Marcio T
4 years ago
committed by
GitHub
GitHub
13 changed files with 341 additions and 144 deletions
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/*********************
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* hilbert_curve.cpp * |
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*********************/ |
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/****************************************************************************
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* Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. * |
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* * |
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* This program is free software: you can redistribute it and/or modify * |
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* it under the terms of the GNU General Public License as published by * |
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* the Free Software Foundation, either version 3 of the License, or * |
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* (at your option) any later version. * |
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* * |
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* This program is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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* GNU General Public License for more details. * |
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* * |
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* To view a copy of the GNU General Public License, go to the following * |
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* location: <https://www.gnu.org/licenses/>. *
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****************************************************************************/ |
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#include "../../inc/MarlinConfig.h" |
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#if ENABLED(UBL_HILBERT_CURVE) |
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#include "bedlevel.h" |
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#include "hilbert_curve.h" |
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constexpr int8_t to_fix(int8_t v) { return v * 2; } |
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constexpr int8_t to_int(int8_t v) { return v / 2; } |
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constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; } |
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constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; } |
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constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y)); |
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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) { |
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// The print bed likely has fewer points than the full Hilbert
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// curve, so cull unecessary points
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return x < GRID_MAX_POINTS_X && y < GRID_MAX_POINTS_Y ? func(x, y, data) : false; |
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} |
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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) { |
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/**
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* Hilbert space-filling curve implementation |
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* |
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* x and y : coordinates of the bottom left corner |
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* xi and xj : i and j components of the unit x vector of the frame |
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* yi and yj : i and j components of the unit y vector of the frame |
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* |
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* From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html
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*/ |
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if (n) |
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return hilbert(x, y, yi/2, yj/2, xi/2, xj/2, n-1, func, data) || |
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hilbert(x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) || |
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hilbert(x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) || |
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hilbert(x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1, func, data); |
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else |
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return eval_candidate(to_int(x+(xi+yi)/2), to_int(y+(xj+yj)/2), func, data); |
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} |
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/**
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* Calls func(x, y, data) for all points in the Hilbert curve. |
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* If that function returns true, the search is terminated. |
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*/ |
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bool hilbert_curve::search(hilbert_curve::callback_ptr func, void *data) { |
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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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} |
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/* Helper function for starting the search at a particular point */ |
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typedef struct { |
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uint8_t x, y; |
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bool found_1st; |
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hilbert_curve::callback_ptr func; |
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void *data; |
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} search_from_t; |
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static bool search_from_helper(uint8_t x, uint8_t y, void *data) { |
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search_from_t *d = (search_from_t *) data; |
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if (d->x == x && d->y == y) |
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d->found_1st = true; |
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return d->found_1st ? d->func(x, y, d->data) : false; |
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} |
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/**
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* Same as search, except start at a specific grid intersection point. |
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*/ |
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bool hilbert_curve::search_from(uint8_t x, uint8_t y, hilbert_curve::callback_ptr func, void *data) { |
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search_from_t d; |
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d.x = x; |
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d.y = y; |
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d.found_1st = false; |
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d.func = func; |
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d.data = data; |
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// Call twice to allow search to wrap back to the beginning and picked up points prior to the start.
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return search(search_from_helper, &d) || search(search_from_helper, &d); |
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} |
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/**
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* Like search_from, but takes a bed position and starts from the nearest |
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* point on the Hilbert curve. |
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*/ |
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bool hilbert_curve::search_from_closest(const xy_pos_t &pos, hilbert_curve::callback_ptr func, void *data) { |
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// Find closest grid intersection
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uint8_t grid_x = LROUND(float(pos.x - MESH_MIN_X) / MESH_X_DIST); |
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uint8_t grid_y = LROUND(float(pos.y - MESH_MIN_Y) / MESH_Y_DIST); |
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LIMIT(grid_x, 0, GRID_MAX_POINTS_X); |
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LIMIT(grid_y, 0, GRID_MAX_POINTS_Y); |
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return search_from(grid_x, grid_y, func, data); |
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} |
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#endif // UBL_HILBERT_CURVE
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@ -0,0 +1,32 @@ |
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/*******************
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* hilbert_curve.h * |
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*******************/ |
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/****************************************************************************
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* Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. * |
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* * |
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* This program is free software: you can redistribute it and/or modify * |
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* it under the terms of the GNU General Public License as published by * |
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* the Free Software Foundation, either version 3 of the License, or * |
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* (at your option) any later version. * |
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* * |
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* This program is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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* GNU General Public License for more details. * |
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* * |
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* To view a copy of the GNU General Public License, go to the following * |
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* location: <https://www.gnu.org/licenses/>. *
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****************************************************************************/ |
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#pragma once |
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class hilbert_curve { |
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public: |
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typedef bool (*callback_ptr)(uint8_t x, uint8_t y, void *data); |
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static bool search(callback_ptr func, void *data); |
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static bool search_from(uint8_t x, uint8_t y, callback_ptr func, void *data); |
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static bool search_from_closest(const xy_pos_t &pos, callback_ptr func, void *data); |
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private: |
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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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}; |
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