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Clamp autoleveller output #510

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Merged
eyal0 merged 1 commit into from
Jan 12, 2021
Merged

Clamp autoleveller output #510

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134 changes: 65 additions & 69 deletions autoleveller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,9 +98,8 @@ autoleveller::autoleveller( const boost::program_options::variables_map &options
callSub2[Software::MACH3] = "#" + globalVar0 + "=%2$s\n%5$s#" + globalVar1 + "=%3$s\n%6$s#" + globalVar2 + "=%4$s\n%7$sM98 P%1$s\n";
}

string autoleveller::getVarName( int i, int j )
{
return '#' + to_string(i * numYPoints + j + 500); //getVarName(10,8) returns (numYPoints=10) #180
string autoleveller::getVarName(unsigned int i, unsigned int j) {
return '#' + to_string(i * numYPoints + j + 500); //getVarName(10,8) returns (numYPoints=10) #180
}

box_type_fp computeWorkarea(const vector<pair<coordinate_type_fp, multi_linestring_type_fp>>& toolpaths) {
Expand Down Expand Up @@ -300,75 +299,72 @@ static inline T clamp(const T& x, const T& min_x, const T& max_x) {
return std::max(min_x, std::min(x, max_x));
}

string autoleveller::interpolatePoint ( point_type_fp point )
{
unsigned int xminindex;
unsigned int yminindex;
double x_minus_x0_rel;
double y_minus_y0_rel;

// Calculate point index for measurement point below and to the left
// of `point`
xminindex = floor((point.x() - startPointX) / XProbeDist);
xminindex = clamp(xminindex, 0U, numXPoints - 1);

yminindex = floor((point.y() - startPointY) / YProbeDist);
yminindex = clamp(yminindex, 0U, numYPoints - 1);

// Get fraction of the distance to the next measurement point up and
// to the left that `point` is.
x_minus_x0_rel = ( point.x() - startPointX - xminindex * XProbeDist ) / XProbeDist;
y_minus_y0_rel = ( point.y() - startPointY - yminindex * YProbeDist ) / YProbeDist;

if ( y_minus_y0_rel == 0 ) {

if ( x_minus_x0_rel == 0 ) {

// If `point` is on top of a measurement point, just copy
// the measured height over
return str( format( "#%2$s=%1$s\n" ) %
getVarName( xminindex, yminindex ) %
returnVar );

} else {

// If `point` has the same y coordinate as a row of points,
// interpolate between the points to the left and right of
// it
return str( format( "#%4$s=[%1$s+[%2$s-%1$s]*%3$.5f]\n" ) %
getVarName( xminindex, yminindex ) %
getVarName( xminindex + 1, yminindex ) %
x_minus_x0_rel % returnVar );

}
string autoleveller::interpolatePoint(point_type_fp point) {
unsigned int xminindex;
unsigned int yminindex;
double x_minus_x0_rel;
double y_minus_y0_rel;

// Calculate point index for measurement point below and to the left
// of `point`
xminindex = floor((point.x() - startPointX) / XProbeDist);
xminindex = clamp(xminindex, 0U, numXPoints - 2);

yminindex = floor((point.y() - startPointY) / YProbeDist);
yminindex = clamp(yminindex, 0U, numYPoints - 2);

// Get fraction of the distance to the next measurement point up and
// to the left that `point` is.
x_minus_x0_rel = (point.x() - startPointX - xminindex * XProbeDist) / XProbeDist;
x_minus_x0_rel = clamp(x_minus_x0_rel, 0.0, 1.0);
y_minus_y0_rel = (point.y() - startPointY - yminindex * YProbeDist) / YProbeDist;
y_minus_y0_rel = clamp(y_minus_y0_rel, 0.0, 1.0);

if (x_minus_x0_rel == 1.0) {
x_minus_x0_rel -= 1;
xminindex += 1;
}
if (y_minus_y0_rel == 1.0) {
y_minus_y0_rel -= 1;
yminindex += 1;
}

if (y_minus_y0_rel == 0) {
if (x_minus_x0_rel == 0) {
// If `point` is on top of a measurement point, just copy
// the measured height over
return str(format("#%2$s=%1$s\n")
% getVarName(xminindex, yminindex)
% returnVar);
} else {

if ( x_minus_x0_rel == 0 ) {

// If `point` has the same x coordinate as a column of
// points, interpolate between the points above and below it
return str( format( "#%4$s=[%2$s+[%1$s-%2$s]*%3$.5f]\n" ) %
getVarName( xminindex, yminindex + 1 ) %
getVarName( xminindex, yminindex ) %
y_minus_y0_rel % returnVar );

} else {

// ...else use bilinear interpolation between all four
// points around it
return str( format( "#%7$s=[%3$s+[%1$s-%3$s]*%5$.5f]\n#%8$s=[%4$s+[%2$s-%4$s]*%5$.5f]\n#%9$s=[#%7$s+[#%8$s-#%7$s]*%6$.5f]\n" ) %
getVarName( xminindex, yminindex + 1 ) %
getVarName( xminindex + 1, yminindex + 1 ) %
getVarName( xminindex, yminindex ) %
getVarName( xminindex + 1, yminindex ) %
y_minus_y0_rel % x_minus_x0_rel %
globalVar4 % globalVar5 % returnVar );

}

// If `point` has the same y coordinate as a row of points,
// interpolate between the points to the left and right of
// it
return str(format("#%4$s=[%1$s+[%2$s-%1$s]*%3$.5f]\n")
% getVarName(xminindex, yminindex)
% getVarName(xminindex + 1, yminindex)
% x_minus_x0_rel % returnVar);
}

} else {
if (x_minus_x0_rel == 0) {
// If `point` has the same x coordinate as a column of
// points, interpolate between the points above and below it
return str(format("#%4$s=[%2$s+[%1$s-%2$s]*%3$.5f]\n")
% getVarName(xminindex, yminindex + 1)
% getVarName(xminindex, yminindex)
% y_minus_y0_rel % returnVar);
} else {
// ...else use bilinear interpolation between all four
// points around it
return str(format("#%7$s=[%3$s+[%1$s-%3$s]*%5$.5f]\n#%8$s=[%4$s+[%2$s-%4$s]*%5$.5f]\n#%9$s=[#%7$s+[#%8$s-#%7$s]*%6$.5f]\n")
% getVarName(xminindex, yminindex + 1)
% getVarName(xminindex + 1, yminindex + 1)
% getVarName(xminindex, yminindex)
% getVarName(xminindex + 1, yminindex)
% y_minus_y0_rel % x_minus_x0_rel
% globalVar4 % globalVar5 % returnVar);
}
}
}


Expand Down
2 changes: 1 addition & 1 deletion autoleveller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ class autoleveller

// getVarName returns the string containing the variable name associated with the probe point with
// the indexes i and j
std::string getVarName( int i, int j );
std::string getVarName(unsigned int i, unsigned int j);

// interpolatePoint finds the correct 4 probed points and computes a bilinear interpolation of point.
// The result of the interpolation is saved in the parameter number RESULT_VAR
Expand Down
16 changes: 4 additions & 12 deletions testing/gerbv_example/example_board_al_custom_tiled/expected/back.ngc
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Original file line number Diff line number Diff line change
Expand Up @@ -3538,9 +3538,7 @@ G00 Z0.08000 ( retract )
G00 X-4.81301 Y-2.94286 ( rapid move to begin. )
G01 F180.00000
( Mill infeed pass 1/1 )
#105=[#597+[#598-#597]*0.08889]
#106=[#603+[#604-#603]*0.08889]
#100=[#105+[#106-#105]*0.00000]
#100=[#597+[#598-#597]*0.08889]
G01 Z[-0.04000+#100]
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F360.00000
Expand Down Expand Up @@ -3840,9 +3838,7 @@ X-4.81601 Y-2.92779 Z[#100+-0.04000]
X-4.81377 Y-2.93518 Z[#100+-0.04000]
#100=[#597+[#598-#597]*0.08889]
X-4.81301 Y-2.94286 Z[#100+-0.04000]
#105=[#597+[#598-#597]*0.08889]
#106=[#603+[#604-#603]*0.08889]
#100=[#105+[#106-#105]*0.00000]
#100=[#597+[#598-#597]*0.08889]
X-4.81301 Y-2.94286 Z[#100+-0.04000]
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G00 Z0.08000 ( retract )
Expand Down Expand Up @@ -5052,9 +5048,7 @@ G00 Z0.08000 ( retract )
G00 X-4.81301 Y-1.66885 ( rapid move to begin. )
G01 F180.00000
( Mill infeed pass 1/1 )
#105=[#600+[#601-#600]*0.45553]
#106=[#606+[#607-#606]*0.45553]
#100=[#105+[#106-#105]*0.00000]
#100=[#600+[#601-#600]*0.45553]
G01 Z[-0.04000+#100]
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F360.00000
Expand Down Expand Up @@ -5348,9 +5342,7 @@ X-4.81601 Y-1.65378 Z[#100+-0.04000]
X-4.81377 Y-1.66116 Z[#100+-0.04000]
#100=[#600+[#601-#600]*0.45553]
X-4.81301 Y-1.66885 Z[#100+-0.04000]
#105=[#600+[#601-#600]*0.45553]
#106=[#606+[#607-#606]*0.45553]
#100=[#105+[#106-#105]*0.00000]
#100=[#600+[#601-#600]*0.45553]
X-4.81301 Y-1.66885 Z[#100+-0.04000]
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G00 Z0.08000 ( retract )
Expand Down
8 changes: 2 additions & 6 deletions testing/gerbv_example/example_board_al_custom_tiled/expected/front.ngc
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Original file line number Diff line number Diff line change
Expand Up @@ -5690,9 +5690,7 @@ X10.95151 Y-3.30348 Z[#111+-0.04000]
#117=[#612+[#613-#612]*0.14648]
#111=[#116+[#117-#116]*0.99904]
X10.95258 Y-3.30188 Z[#111+-0.04000]
#116=[#612+[#613-#612]*0.15169]
#117=[#619+[#620-#619]*0.15169]
#111=[#116+[#117-#116]*0.00000]
#111=[#612+[#613-#612]*0.15169]
X10.95295 Y-3.30000 Z[#111+-0.04000]
#116=[#605+[#606-#605]*0.15689]
#117=[#612+[#613-#612]*0.15689]
Expand Down Expand Up @@ -7350,9 +7348,7 @@ X10.95151 Y-2.02946 Z[#111+-0.04000]
#117=[#615+[#616-#615]*0.66516]
#111=[#116+[#117-#116]*0.99904]
X10.95258 Y-2.02787 Z[#111+-0.04000]
#116=[#615+[#616-#615]*0.67036]
#117=[#622+[#623-#622]*0.67036]
#111=[#116+[#117-#116]*0.00000]
#111=[#615+[#616-#615]*0.67036]
X10.95295 Y-2.02598 Z[#111+-0.04000]
#116=[#608+[#609-#608]*0.67557]
#117=[#615+[#616-#615]*0.67557]
Expand Down