mirror of https://github.com/Desuuuu/klipper.git
129 lines
4.4 KiB
Python
129 lines
4.4 KiB
Python
# Simple math helper functions
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging, multiprocessing
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######################################################################
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# Coordinate descent
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######################################################################
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# Helper code that implements coordinate descent
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def coordinate_descent(adj_params, params, error_func):
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# Define potential changes
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params = dict(params)
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dp = {param_name: 1. for param_name in adj_params}
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# Calculate the error
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best_err = error_func(params)
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logging.info("Coordinate descent initial error: %s", best_err)
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threshold = 0.00001
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rounds = 0
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while sum(dp.values()) > threshold and rounds < 10000:
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rounds += 1
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for param_name in adj_params:
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orig = params[param_name]
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params[param_name] = orig + dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig - dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig
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dp[param_name] *= 0.9
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logging.info("Coordinate descent best_err: %s rounds: %d",
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best_err, rounds)
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return params
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# Helper to run the coordinate descent function in a background
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# process so that it does not block the main thread.
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def background_coordinate_descent(printer, adj_params, params, error_func):
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parent_conn, child_conn = multiprocessing.Pipe()
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def wrapper():
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res = coordinate_descent(adj_params, params, error_func)
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child_conn.send(res)
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child_conn.close()
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# Start a process to perform the calculation
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calc_proc = multiprocessing.Process(target=wrapper)
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calc_proc.daemon = True
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calc_proc.start()
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# Wait for the process to finish
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reactor = printer.get_reactor()
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gcode = printer.lookup_object("gcode")
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eventtime = last_report_time = reactor.monotonic()
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while calc_proc.is_alive():
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if eventtime > last_report_time + 5.:
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last_report_time = eventtime
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gcode.respond_info("Working on calibration...", log=False)
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eventtime = reactor.pause(eventtime + .1)
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# Return results
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res = parent_conn.recv()
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calc_proc.join()
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parent_conn.close()
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return res
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######################################################################
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# Trilateration
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######################################################################
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# Trilateration finds the intersection of three spheres. See the
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# wikipedia article for the details of the algorithm.
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def trilateration(sphere_coords, radius2):
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sphere_coord1, sphere_coord2, sphere_coord3 = sphere_coords
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s21 = matrix_sub(sphere_coord2, sphere_coord1)
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s31 = matrix_sub(sphere_coord3, sphere_coord1)
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d = math.sqrt(matrix_magsq(s21))
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ex = matrix_mul(s21, 1. / d)
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i = matrix_dot(ex, s31)
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vect_ey = matrix_sub(s31, matrix_mul(ex, i))
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ey = matrix_mul(vect_ey, 1. / math.sqrt(matrix_magsq(vect_ey)))
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ez = matrix_cross(ex, ey)
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j = matrix_dot(ey, s31)
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x = (radius2[0] - radius2[1] + d**2) / (2. * d)
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y = (radius2[0] - radius2[2] - x**2 + (x-i)**2 + j**2) / (2. * j)
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z = -math.sqrt(radius2[0] - x**2 - y**2)
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ex_x = matrix_mul(ex, x)
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ey_y = matrix_mul(ey, y)
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ez_z = matrix_mul(ez, z)
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return matrix_add(sphere_coord1, matrix_add(ex_x, matrix_add(ey_y, ez_z)))
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######################################################################
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# Matrix helper functions for 3x1 matrices
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######################################################################
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def matrix_cross(m1, m2):
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return [m1[1] * m2[2] - m1[2] * m2[1],
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m1[2] * m2[0] - m1[0] * m2[2],
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m1[0] * m2[1] - m1[1] * m2[0]]
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def matrix_dot(m1, m2):
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return m1[0] * m2[0] + m1[1] * m2[1] + m1[2] * m2[2]
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def matrix_magsq(m1):
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return m1[0]**2 + m1[1]**2 + m1[2]**2
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def matrix_add(m1, m2):
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return [m1[0] + m2[0], m1[1] + m2[1], m1[2] + m2[2]]
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def matrix_sub(m1, m2):
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return [m1[0] - m2[0], m1[1] - m2[1], m1[2] - m2[2]]
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def matrix_mul(m1, s):
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return [m1[0]*s, m1[1]*s, m1[2]*s]
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