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bed_mesh.py
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bed_mesh.py
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# Mesh Bed Leveling
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2019 Eric Callahan <arksine.code@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math, json, collections
from . import probe
import numpy as np
PROFILE_VERSION = 1
PROFILE_OPTIONS = {
'min_x': float, 'max_x': float, 'min_y': float, 'max_y': float,
'x_count': int, 'y_count': int, 'mesh_x_pps': int, 'mesh_y_pps': int,
'algo': str, 'tension': float
}
class BedMeshError(Exception):
pass
# PEP 485 isclose()
def isclose(a, b, rel_tol=1e-09, abs_tol=0.0):
return abs(a-b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
# return true if a coordinate is within the region
# specified by min_c and max_c
def within(coord, min_c, max_c, tol=0.0):
return (max_c[0] + tol) >= coord[0] >= (min_c[0] - tol) and \
(max_c[1] + tol) >= coord[1] >= (min_c[1] - tol)
# Constrain value between min and max
def constrain(val, min_val, max_val):
return min(max_val, max(min_val, val))
# Linear interpolation between two values
def lerp(t, v0, v1):
return (1. - t) * v0 + t * v1
# retreive commma separated pair from config
def parse_config_pair(config, option, default, minval=None, maxval=None):
pair = config.getintlist(option, (default, default))
if len(pair) != 2:
if len(pair) != 1:
raise config.error("bed_mesh: malformed '%s' value: %s"
% (option, config.get(option)))
pair = (pair[0], pair[0])
if minval is not None:
if pair[0] < minval or pair[1] < minval:
raise config.error(
"Option '%s' in section bed_mesh must have a minimum of %s"
% (option, str(minval)))
if maxval is not None:
if pair[0] > maxval or pair[1] > maxval:
raise config.error(
"Option '%s' in section bed_mesh must have a maximum of %s"
% (option, str(maxval)))
return pair
# retreive commma separated pair from a g-code command
def parse_gcmd_pair(gcmd, name, minval=None, maxval=None):
try:
pair = [int(v.strip()) for v in gcmd.get(name).split(',')]
except:
raise gcmd.error("Unable to parse parameter '%s'" % (name,))
if len(pair) != 2:
if len(pair) != 1:
raise gcmd.error("Unable to parse parameter '%s'" % (name,))
pair = (pair[0], pair[0])
if minval is not None:
if pair[0] < minval or pair[1] < minval:
raise gcmd.error("Parameter '%s' must have a minimum of %d"
% (name, minval))
if maxval is not None:
if pair[0] > maxval or pair[1] > maxval:
raise gcmd.error("Parameter '%s' must have a maximum of %d"
% (name, maxval))
return pair
# retreive commma separated coordinate from a g-code command
def parse_gcmd_coord(gcmd, name):
try:
v1, v2 = [float(v.strip()) for v in gcmd.get(name).split(',')]
except:
raise gcmd.error("Unable to parse parameter '%s'" % (name,))
return v1, v2
class BedMesh:
FADE_DISABLE = 0x7FFFFFFF
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
self.last_position = [0., 0., 0., 0.]
self.bmc = BedMeshCalibrate(config, self)
self.z_mesh = None
self.toolhead = None
self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
self.fade_start = config.getfloat('fade_start', 1.)
self.fade_end = config.getfloat('fade_end', 0.)
self.fade_dist = self.fade_end - self.fade_start
if self.fade_dist <= 0.:
self.fade_start = self.fade_end = self.FADE_DISABLE
self.log_fade_complete = False
self.base_fade_target = config.getfloat('fade_target', None)
self.fade_target = 0.
self.gcode = self.printer.lookup_object('gcode')
self.splitter = MoveSplitter(config, self.gcode)
# setup persistent storage
self.pmgr = ProfileManager(config, self)
self.save_profile = self.pmgr.save_profile
# register gcodes
self.gcode.register_command(
'BED_MESH_OUTPUT', self.cmd_BED_MESH_OUTPUT,
desc=self.cmd_BED_MESH_OUTPUT_help)
self.gcode.register_command(
'BED_MESH_MAP', self.cmd_BED_MESH_MAP,
desc=self.cmd_BED_MESH_MAP_help)
self.gcode.register_command(
'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
desc=self.cmd_BED_MESH_CLEAR_help)
self.gcode.register_command(
'BED_MESH_OFFSET', self.cmd_BED_MESH_OFFSET,
desc=self.cmd_BED_MESH_OFFSET_help)
# Register transform
gcode_move = self.printer.load_object(config, 'gcode_move')
gcode_move.set_move_transform(self)
# initialize status dict
self.update_status()
def handle_connect(self):
self.toolhead = self.printer.lookup_object('toolhead')
self.bmc.print_generated_points(logging.info)
def set_mesh(self, mesh):
if mesh is not None and self.fade_end != self.FADE_DISABLE:
self.log_fade_complete = True
if self.base_fade_target is None:
self.fade_target = mesh.avg_z
else:
self.fade_target = self.base_fade_target
min_z, max_z = mesh.get_z_range()
if (not min_z <= self.fade_target <= max_z and
self.fade_target != 0.):
# fade target is non-zero, out of mesh range
err_target = self.fade_target
self.z_mesh = None
self.fade_target = 0.
raise self.gcode.error(
"bed_mesh: ERROR, fade_target lies outside of mesh z "
"range\nmin: %.4f, max: %.4f, fade_target: %.4f"
% (min_z, max_z, err_target))
min_z, max_z = mesh.get_z_range()
if self.fade_dist <= max(abs(min_z), abs(max_z)):
self.z_mesh = None
self.fade_target = 0.
raise self.gcode.error(
"bed_mesh: Mesh extends outside of the fade range, "
"please see the fade_start and fade_end options in"
"example-extras.cfg. fade distance: %.2f mesh min: %.4f"
"mesh max: %.4f" % (self.fade_dist, min_z, max_z))
else:
self.fade_target = 0.
self.z_mesh = mesh
self.splitter.initialize(mesh, self.fade_target)
# cache the current position before a transform takes place
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
self.update_status()
def get_z_factor(self, z_pos):
if z_pos >= self.fade_end:
return 0.
elif z_pos >= self.fade_start:
return (self.fade_end - z_pos) / self.fade_dist
else:
return 1.
def get_position(self):
# Return last, non-transformed position
if self.z_mesh is None:
# No mesh calibrated, so send toolhead position
self.last_position[:] = self.toolhead.get_position()
self.last_position[2] -= self.fade_target
else:
# return current position minus the current z-adjustment
x, y, z, e = self.toolhead.get_position()
max_adj = self.z_mesh.calc_z(x, y)
factor = 1.
z_adj = max_adj - self.fade_target
if min(z, (z - max_adj)) >= self.fade_end:
# Fade out is complete, no factor
factor = 0.
elif max(z, (z - max_adj)) >= self.fade_start:
# Likely in the process of fading out adjustment.
# Because we don't yet know the gcode z position, use
# algebra to calculate the factor from the toolhead pos
factor = ((self.fade_end + self.fade_target - z) /
(self.fade_dist - z_adj))
factor = constrain(factor, 0., 1.)
final_z_adj = factor * z_adj + self.fade_target
self.last_position[:] = [x, y, z - final_z_adj, e]
return list(self.last_position)
def move(self, newpos, speed):
factor = self.get_z_factor(newpos[2])
if self.z_mesh is None or not factor:
# No mesh calibrated, or mesh leveling phased out.
x, y, z, e = newpos
if self.log_fade_complete:
self.log_fade_complete = False
logging.info(
"bed_mesh fade complete: Current Z: %.4f fade_target: %.4f "
% (z, self.fade_target))
self.toolhead.move([x, y, z + self.fade_target, e], speed)
else:
self.splitter.build_move(self.last_position, newpos, factor)
while not self.splitter.traverse_complete:
split_move = self.splitter.split()
if split_move:
self.toolhead.move(split_move, speed)
else:
raise self.gcode.error(
"Mesh Leveling: Error splitting move ")
self.last_position[:] = newpos
def get_status(self, eventtime=None):
return self.status
def update_status(self):
self.status = {
"profile_name": "",
"mesh_min": (0., 0.),
"mesh_max": (0., 0.),
"probed_matrix": [[]],
"mesh_matrix": [[]],
"profiles": self.pmgr.get_profiles()
}
if self.z_mesh is not None:
params = self.z_mesh.get_mesh_params()
mesh_min = (params['min_x'], params['min_y'])
mesh_max = (params['max_x'], params['max_y'])
probed_matrix = self.z_mesh.get_probed_matrix()
mesh_matrix = self.z_mesh.get_mesh_matrix()
self.status['profile_name'] = self.pmgr.get_current_profile()
self.status['mesh_min'] = mesh_min
self.status['mesh_max'] = mesh_max
self.status['probed_matrix'] = probed_matrix
self.status['mesh_matrix'] = mesh_matrix
def get_mesh(self):
return self.z_mesh
cmd_BED_MESH_OUTPUT_help = "Retrieve interpolated grid of probed z-points"
def cmd_BED_MESH_OUTPUT(self, gcmd):
if gcmd.get_int('PGP', 0):
# Print Generated Points instead of mesh
self.bmc.print_generated_points(gcmd.respond_info)
elif self.z_mesh is None:
gcmd.respond_info("Bed has not been probed")
else:
self.z_mesh.print_probed_matrix(gcmd.respond_info)
self.z_mesh.print_mesh(gcmd.respond_raw, self.horizontal_move_z)
cmd_BED_MESH_MAP_help = "Serialize mesh and output to terminal"
def cmd_BED_MESH_MAP(self, gcmd):
if self.z_mesh is not None:
params = self.z_mesh.get_mesh_params()
outdict = {
'mesh_min': (params['min_x'], params['min_y']),
'mesh_max': (params['max_x'], params['max_y']),
'z_positions': self.z_mesh.get_probed_matrix()}
gcmd.respond_raw("mesh_map_output " + json.dumps(outdict))
else:
gcmd.respond_info("Bed has not been probed")
cmd_BED_MESH_CLEAR_help = "Clear the Mesh so no z-adjustment is made"
def cmd_BED_MESH_CLEAR(self, gcmd):
self.set_mesh(None)
cmd_BED_MESH_OFFSET_help = "Add X/Y offsets to the mesh lookup"
def cmd_BED_MESH_OFFSET(self, gcmd):
if self.z_mesh is not None:
offsets = [None, None]
for i, axis in enumerate(['X', 'Y']):
offsets[i] = gcmd.get_float(axis, None)
self.z_mesh.set_mesh_offsets(offsets)
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
else:
gcmd.respond_info("No mesh loaded to offset")
class BedMeshCalibrate:
ALGOS = ['lagrange', 'bicubic']
def __init__(self, config, bedmesh):
self.printer = config.get_printer()
self.orig_config = {'radius': None, 'origin': None}
self.radius = self.origin = None
self.mesh_min = self.mesh_max = (0., 0.)
self.relative_reference_index = config.getint(
'relative_reference_index', None)
self.faulty_regions = []
self.substituted_indices = collections.OrderedDict()
self.orig_config['rri'] = self.relative_reference_index
self.bedmesh = bedmesh
self.mesh_config = collections.OrderedDict()
self._init_mesh_config(config)
self._generate_points(config.error)
self._profile_name = None
self.orig_points = self.points
self.probe_helper = probe.ProbePointsHelper(
config, self.probe_finalize, self._get_adjusted_points())
self.probe_helper.minimum_points(3)
self.probe_helper.use_xy_offsets(True)
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'BED_MESH_CALIBRATE', self.cmd_BED_MESH_CALIBRATE,
desc=self.cmd_BED_MESH_CALIBRATE_help)
def _generate_points(self, error):
x_cnt = self.mesh_config['x_count']
y_cnt = self.mesh_config['y_count']
min_x, min_y = self.mesh_min
max_x, max_y = self.mesh_max
x_dist = (max_x - min_x) / (x_cnt - 1)
y_dist = (max_y - min_y) / (y_cnt - 1)
# floor distances down to next hundredth
x_dist = math.floor(x_dist * 100) / 100
y_dist = math.floor(y_dist * 100) / 100
if x_dist < 1. or y_dist < 1.:
raise error("bed_mesh: min/max points too close together")
if self.radius is not None:
# round bed, min/max needs to be recalculated
y_dist = x_dist
new_r = (x_cnt // 2) * x_dist
min_x = min_y = -new_r
max_x = max_y = new_r
else:
# rectangular bed, only re-calc max_x
max_x = min_x + x_dist * (x_cnt - 1)
pos_y = min_y
points = []
for i in range(y_cnt):
for j in range(x_cnt):
if not i % 2:
# move in positive directon
pos_x = min_x + j * x_dist
else:
# move in negative direction
pos_x = max_x - j * x_dist
if self.radius is None:
# rectangular bed, append
points.append((pos_x, pos_y))
else:
# round bed, check distance from origin
dist_from_origin = math.sqrt(pos_x*pos_x + pos_y*pos_y)
if dist_from_origin <= self.radius:
points.append(
(self.origin[0] + pos_x, self.origin[1] + pos_y))
pos_y += y_dist
self.points = points
if not self.faulty_regions:
return
# Check to see if any points fall within faulty regions
last_y = self.points[0][1]
is_reversed = False
for i, coord in enumerate(self.points):
if not isclose(coord[1], last_y):
is_reversed = not is_reversed
last_y = coord[1]
adj_coords = []
for min_c, max_c in self.faulty_regions:
if within(coord, min_c, max_c, tol=.00001):
# Point lies within a faulty region
adj_coords = [
(min_c[0], coord[1]), (coord[0], min_c[1]),
(coord[0], max_c[1]), (max_c[0], coord[1])]
if is_reversed:
# Swap first and last points for zig-zag pattern
first = adj_coords[0]
adj_coords[0] = adj_coords[-1]
adj_coords[-1] = first
break
if not adj_coords:
# coord is not located within a faulty region
continue
valid_coords = []
for ac in adj_coords:
# make sure that coordinates are within the mesh boundary
if self.radius is None:
if within(ac, (min_x, min_y), (max_x, max_y), .000001):
valid_coords.append(ac)
else:
dist_from_origin = math.sqrt(ac[0]*ac[0] + ac[1]*ac[1])
if dist_from_origin <= self.radius:
valid_coords.append(ac)
if not valid_coords:
raise error("bed_mesh: Unable to generate coordinates"
" for faulty region at index: %d" % (i))
self.substituted_indices[i] = valid_coords
def print_generated_points(self, print_func):
x_offset = y_offset = 0.
probe = self.printer.lookup_object('probe', None)
if probe is not None:
x_offset, y_offset = probe.get_offsets()[:2]
print_func("bed_mesh: generated points\nIndex"
" | Tool Adjusted | Probe")
for i, (x, y) in enumerate(self.points):
adj_pt = "(%.1f, %.1f)" % (x - x_offset, y - y_offset)
mesh_pt = "(%.1f, %.1f)" % (x, y)
print_func(
" %-4d| %-16s| %s" % (i, adj_pt, mesh_pt))
if self.relative_reference_index is not None:
rri = self.relative_reference_index
print_func(
"bed_mesh: relative_reference_index %d is (%.2f, %.2f)"
% (rri, self.points[rri][0], self.points[rri][1]))
if self.substituted_indices:
print_func("bed_mesh: faulty region points")
for i, v in self.substituted_indices.items():
pt = self.points[i]
print_func("%d (%.2f, %.2f), substituted points: %s"
% (i, pt[0], pt[1], repr(v)))
def _init_mesh_config(self, config):
mesh_cfg = self.mesh_config
orig_cfg = self.orig_config
self.radius = config.getfloat('mesh_radius', None, above=0.)
if self.radius is not None:
self.origin = config.getfloatlist('mesh_origin', (0., 0.), count=2)
x_cnt = y_cnt = config.getint('round_probe_count', 5, minval=3)
# round beds must have an odd number of points along each axis
if not x_cnt & 1:
raise config.error(
"bed_mesh: probe_count must be odd for round beds")
# radius may have precision to .1mm
self.radius = math.floor(self.radius * 10) / 10
orig_cfg['radius'] = self.radius
orig_cfg['origin'] = self.origin
min_x = min_y = -self.radius
max_x = max_y = self.radius
else:
# rectangular
x_cnt, y_cnt = parse_config_pair(config, 'probe_count', 3, minval=3)
min_x, min_y = config.getfloatlist('mesh_min', count=2)
max_x, max_y = config.getfloatlist('mesh_max', count=2)
if max_x <= min_x or max_y <= min_y:
raise config.error('bed_mesh: invalid min/max points')
orig_cfg['x_count'] = mesh_cfg['x_count'] = x_cnt
orig_cfg['y_count'] = mesh_cfg['y_count'] = y_cnt
orig_cfg['mesh_min'] = self.mesh_min = (min_x, min_y)
orig_cfg['mesh_max'] = self.mesh_max = (max_x, max_y)
pps = parse_config_pair(config, 'mesh_pps', 2, minval=0)
orig_cfg['mesh_x_pps'] = mesh_cfg['mesh_x_pps'] = pps[0]
orig_cfg['mesh_y_pps'] = mesh_cfg['mesh_y_pps'] = pps[1]
orig_cfg['algo'] = mesh_cfg['algo'] = \
config.get('algorithm', 'lagrange').strip().lower()
orig_cfg['tension'] = mesh_cfg['tension'] = config.getfloat(
'bicubic_tension', .2, minval=0., maxval=2.)
for i in list(range(1, 100, 1)):
start = config.getfloatlist("faulty_region_%d_min" % (i,), None,
count=2)
if start is None:
break
end = config.getfloatlist("faulty_region_%d_max" % (i,), count=2)
# Validate the corners. If necessary reorganize them.
# c1 = min point, c3 = max point
# c4 ---- c3
# | |
# c1 ---- c2
c1 = [min([s, e]) for s, e in zip(start, end)]
c3 = [max([s, e]) for s, e in zip(start, end)]
c2 = [c1[0], c3[1]]
c4 = [c3[0], c1[1]]
# Check for overlapping regions
for j, (prev_c1, prev_c3) in enumerate(self.faulty_regions):
prev_c2 = [prev_c1[0], prev_c3[1]]
prev_c4 = [prev_c3[0], prev_c1[1]]
# Validate that no existing corner is within the new region
for coord in [prev_c1, prev_c2, prev_c3, prev_c4]:
if within(coord, c1, c3):
raise config.error(
"bed_mesh: Existing faulty_region_%d %s overlaps "
"added faulty_region_%d %s"
% (j+1, repr([prev_c1, prev_c3]),
i, repr([c1, c3])))
# Validate that no new corner is within an existing region
for coord in [c1, c2, c3, c4]:
if within(coord, prev_c1, prev_c3):
raise config.error(
"bed_mesh: Added faulty_region_%d %s overlaps "
"existing faulty_region_%d %s"
% (i, repr([c1, c3]),
j+1, repr([prev_c1, prev_c3])))
self.faulty_regions.append((c1, c3))
self._verify_algorithm(config.error)
def _verify_algorithm(self, error):
params = self.mesh_config
x_pps = params['mesh_x_pps']
y_pps = params['mesh_y_pps']
if params['algo'] not in self.ALGOS:
raise error(
"bed_mesh: Unknown algorithm <%s>"
% (self.mesh_config['algo']))
# Check the algorithm against the current configuration
max_probe_cnt = max(params['x_count'], params['y_count'])
min_probe_cnt = min(params['x_count'], params['y_count'])
if max(x_pps, y_pps) == 0:
# Interpolation disabled
self.mesh_config['algo'] = 'direct'
elif params['algo'] == 'lagrange' and max_probe_cnt > 6:
# Lagrange interpolation tends to oscillate when using more
# than 6 samples
raise error(
"bed_mesh: cannot exceed a probe_count of 6 when using "
"lagrange interpolation. Configured Probe Count: %d, %d" %
(self.mesh_config['x_count'], self.mesh_config['y_count']))
elif params['algo'] == 'bicubic' and min_probe_cnt < 4:
if max_probe_cnt > 6:
raise error(
"bed_mesh: invalid probe_count option when using bicubic "
"interpolation. Combination of 3 points on one axis with "
"more than 6 on another is not permitted. "
"Configured Probe Count: %d, %d" %
(self.mesh_config['x_count'], self.mesh_config['y_count']))
else:
logging.info(
"bed_mesh: bicubic interpolation with a probe_count of "
"less than 4 points detected. Forcing lagrange "
"interpolation. Configured Probe Count: %d, %d" %
(self.mesh_config['x_count'], self.mesh_config['y_count']))
params['algo'] = 'lagrange'
def update_config(self, gcmd):
# reset default configuration
self.radius = self.orig_config['radius']
self.origin = self.orig_config['origin']
self.relative_reference_index = self.orig_config['rri']
self.mesh_min = self.orig_config['mesh_min']
self.mesh_max = self.orig_config['mesh_max']
for key in list(self.mesh_config.keys()):
self.mesh_config[key] = self.orig_config[key]
params = gcmd.get_command_parameters()
need_cfg_update = False
if 'RELATIVE_REFERENCE_INDEX' in params:
self.relative_reference_index = gcmd.get_int(
'RELATIVE_REFERENCE_INDEX')
if self.relative_reference_index < 0:
self.relative_reference_index = None
need_cfg_update = True
if self.radius is not None:
if "MESH_RADIUS" in params:
self.radius = gcmd.get_float("MESH_RADIUS")
self.radius = math.floor(self.radius * 10) / 10
self.mesh_min = (-self.radius, -self.radius)
self.mesh_max = (self.radius, self.radius)
need_cfg_update = True
if "MESH_ORIGIN" in params:
self.origin = parse_gcmd_coord(gcmd, 'MESH_ORIGIN')
need_cfg_update = True
if "ROUND_PROBE_COUNT" in params:
cnt = gcmd.get_int('ROUND_PROBE_COUNT', minval=3)
self.mesh_config['x_count'] = cnt
self.mesh_config['y_count'] = cnt
need_cfg_update = True
else:
if "MESH_MIN" in params:
self.mesh_min = parse_gcmd_coord(gcmd, 'MESH_MIN')
need_cfg_update = True
if "MESH_MAX" in params:
self.mesh_max = parse_gcmd_coord(gcmd, 'MESH_MAX')
need_cfg_update = True
if "PROBE_COUNT" in params:
x_cnt, y_cnt = parse_gcmd_pair(gcmd, 'PROBE_COUNT', minval=3)
self.mesh_config['x_count'] = x_cnt
self.mesh_config['y_count'] = y_cnt
need_cfg_update = True
if "ALGORITHM" in params:
self.mesh_config['algo'] = gcmd.get('ALGORITHM').strip().lower()
need_cfg_update = True
if need_cfg_update:
self._verify_algorithm(gcmd.error)
self._generate_points(gcmd.error)
gcmd.respond_info("Generating new points...")
self.print_generated_points(gcmd.respond_info)
pts = self._get_adjusted_points()
self.probe_helper.update_probe_points(pts, 3)
msg = "relative_reference_index: %s\n" % \
(self.relative_reference_index)
msg += "\n".join(["%s: %s" % (k, v) for k, v
in self.mesh_config.items()])
logging.info("Updated Mesh Configuration:\n" + msg)
else:
self.points = self.orig_points
pts = self._get_adjusted_points()
self.probe_helper.update_probe_points(pts, 3)
def _get_adjusted_points(self):
if not self.substituted_indices:
return self.points
adj_pts = []
last_index = 0
for i, pts in self.substituted_indices.items():
adj_pts.extend(self.points[last_index:i])
adj_pts.extend(pts)
# Add one to the last index to skip the point
# we are replacing
last_index = i + 1
adj_pts.extend(self.points[last_index:])
return adj_pts
cmd_BED_MESH_CALIBRATE_help = "Perform Mesh Bed Leveling"
def cmd_BED_MESH_CALIBRATE(self, gcmd):
self._profile_name = gcmd.get('PROFILE', "default")
if not self._profile_name.strip():
raise gcmd.error("Value for parameter 'PROFILE' must be specified")
self.bedmesh.set_mesh(None)
self.update_config(gcmd)
self.probe_helper.start_probe(gcmd)
def probe_finalize(self, offsets, positions):
x_offset, y_offset, z_offset = offsets
positions = [[round(p[0], 2), round(p[1], 2), p[2]]
for p in positions]
params = dict(self.mesh_config)
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['min_y'] = min(positions, key=lambda p: p[1])[1] + y_offset
params['max_y'] = max(positions, key=lambda p: p[1])[1] + y_offset
x_cnt = params['x_count']
y_cnt = params['y_count']
if self.substituted_indices:
# Replace substituted points with the original generated
# point. Its Z Value is the average probed Z of the
# substituted points.
corrected_pts = []
idx_offset = 0
start_idx = 0
for i, pts in self.substituted_indices.items():
fpt = [p - o for p, o in zip(self.points[i], offsets[:2])]
# offset the index to account for additional samples
idx = i + idx_offset
# Add "normal" points
corrected_pts.extend(positions[start_idx:idx])
avg_z = sum([p[2] for p in positions[idx:idx+len(pts)]]) \
/ len(pts)
idx_offset += len(pts) - 1
start_idx = idx + len(pts)
fpt.append(avg_z)
logging.info(
"bed_mesh: Replacing value at faulty index %d"
" (%.4f, %.4f): avg value = %.6f, avg w/ z_offset = %.6f"
% (i, fpt[0], fpt[1], avg_z, avg_z - z_offset))
corrected_pts.append(fpt)
corrected_pts.extend(positions[start_idx:])
# validate corrected positions
if len(self.points) != len(corrected_pts):
self._dump_points(positions, corrected_pts, offsets)
raise self.gcode.error(
"bed_mesh: invalid position list size, "
"generated count: %d, probed count: %d"
% (len(self.points), len(corrected_pts)))
for gen_pt, probed in zip(self.points, corrected_pts):
off_pt = [p - o for p, o in zip(gen_pt, offsets[:2])]
if not isclose(off_pt[0], probed[0], abs_tol=.1) or \
not isclose(off_pt[1], probed[1], abs_tol=.1):
self._dump_points(positions, corrected_pts, offsets)
raise self.gcode.error(
"bed_mesh: point mismatch, orig = (%.2f, %.2f)"
", probed = (%.2f, %.2f)"
% (off_pt[0], off_pt[1], probed[0], probed[1]))
positions = corrected_pts
if self.relative_reference_index is not None:
# zero out probe z offset and
# set offset relative to reference index
z_offset = positions[self.relative_reference_index][2]
probed_matrix = []
row = []
prev_pos = positions[0]
for pos in positions:
if not isclose(pos[1], prev_pos[1], abs_tol=.1):
# y has changed, append row and start new
probed_matrix.append(row)
row = []
if pos[0] > prev_pos[0]:
# probed in the positive direction
row.append(pos[2] - z_offset)
else:
# probed in the negative direction
row.insert(0, pos[2] - z_offset)
prev_pos = pos
# append last row
probed_matrix.append(row)
# make sure the y-axis is the correct length
if len(probed_matrix) != y_cnt:
raise self.gcode.error(
("bed_mesh: Invalid y-axis table length\n"
"Probed table length: %d Probed Table:\n%s") %
(len(probed_matrix), str(probed_matrix)))
if self.radius is not None:
# round bed, extrapolate probed values to create a square mesh
for row in probed_matrix:
row_size = len(row)
if not row_size & 1:
# an even number of points in a row shouldn't be possible
msg = "bed_mesh: incorrect number of points sampled on X\n"
msg += "Probed Table:\n"
msg += str(probed_matrix)
raise self.gcode.error(msg)
buf_cnt = (x_cnt - row_size) // 2
if buf_cnt == 0:
continue
left_buffer = [row[0]] * buf_cnt
right_buffer = [row[row_size-1]] * buf_cnt
row[0:0] = left_buffer
row.extend(right_buffer)
# make sure that the x-axis is the correct length
for row in probed_matrix:
if len(row) != x_cnt:
raise self.gcode.error(
("bed_mesh: invalid x-axis table length\n"
"Probed table length: %d Probed Table:\n%s") %
(len(probed_matrix), str(probed_matrix)))
z_mesh = ZMesh(params)
try:
z_mesh.build_mesh(probed_matrix)
except BedMeshError as e:
raise self.gcode.error(str(e))
self.bedmesh.set_mesh(z_mesh)
self.gcode.respond_info("Mesh Bed Leveling Complete")
self.bedmesh.save_profile(self._profile_name)
def _dump_points(self, probed_pts, corrected_pts, offsets):
# logs generated points with offset applied, points received
# from the finalize callback, and the list of corrected points
max_len = max([len(self.points), len(probed_pts), len(corrected_pts)])
logging.info(
"bed_mesh: calibration point dump\nIndex | %-17s| %-25s|"
" Corrected Point" % ("Generated Point", "Probed Point"))
for i in list(range(max_len)):
gen_pt = probed_pt = corr_pt = ""
if i < len(self.points):
off_pt = [p - o for p, o in zip(self.points[i], offsets[:2])]
gen_pt = "(%.2f, %.2f)" % tuple(off_pt)
if i < len(probed_pts):
probed_pt = "(%.2f, %.2f, %.4f)" % tuple(probed_pts[i])
if i < len(corrected_pts):
corr_pt = "(%.2f, %.2f, %.4f)" % tuple(corrected_pts[i])
logging.info(
" %-4d| %-17s| %-25s| %s" % (i, gen_pt, probed_pt, corr_pt))
class MoveSplitter:
def __init__(self, config, gcode):
self.split_delta_z = config.getfloat(
'split_delta_z', .025, minval=0.01)
self.move_check_distance = config.getfloat(
'move_check_distance', 5., minval=3.)
self.z_mesh = None
self.fade_offset = 0.
self.gcode = gcode
def initialize(self, mesh, fade_offset):
self.z_mesh = mesh
self.fade_offset = fade_offset
def build_move(self, prev_pos, next_pos, factor):
self.prev_pos = tuple(prev_pos)
self.next_pos = tuple(next_pos)
self.current_pos = list(prev_pos)
self.z_factor = factor
self.z_offset = self._calc_z_offset(prev_pos)
self.traverse_complete = False
self.distance_checked = 0.
axes_d = [self.next_pos[i] - self.prev_pos[i] for i in range(4)]
self.total_move_length = math.sqrt(sum([d*d for d in axes_d[:3]]))
self.axis_move = [not isclose(d, 0., abs_tol=1e-10) for d in axes_d]
def _calc_z_offset(self, pos):
z = self.z_mesh.calc_z(pos[0], pos[1])
offset = self.fade_offset
return self.z_factor * (z - offset) + offset
def _set_next_move(self, distance_from_prev):
t = distance_from_prev / self.total_move_length
if t > 1. or t < 0.:
raise self.gcode.error(
"bed_mesh: Slice distance is negative "
"or greater than entire move length")
for i in range(4):
if self.axis_move[i]:
self.current_pos[i] = lerp(
t, self.prev_pos[i], self.next_pos[i])
def split(self):
if not self.traverse_complete:
if self.axis_move[0] or self.axis_move[1]:
# X and/or Y axis move, traverse if necessary
while self.distance_checked + self.move_check_distance \
< self.total_move_length:
self.distance_checked += self.move_check_distance
self._set_next_move(self.distance_checked)
next_z = self._calc_z_offset(self.current_pos)
if abs(next_z - self.z_offset) >= self.split_delta_z:
self.z_offset = next_z
return self.current_pos[0], self.current_pos[1], \
self.current_pos[2] + self.z_offset, \
self.current_pos[3]
# end of move reached
self.current_pos[:] = self.next_pos
self.z_offset = self._calc_z_offset(self.current_pos)
# Its okay to add Z-Offset to the final move, since it will not be
# used again.
self.current_pos[2] += self.z_offset
self.traverse_complete = True
return self.current_pos
else:
# Traverse complete
return None
class ZMesh:
def __init__(self, params):
self.probed_matrix = self.mesh_matrix = None
self.mesh_params = params
self.avg_z = 0.
self.mesh_offsets = [0., 0.]
logging.debug('bed_mesh: probe/mesh parameters:')
for key, value in self.mesh_params.items():
logging.debug("%s : %s" % (key, value))
self.mesh_x_min = params['min_x']
self.mesh_x_max = params['max_x']
self.mesh_y_min = params['min_y']
self.mesh_y_max = params['max_y']
logging.debug(
"bed_mesh: Mesh Min: (%.2f,%.2f) Mesh Max: (%.2f,%.2f)"
% (self.mesh_x_min, self.mesh_y_min,
self.mesh_x_max, self.mesh_y_max))
# Set the interpolation algorithm
interpolation_algos = {
'lagrange': self._sample_lagrange,
'bicubic': self._sample_bicubic,
'direct': self._sample_direct
}
self._sample = interpolation_algos.get(params['algo'])
# Number of points to interpolate per segment
mesh_x_pps = params['mesh_x_pps']
mesh_y_pps = params['mesh_y_pps']
px_cnt = params['x_count']
py_cnt = params['y_count']
self.mesh_x_count = (px_cnt - 1) * mesh_x_pps + px_cnt
self.mesh_y_count = (py_cnt - 1) * mesh_y_pps + py_cnt
self.x_mult = mesh_x_pps + 1
self.y_mult = mesh_y_pps + 1
logging.debug("bed_mesh: Mesh grid size - X:%d, Y:%d"
% (self.mesh_x_count, self.mesh_y_count))
self.mesh_x_dist = (self.mesh_x_max - self.mesh_x_min) / \
(self.mesh_x_count - 1)
self.mesh_y_dist = (self.mesh_y_max - self.mesh_y_min) / \
(self.mesh_y_count - 1)
def get_mesh_matrix(self):
if self.mesh_matrix is not None:
return [[round(z, 6) for z in line]
for line in self.mesh_matrix]
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):
matrix = self.get_mesh_matrix()
if matrix is not None:
msg = "Mesh X,Y: %d,%d\n" % (self.mesh_x_count, self.mesh_y_count)
if move_z is not None:
msg += "Search Height: %d\n" % (move_z)
msg += "Mesh Offsets: X=%.4f, Y=%.4f\n" % (
self.mesh_offsets[0], self.mesh_offsets[1])
msg += "Mesh Average: %.2f\n" % (self.avg_z)
rng = self.get_z_range()
msg += "Mesh Range: min=%.4f max=%.4f\n" % (rng[0], rng[1])
msg += "Interpolation Algorithm: %s\n" \
% (self.mesh_params['algo'])
msg += "Measured points:\n"
for y_line in range(self.mesh_y_count - 1, -1, -1):
for z in matrix[y_line]:
msg += " %f" % (z)
msg += "\n"
print_func(msg)
else:
print_func("bed_mesh: Z Mesh not generated")
def build_mesh(self, z_matrix):
self.probed_matrix = z_matrix
self._sample(z_matrix)
self.avg_z = (sum([sum(x) for x in self.mesh_matrix]) /
sum([len(x) for x in self.mesh_matrix]))
# Round average to the nearest 100th. This
# should produce an offset that is divisible by common
# z step distances
self.avg_z = round(self.avg_z, 2)
self.print_mesh(logging.debug)
def set_mesh_offsets(self, offsets):
for i, o in enumerate(offsets):
if o is not None:
self.mesh_offsets[i] = o
def get_x_coordinate(self, index):
return self.mesh_x_min + self.mesh_x_dist * index
def get_y_coordinate(self, index):
return self.mesh_y_min + self.mesh_y_dist * index
def calc_z(self, x, y):
if self.mesh_matrix is not None:
tbl = self.mesh_matrix
tx, xidx = self._get_linear_index(x + self.mesh_offsets[0], 0)
ty, yidx = self._get_linear_index(y + self.mesh_offsets[1], 1)
z0 = lerp(tx, tbl[yidx][xidx], tbl[yidx][xidx+1])
z1 = lerp(tx, tbl[yidx+1][xidx], tbl[yidx+1][xidx+1])
return lerp(ty, z0, z1)
else:
# No mesh table generated, no z-adjustment
return 0.
def get_z_range(self):
if self.mesh_matrix is not None:
mesh_min = min([min(x) for x in self.mesh_matrix])
mesh_max = max([max(x) for x in self.mesh_matrix])
return mesh_min, mesh_max
else:
return 0., 0.
def _get_linear_index(self, coord, axis):
if axis == 0:
# X-axis
mesh_min = self.mesh_x_min
mesh_cnt = self.mesh_x_count
mesh_dist = self.mesh_x_dist
cfunc = self.get_x_coordinate
else:
# Y-axis
mesh_min = self.mesh_y_min
mesh_cnt = self.mesh_y_count
mesh_dist = self.mesh_y_dist
cfunc = self.get_y_coordinate
t = 0.
idx = int(math.floor((coord - mesh_min) / mesh_dist))
idx = constrain(idx, 0, mesh_cnt - 2)
t = (coord - cfunc(idx)) / mesh_dist
return constrain(t, 0., 1.), idx
def _sample_direct(self, z_matrix):
self.mesh_matrix = z_matrix
def _sample_lagrange(self, z_matrix):
x_mult = self.x_mult
y_mult = self.y_mult
self.mesh_matrix = \
[[0. if ((i % x_mult) or (j % y_mult))
else z_matrix[j//y_mult][i//x_mult]
for i in range(self.mesh_x_count)]
for j in range(self.mesh_y_count)]
xpts, ypts = self._get_lagrange_coords()
# Interpolate X coordinates
for i in range(self.mesh_y_count):
# only interpolate X-rows that have probed coordinates
if i % y_mult != 0:
continue
for j in range(self.mesh_x_count):
if j % x_mult == 0:
continue
x = self.get_x_coordinate(j)
self.mesh_matrix[i][j] = self._calc_lagrange(xpts, x, i, 0)
# Interpolate Y coordinates
for i in range(self.mesh_x_count):
for j in range(self.mesh_y_count):
if j % y_mult == 0:
continue
y = self.get_y_coordinate(j)
self.mesh_matrix[j][i] = self._calc_lagrange(ypts, y, i, 1)
def _get_lagrange_coords(self):
xpts = []
ypts = []
for i in range(self.mesh_params['x_count']):
xpts.append(self.get_x_coordinate(i * self.x_mult))
for j in range(self.mesh_params['y_count']):
ypts.append(self.get_y_coordinate(j * self.y_mult))
return xpts, ypts
def _calc_lagrange(self, lpts, c, vec, axis=0):
pt_cnt = len(lpts)
total = 0.
for i in range(pt_cnt):
n = 1.
d = 1.
for j in range(pt_cnt):
if j == i:
continue
n *= (c - lpts[j])
d *= (lpts[i] - lpts[j])
if axis == 0:
# Calc X-Axis
z = self.mesh_matrix[vec][i*self.x_mult]
else:
# Calc Y-Axis
z = self.mesh_matrix[i*self.y_mult][vec]
total += z * n / d