✨ AVOID_OBSTACLES for UBL (MarlinFirmware#25256)

Andy-Big · Jul 9, 2023 · ac31bbb · ac31bbb
1 parent aeccf61
commit ac31bbb
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Showing 4 changed files with 64 additions and 9 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -2080,6 +2080,25 @@
 
   //#define UBL_MESH_WIZARD         // Run several commands in a row to get a complete mesh
 
+  /**
+   * Probing not allowed within the position of an obstacle.
+   */
+  //#define AVOID_OBSTACLES
+  #if ENABLED(AVOID_OBSTACLES)
+    #define CLIP_W  23  // Bed clip width, should be padded a few mm over its physical size
+    #define CLIP_H  14  // Bed clip height, should be padded a few mm over its physical size
+
+    // Obstacle Rectangles defined as { X1, Y1, X2, Y2 }
+    #define OBSTACLE1 { (X_BED_SIZE) / 4     - (CLIP_W) / 2,                       0, (X_BED_SIZE) / 4     + (CLIP_W) / 2, CLIP_H }
+    #define OBSTACLE2 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2,                       0, (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, CLIP_H }
+    #define OBSTACLE3 { (X_BED_SIZE) / 4     - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) / 4     + (CLIP_W) / 2, Y_BED_SIZE }
+    #define OBSTACLE4 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, Y_BED_SIZE }
+
+    // The probed grid must be inset for G29 J. This is okay, since it is
+    // only used to compute a linear transformation for the mesh itself.
+    #define G29J_MESH_TILT_MARGIN ((CLIP_H) + 1)
+  #endif
+
 #elif ENABLED(MESH_BED_LEVELING)
 
   //===========================================================================

diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -1478,9 +1478,17 @@ void unified_bed_leveling::smart_fill_mesh() {
   #include "../../../libs/vector_3.h"
 
   void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
-    const float x_min = probe.min_x(), x_max = probe.max_x(),
-                y_min = probe.min_y(), y_max = probe.max_y(),
-                dx = (x_max - x_min) / (param.J_grid_size - 1),
+
+    #ifdef G29J_MESH_TILT_MARGIN
+      const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS),
+                  x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS),
+                  y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS),
+                  y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS);
+    #else
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
+    #endif
+    const float dx = (x_max - x_min) / (param.J_grid_size - 1),
                 dy = (y_max - y_min) / (param.J_grid_size - 1);
 
     xy_float_t points[3];

diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
@@ -72,9 +72,7 @@ class Probe {
 public:
 
   #if ENABLED(SENSORLESS_PROBING)
-    typedef struct {
-        bool x:1, y:1, z:1;
-    } sense_bool_t;
+    typedef struct { bool x:1, y:1, z:1; } sense_bool_t;
     static sense_bool_t test_sensitivity;
   #endif
 
@@ -114,6 +112,32 @@ class Probe {
 
     #else
 
+      static bool obstacle_check(const_float_t rx, const_float_t ry) {
+        #if ENABLED(AVOID_OBSTACLES)
+          #ifdef OBSTACLE1
+            constexpr float obst1[] = OBSTACLE1;
+            static_assert(COUNT(obst1) == 4, "OBSTACLE1 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
+            if (WITHIN(rx, obst1[0], obst1[2]) && WITHIN(ry, obst1[1], obst1[3])) return false;
+          #endif
+          #ifdef OBSTACLE2
+            constexpr float obst2[] = OBSTACLE2;
+            static_assert(COUNT(obst2) == 4, "OBSTACLE2 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
+            if (WITHIN(rx, obst2[0], obst2[2]) && WITHIN(ry, obst2[1], obst2[3])) return false;
+          #endif
+          #ifdef OBSTACLE3
+            constexpr float obst3[] = OBSTACLE3;
+            static_assert(COUNT(obst3) == 4, "OBSTACLE3 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
+            if (WITHIN(rx, obst3[0], obst3[2]) && WITHIN(ry, obst3[1], obst3[3])) return false;
+          #endif
+          #ifdef OBSTACLE4
+            constexpr float obst4[] = OBSTACLE4;
+            static_assert(COUNT(obst4) == 4, "OBSTACLE4 must define a rectangle in the form { X1, Y1, X2, Y2 }.");
+            if (WITHIN(rx, obst4[0], obst4[2]) && WITHIN(ry, obst4[1], obst4[3])) return false;
+          #endif
+        #endif
+        return true;
+      }
+
       /**
        * Return whether the given position is within the bed, and whether the nozzle
        * can reach the position required to put the probe at the given position.
@@ -125,12 +149,16 @@ class Probe {
         if (probe_relative) {
           return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y)
               && COORDINATE_OKAY(rx, min_x() - fslop, max_x() + fslop)
-              && COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop);
+              && COORDINATE_OKAY(ry, min_y() - fslop, max_y() + fslop)
+              && obstacle_check(rx, ry)
+              && obstacle_check(rx - offset_xy.x, ry - offset_xy.y);
         }
         else {
           return position_is_reachable(rx, ry)
               && COORDINATE_OKAY(rx + offset_xy.x, min_x() - fslop, max_x() + fslop)
-              && COORDINATE_OKAY(ry + offset_xy.y, min_y() - fslop, max_y() + fslop);
+              && COORDINATE_OKAY(ry + offset_xy.y, min_y() - fslop, max_y() + fslop)
+              && obstacle_check(rx, ry)
+              && obstacle_check(rx + offset_xy.x, ry + offset_xy.y);
         }
       }
 

diff --git a/buildroot/tests/mega2560 b/buildroot/tests/mega2560
@@ -26,7 +26,7 @@ ci_src_filter -y
 use_example_configs AnimationExample
 opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE fr SAVED_POSITIONS 4 DEFAULT_EJERK 10 \
         EXTRUDERS 5 TEMP_SENSOR_1 1 TEMP_SENSOR_2 5 TEMP_SENSOR_3 20 TEMP_SENSOR_4 1000 TEMP_SENSOR_BED 1
-opt_enable AUTO_BED_LEVELING_UBL RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT SKEW_CORRECTION \
+opt_enable AUTO_BED_LEVELING_UBL AVOID_OBSTACLES RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT SKEW_CORRECTION \
            REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI STATUS_MESSAGE_SCROLLING SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
            SDSUPPORT SDCARD_SORT_ALPHA USB_FLASH_DRIVE_SUPPORT AUTO_REPORT_SD_STATUS SCROLL_LONG_FILENAMES MEDIA_MENU_AT_TOP \
            EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_MENU_MAIN FREEZE_FEATURE CANCEL_OBJECTS SOUND_MENU_ITEM \