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bed_level: improve screw detection (#908)

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* Use max_distance for fitting screws to buttons

The max distance is at most 1/3 of the diagonal,
depending on how many screws are there in horizontal or
vertical orientation.

This is a safe guard to prevent assigning screws to buttons
that would confuse the users, for very skewed screw configs.

use a smaller button scale fixes #891

Co-authored-by: alfrix <alfredomonclus@gmail.com>

Co-authored-by: czaky <jendrzej.w@lczak.net>
This commit is contained in:
Alfredo Monclus 2023-03-01 07:41:43 -06:00 committed by GitHub
parent d6693fbecc
commit 55af0d753c
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 116 additions and 23 deletions
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139
panels/bed_level.py
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@ -1,5 +1,6 @@
import logging
import re
import math
import gi
@ -14,6 +15,29 @@ def create_panel(*args):
return BedLevelPanel(*args)
# Find the screw closest to the point,
# but return None if the distance is above max_distance.
# If remove is set to true, the screw is also removed
# from the list of passed in screws.
def find_closest(screws, point, max_distance, remove=False):
if len(screws) == 0:
return None
closest = screws[0]
min_distance = math.dist(closest, point)
for screw in screws[1:]:
distance = math.dist(screw, point)
if distance < min_distance:
closest = screw
min_distance = distance
if min_distance > max_distance:
return None
if remove:
screws.remove(closest)
return closest
class BedLevelPanel(ScreenPanel):
def __init__(self, screen, title):
@ -49,7 +73,8 @@ class BedLevelPanel(ScreenPanel):
self.y_offset = round(float(probe['y_offset']), 1)
logging.debug(f"offset X: {self.x_offset} Y: {self.y_offset}")
# bed_screws uses NOZZLE positions
# screws_tilt_adjust uses PROBE positions and to be offseted for the buttons to work equal to bed_screws
# screws_tilt_adjust uses PROBE positions and
# to be offseted for the buttons to work equal to bed_screws
new_screws = [
[round(screw[0] + self.x_offset, 1), round(screw[1] + self.y_offset, 1)]
for screw in self.screws
@ -72,35 +97,96 @@ class BedLevelPanel(ScreenPanel):
max_x = max(x_positions)
min_y = min(y_positions)
max_y = max(y_positions)
max_distance = math.ceil(
math.dist((min_x, min_y), (max_x, max_y))
/ min(self.x_cnt, self.y_cnt, 3)
)
fl = [min_x, min_y]
bl = [min_x, max_y]
br = [max_x, max_y]
fr = [max_x, min_y]
logging.debug(f"Using max_distance: {max_distance} to fit: {len(self.screws)} screws.")
remaining_screws = self.screws[:]
remaining_positions = []
fl = find_closest(remaining_screws, (min_x, min_y), max_distance, remove=True)
bl = find_closest(remaining_screws, (min_x, max_y), max_distance, remove=True)
br = find_closest(remaining_screws, (max_x, max_y), max_distance, remove=True)
fr = find_closest(remaining_screws, (max_x, min_y), max_distance, remove=True)
if self.x_cnt == 3:
mid_x = [x for x in list(zip(*self.screws))[0] if x not in (min_x, max_x)][0]
fm = [mid_x, min_y]
bm = [mid_x, max_y]
fm = find_closest(remaining_screws, (mid_x, min_y), max_distance, remove=True)
bm = find_closest(remaining_screws, (mid_x, max_y), max_distance, remove=True)
fmp = bmp = None
else:
mid_x = round((min_x + max_x) / 2)
fmp = (mid_x, min_y)
bmp = (mid_x, max_y)
remaining_positions.extend([fmp, bmp])
fm = bm = None
if self.y_cnt == 3:
mid_y = [y for y in list(zip(*self.screws))[1] if y not in (min_y, max_y)][0]
lm = [min_x, mid_y]
rm = [max_x, mid_y]
lm = find_closest(remaining_screws, (min_x, mid_y), max_distance, remove=True)
rm = find_closest(remaining_screws, (max_x, mid_y), max_distance, remove=True)
lmp = rmp = None
else:
mid_y = round((min_y + max_y) / 2)
lmp = (min_x, mid_y)
rmp = (max_x, mid_y)
remaining_positions.extend([lmp, rmp])
lm = rm = None
logging.debug(f"Using {len(self.screws)}-screw locations [x,y] [{self.x_cnt}x{self.y_cnt}]")
remaining_count = len(remaining_screws)
while remaining_count > 0:
logging.debug(f"Screws remaining: {remaining_screws}")
logging.debug(f"Positions remaining: {remaining_positions}")
for screw in remaining_screws:
pos = find_closest(remaining_positions, screw, max_distance)
closest = find_closest(remaining_screws, pos, max_distance)
if closest != screw:
continue
elif pos == fmp:
fm = screw
elif pos == bmp:
bm = screw
elif pos == lmp:
lm = screw
elif pos == rmp:
rm = screw
self.buttons['bl'] = self._gtk.Button("bed-level-t-l", scale=2.5)
self.buttons['br'] = self._gtk.Button("bed-level-t-r", scale=2.5)
self.buttons['fl'] = self._gtk.Button("bed-level-b-l", scale=2.5)
self.buttons['fr'] = self._gtk.Button("bed-level-b-r", scale=2.5)
self.buttons['lm'] = self._gtk.Button("bed-level-l-m", scale=2.5)
self.buttons['rm'] = self._gtk.Button("bed-level-r-m", scale=2.5)
self.buttons['fm'] = self._gtk.Button("bed-level-b-m", scale=2.5)
self.buttons['bm'] = self._gtk.Button("bed-level-t-m", scale=2.5)
logging.debug(f"Fitted screw {screw} close to {pos}")
remaining_positions.remove(pos)
remaining_screws.remove(screw)
if remaining_count == len(remaining_screws):
logging.warning(
f"Remaining screws: {remaining_screws}" +
f" don't fit to positions: {remaining_positions}")
break
remaining_count = len(remaining_screws)
if remaining_count == 0:
# All screws fitted.
if self.x_cnt > 3:
self.x_cnt = 3
if self.y_cnt > 3:
self.y_cnt = 3
else:
logging.debug(f"Screws not used: {remaining_screws}")
used_screw_cnt = len(self.screws) - len(remaining_screws)
logging.debug(f"Using {used_screw_cnt}-screw locations [x,y] [{self.x_cnt}x{self.y_cnt}]")
button_scale = 2
self.buttons['bl'] = self._gtk.Button("bed-level-t-l", scale=button_scale)
self.buttons['br'] = self._gtk.Button("bed-level-t-r", scale=button_scale)
self.buttons['fl'] = self._gtk.Button("bed-level-b-l", scale=button_scale)
self.buttons['fr'] = self._gtk.Button("bed-level-b-r", scale=button_scale)
self.buttons['lm'] = self._gtk.Button("bed-level-l-m", scale=button_scale)
self.buttons['rm'] = self._gtk.Button("bed-level-r-m", scale=button_scale)
self.buttons['fm'] = self._gtk.Button("bed-level-b-m", scale=button_scale)
self.buttons['bm'] = self._gtk.Button("bed-level-t-m", scale=button_scale)
valid_positions = True
if self.ks_printer_cfg is not None:
@ -261,9 +347,16 @@ class BedLevelPanel(ScreenPanel):
for key, value in self.screw_dict.items():
self.buttons[key].set_label(f"{value}")
def go_to_position(self, widget, position):
def home(self):
# Test if all axes have been homed. Home if necessary.
if self._printer.get_stat("toolhead", "homed_axes") != "xyz":
self._screen._ws.klippy.gcode_script(KlippyGcodes.HOME)
# do Z_TILT_CALIBRATE if applicable.
if self._printer.config_section_exists("z_tilt"):
self._screen._ws.klippy.gcode_script(KlippyGcodes.Z_TILT)
def go_to_position(self, widget, position):
self.home()
logging.debug(f"Going to position: {position}")
script = [
f"{KlippyGcodes.MOVE_ABSOLUTE}",
@ -284,8 +377,9 @@ class BedLevelPanel(ScreenPanel):
def process_busy(self, busy):
for button in self.buttons:
if button == "screws":
self.buttons[button].set_sensitive(self._printer.config_section_exists("screws_tilt_adjust")
and (not busy))
self.buttons[button].set_sensitive(
self._printer.config_section_exists("screws_tilt_adjust")
and (not busy))
continue
self.buttons[button].set_sensitive((not busy))
@ -347,8 +441,7 @@ class BedLevelPanel(ScreenPanel):
return sorted(screws, key=lambda s: (float(s[1]), float(s[0])))
def screws_tilt_calculate(self, widget):
if self._printer.get_stat("toolhead", "homed_axes") != "xyz":
self._screen._ws.klippy.gcode_script(KlippyGcodes.HOME)
self.home()
self.response_count = 0
self.buttons['screws'].set_sensitive(False)
self._screen._ws.klippy.gcode_script("SCREWS_TILT_CALCULATE")