUM_X_POINTS || cell_dest_yi >= UBL_MESH_NUM_Y_POINTS) {

        // Note:  There is no Z Correction in this case.  We are off the grid and don't know what
        // a reasonable correction would be.

        planner.buffer_line(x_end, y_end, z_end + blm.state.z_offset, e_end, feed_rate, extruder);
        set_current_to_destination();
        if (G26_Debug_flag!=0) {
          debug_current_and_destination( (char *) "out of bounds in UBL_line_to_destination()");
        }
        return;
      }

      // we can optimize some floating point operations here.  We could call float get_z_correction(float x0, float y0) to
      // generate the correction for us.  But we can lighten the load on the CPU by doing a modified version of the function.
      // We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
      // We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation.  And,
      // instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
      // to create a 1-over number for us.  That will allow us to do a floating point multiply instead of a floating point divide.

      FINAL_MOVE:
      a0ma1diva2ma1 = (x_end - mesh_index_to_X_location[cell_dest_xi]) * (float) (1.0 / MESH_X_DIST);

      z1 = z_values[cell_dest_xi][cell_dest_yi] +
      (z_values[cell_dest_xi + 1][cell_dest_yi] - z_values[cell_dest_xi][cell_dest_yi]) * a0ma1diva2ma1;

      z2 = z_values[cell_dest_xi][cell_dest_yi+1] +
      (z_values[cell_dest_xi+1][cell_dest_yi+1] - z_values[cell_dest_xi][cell_dest_yi+1]) * a0ma1diva2ma1;

      // we are done with the fractional X distance into the cell.  Now with the two Z-Heights we have calculated, we
      // are going to apply the Y-Distance into the cell to interpolate the final Z correction.

      a0ma1diva2ma1 = (y_end - mesh_index_to_Y_location[cell_dest_yi]) * (float) (1.0 / MESH_Y_DIST);

      z0 = z1 + (z2 - z1) * a0ma1diva2ma1;

      // debug code to use non-optimized get_z_correction() and to do a sanity check
      // that the correct value is being passed to planner.buffer_line()
      //
      /*
        z_optimized = z0;
        z0 = blm.get_z_correction( x_end, y_end);
        if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) )  {
        debug_current_and_destination( (char *) "FINAL_MOVE: z_correction()");
        if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN  ");
        if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN  ");
        SERIAL_ECHOPAIR("  x_end=", x_end);
        SERIAL_ECHOPAIR("  y_end=", y_end);
        SERIAL_ECHOPAIR("  z0=", z0);
        SERIAL_ECHOPAIR("  z_optimized=", z_optimized);
        SERIAL_ECHOPAIR("  err=",fabs(z_optimized - z0));
        SERIAL_EOL;
        }
      */
      z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );

      if (isnan(z0)) {  // if part of the Mesh is undefined, it will show up as NAN
        z0 = 0.0; // in z_values[][] and propagate through the
        // calculations. If our correction is NAN, we throw it out
        // because part of the Mesh is undefined and we don't have the
        // information we need to complete the height correction.
      }

      planner.buffer_line(x_end, y_end, z_end + z0 + blm.state.z_offset, e_end, feed_rate, extruder);
      if (G26_Debug_flag!=0) {
        debug_current_and_destination( (char *) "FINAL_MOVE in UBL_line_to_destination()");
      }
      set_current_to_destination();
      return;
    }

    //
    //  If we get here, we are processing a move that crosses at least one Mesh Line.   We will check
    //  for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
    //  of the move figured out.  We can process the easy case of just crossing an X or Y Mesh Line with less
    //  computation and in fact most lines are of this nature.  We will check for that in the following
    //  blocks of code:

    left_flag = 0;
    down_flag = 0;
    inf_m_flag = false;
    inf_normalized_flag = false;

    dx = x_end - x_start;
    dy = y_end - y_start;

    if (dx<0.0) {     // figure out which way we need to move to get to the next cell
      dxi = -1;
      adx = -dx;  // absolute value of dx.  We already need to check if dx and dy are negative.
    }
    else {   // We may as well generate the appropriate values for adx and ady right now
      dxi = 1;  // to save setting up the abs() function call and actually doing the call.
      adx = dx;
    }
    if (dy<0.0) {
      dyi = -1;
      ady = -dy;  // absolute value of dy
    }
    else {
      dyi = 1;
      ady = dy;
    }

    if (dx<0.0) left_flag = 1;
    if (dy<0.0) down_flag = 1;
    if (cell_start_xi == cell_dest_xi) dxi = 0;
    if (cell_start_yi == cell_dest_yi) dyi = 0;

    //
    // Compute the scaling factor for the extruder for each partial move.
    // We need to watch out for zero length moves because it will cause us to
    // have an infinate scaling factor.  We are stuck doing a floating point
    // divide to get our scaling factor, but after that, we just multiply by this
    // number.   We also pick our scaling factor based on whether the X or Y
    // component is larger.  We use the biggest of the two to preserve precision.
    //
    if ( adx > ady ) {
      use_X_dist = true;
      on_axis_distance   = x_end-x_start;
    }
    else {
      use_X_dist = false;
      on_axis_distance   = y_end-y_start;
    }
    e_position = e_end - e_start;
    e_normalized_dist = e_position / on_axis_distance;

    z_position = z_end - z_start;
    z_normalized_dist = z_position / on_axis_distance;

    if (e_normalized_dist==INFINITY || e_normalized_dist==-INFINITY) {
      inf_normalized_flag = true;
    }
    current_xi = cell_start_xi;
    current_yi = cell_start_yi;

    m = dy / dx;
    c = y_start - m*x_start;
    if (m == INFINITY || m == -INFINITY) {
      inf_m_flag = true;
    }
    //
    // This block handles vertical lines.  These are lines that stay within the same
    // X Cell column.  They do not need to be perfectly vertical.  They just can
    // not cross into another X Cell column.
    //
    if (dxi == 0) {       // Check for a vertical line
      current_yi += down_flag;  // Line is heading down, we just want to go to the bottom
      while (current_yi != cell_dest_yi + down_flag) {
        current_yi += dyi;
        next_mesh_line_y = mesh_index_to_Y_location[current_yi];
        if (inf_m_flag) {
          x = x_start;  // if the slope of the line is infinite, we won't do the calculations
        }
        // we know the next X is the same so we can recover and continue!
        else {
          x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
        }

        z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi, current_yi);

        //
        // debug code to use non-optimized get_z_correction() and to do a sanity check
        // that the correct value is being passed to planner.buffer_line()
        //
        /*
          z_optimized = z0;
          z0 = blm.get_z_correction( x, next_mesh_line_y);
          if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) )  {
          debug_current_and_destination( (char *) "VERTICAL z_correction()");
          if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN  ");
          if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN  ");
          SERIAL_ECHOPAIR("  x=", x);
          SERIAL_ECHOPAIR("  next_mesh_line_y=", next_mesh_line_y);
          SERIAL_ECHOPAIR("  z0=", z0);
          SERIAL_ECHOPAIR("  z_optimized=", z_optimized);
          SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
          SERIAL_ECHO("\n");
          }
        */

        z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );

        if (isnan(z0)) {  // if part of the Mesh is undefined, it will show up as NAN
          z0 = 0.0; // in z_values[][] and propagate through the
          // calculations. If our correction is NAN, we throw it out
          // because part of the Mesh is undefined and we don't have the
          // information we need to complete the height correction.
        }
        y = mesh_index_to_Y_location[current_yi];

        // Without this check, it is possible for the algorythm to generate a zero length move in the case
        // where the line is heading down and it is starting right on a Mesh Line boundary.  For how often that
        // happens, it might be best to remove the check and always 'schedule' the move because
        // the planner.buffer_line() routine will filter it if that happens.
        if ( y!=y_start)   {
          if ( inf_normalized_flag == false ) {
            on_axis_distance   = y - y_start;       // we don't need to check if the extruder position
            e_position = e_start + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a vertical move
            z_position = z_start + on_axis_distance * z_normalized_dist;
          }
          else {
            e_position = e_start;
            z_position = z_start;
          }

          planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
        } //else printf("FIRST MOVE PRUNED  ");
      }
      //
      // Check if we are at the final destination.  Usually, we won't be, but if it is on a Y Mesh Line, we are done.
      //
      if (G26_Debug_flag!=0) {
        debug_current_and_destination( (char *) "vertical move done in UBL_line_to_destination()");
      }
      if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
        goto FINAL_MOVE;
      }
      set_current_to_destination();
      return;
    }

    //
    // This block handles horizontal lines.  These are lines that stay within the same
    // Y Cell row.  They do not need to be perfectly horizontal.  They just can
    // not cross into another Y Cell row.
    //

    if (dyi == 0) {       // Check for a horiziontal line
      current_xi += left_flag;  // Line is heading left, we just want to go to the left
      // edge of this cell for the first move.
      while (current_xi != cell_dest_xi + left_flag) {
        current_xi += dxi;
        next_mesh_line_x = mesh_index_to_X_location[current_xi];
        y = m * next_mesh_line_x + c;   // Calculate X at the next Y mesh line

        z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);

        //
        // debug code to use non-optimized get_z_correction() and to do a sanity check
        // that the correct value is being passed to planner.buffer_line()
        //
        /*
          z_optimized = z0;
          z0 = blm.get_z_correction( next_mesh_line_x, y);
          if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) )  {
          debug_current_and_destination( (char *) "HORIZONTAL z_correction()");
          if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN  ");
          if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN  ");
          SERIAL_ECHOPAIR("  next_mesh_line_x=", next_mesh_line_x);
          SERIAL_ECHOPAIR("  y=", y);
          SERIAL_ECHOPAIR("  z0=", z0);
          SERIAL_ECHOPAIR("  z_optimized=", z_optimized);
          SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
          SERIAL_ECHO("\n");
          }
        */

        z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );

        if (isnan(z0)) {  // if part of the Mesh is undefined, it will show up as NAN
          z0 = 0.0; // in z_values[][] and propagate through the
          // calculations. If our correction is NAN, we throw it out
          // because part of the Mesh is undefined and we don't have the
          // information we need to complete the height correction.
        }
        x = mesh_index_to_X_location[current_xi];

        // Without this check, it is possible for the algorythm to generate a zero length move in the case
        // where the line is heading left and it is starting right on a Mesh Line boundary.  For how often
        // that happens, it might be best to remove the check and always 'schedule' the move because
        // the planner.buffer_line() routine will filter it if that happens.
        if ( x!=x_start)   {
          if ( inf_normalized_flag == false ) {
            on_axis_distance   = x - x_start;       // we don't need to check if the extruder position
            e_position = e_start + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
            z_position = z_start + on_axis_distance * z_normalized_dist;
          }
          else {
            e_position = e_start;
            z_position = z_start;
          }

          planner.buffer_line(x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
        } //else printf("FIRST MOVE PRUNED  ");
      }
      if (G26_Debug_flag!=0) {
        debug_current_and_destination( (char *) "horizontal move done in UBL_line_to_destination()");
      }
      if (current_position[X_AXIS] != x_end || current_position[Y_AXIS] != y_end) {
        goto FINAL_MOVE;
      }
      set_current_to_destination();
      return;
    }

    //
    //
    //
    //
    // This block handles the generic case of a line crossing both X and Y
    // Mesh lines.
    //
    //
    //
    //

    xi_cnt = cell_start_xi - cell_dest_xi;
    if ( xi_cnt < 0 ) {
      xi_cnt = -xi_cnt;
    }

    yi_cnt = cell_start_yi - cell_dest_yi;
    if ( yi_cnt < 0 ) {
      yi_cnt = -yi_cnt;
    }

    current_xi += left_flag;
    current_yi += down_flag;

    while ( xi_cnt>0 || yi_cnt>0 )    {

      next_mesh_line_x = mesh_index_to_X_location[current_xi + dxi];
      next_mesh_line_y = mesh_index_to_Y_location[current_yi + dyi];

      y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
      x = (next_mesh_line_y-c) / m; // Calculate X at the next Y mesh line    (we don't have to worry
      // about m being equal to 0.0  If this was the case, we would have
      // detected this as a vertical line move up above and we wouldn't
      // be down here doing a generic type of move.

      if ((left_flag && (x>next_mesh_line_x)) || (!left_flag && (x<next_mesh_line_x))) { // Check if we hit the Y line first
        //
        // Yes!  Crossing a Y Mesh Line next
        //
        z0 = blm.get_z_correction_along_horizontal_mesh_line_at_specific_X(x, current_xi-left_flag, current_yi+dyi);

        //
        // debug code to use non-optimized get_z_correction() and to do a sanity check
        // that the correct value is being passed to planner.buffer_line()
        //

        /*

          z_optimized = z0;

          z0 = blm.get_z_correction( x, next_mesh_line_y);
          if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) )  {
            debug_current_and_destination( (char *) "General_1: z_correction()");
            if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN  ");
            if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN  "); {
              SERIAL_ECHOPAIR("  x=", x);
            }
            SERIAL_ECHOPAIR("  next_mesh_line_y=", next_mesh_line_y);
            SERIAL_ECHOPAIR("  z0=", z0);
            SERIAL_ECHOPAIR("  z_optimized=", z_optimized);
            SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
            SERIAL_ECHO("\n");
          }
        */

        z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );
        if (isnan(z0)) {  // if part of the Mesh is undefined, it will show up as NAN
          z0 = 0.0; // in z_values[][] and propagate through the
          // calculations. If our correction is NAN, we throw it out
          // because part of the Mesh is undefined and we don't have the
          // information we need to complete the height correction.
        }

        if ( inf_normalized_flag == false ) {
          if ( use_X_dist ) {
            on_axis_distance   = x - x_start;
          }
          else {
            on_axis_distance   = next_mesh_line_y - y_start;
          }
          e_position = e_start + on_axis_distance * e_normalized_dist;
          z_position = z_start + on_axis_distance * z_normalized_dist;
        }
        else {
          e_position = e_start;
          z_position = z_start;
        }
        planner.buffer_line(x, next_mesh_line_y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
        current_yi += dyi;
        yi_cnt--;
      }
      else {
        //
        // Yes!  Crossing a X Mesh Line next
        //
        z0 = blm.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi+dxi, current_yi-down_flag);


        //
        // debug code to use non-optimized get_z_correction() and to do a sanity check
        // that the correct value is being passed to planner.buffer_line()
        //
        /*
          z_optimized = z0;
          z0 = blm.get_z_correction( next_mesh_line_x, y);
          if ( fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized) )  {
          debug_current_and_destination( (char *) "General_2: z_correction()");
          if ( isnan(z0) ) SERIAL_ECHO(" z0==NAN  ");
          if ( isnan(z_optimized) ) SERIAL_ECHO(" z_optimized==NAN  ");
          SERIAL_ECHOPAIR("  next_mesh_line_x=", next_mesh_line_x);
          SERIAL_ECHOPAIR("  y=", y);
          SERIAL_ECHOPAIR("  z0=", z0);
          SERIAL_ECHOPAIR("  z_optimized=", z_optimized);
          SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
          SERIAL_ECHO("\n");
          }
        */

        z0 = z0 * blm.fade_scaling_factor_for_Z( z_end );

        if (isnan(z0)) {  // if part of the Mesh is undefined, it will show up as NAN
          z0 = 0.0; // in z_values[][] and propagate through the
          // calculations. If our correction is NAN, we throw it out
          // because part of the Mesh is undefined and we don't have the
          // information we need to complete the height correction.
        }
        if ( inf_normalized_flag == false ) {
          if ( use_X_dist ) {
            on_axis_distance   = next_mesh_line_x - x_start;
          }
          else {
            on_axis_distance   = y - y_start;
          }
          e_position = e_start + on_axis_distance * e_normalized_dist;
          z_position = z_start + on_axis_distance * z_normalized_dist;
        }
        else {
          e_position = e_start;
          z_position = z_start;
        }

        planner.buffer_line(next_mesh_line_x, y, z_position + z0 + blm.state.z_offset, e_position, feed_rate, extruder);
        current_xi += dxi;
        xi_cnt--;
      }
    }
    if (G26_Debug_flag) {
      debug_current_and_destination( (char *) "generic move done in UBL_line_to_destination()");
    }
    if (current_position[0] != x_end || current_position[1] != y_end)  {
      goto FINAL_MOVE;
    }
    set_current_to_destination();
    return;
  }

  void wait_for_button_press() {
    //  if ( !been_to_2_6 )
    //return;   // bob - I think this should be commented out

    SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66.  Right Switch is on pin 65
    SET_OUTPUT(64);
    while (READ(66) & 0x01) idle();

    delay(50);
    while (!(READ(66) & 0x01)) idle();
    delay(50);
  }

#endif