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Refactor Hilbert curve. Enhance Touch UI Bed Level Screen. (MarlinFir…
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| /********************* | ||
| * hilbert_curve.cpp * | ||
| *********************/ | ||
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| /**************************************************************************** | ||
| * 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/>. * | ||
| ****************************************************************************/ | ||
|
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| #include "../../inc/MarlinConfig.h" | ||
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| #if ENABLED(UBL_HILBERT_CURVE) | ||
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| #include "bedlevel.h" | ||
| #include "hilbert_curve.h" | ||
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| 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); | ||
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| 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; | ||
| } | ||
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| 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); | ||
| } | ||
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| /** | ||
| * 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); | ||
| } | ||
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| /* Helper function for starting the search at a particular point */ | ||
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| typedef struct { | ||
| uint8_t x, y; | ||
| bool found_1st; | ||
| hilbert_curve::callback_ptr func; | ||
| void *data; | ||
| } search_from_t; | ||
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| 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; | ||
| } | ||
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| /** | ||
| * 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); | ||
| } | ||
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| /** | ||
| * 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); | ||
| } | ||
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| #endif // UBL_HILBERT_CURVE |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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/>. * | ||
| ****************************************************************************/ | ||
|
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| #pragma once | ||
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| 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); | ||
| }; |
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