public static HeightMap Load(string path)
{
HeightMap map = new HeightMap();
XmlReader r = XmlReader.Create(path);
map.MaxHeight = double.MinValue;
map.MinHeight = double.MaxValue;
while (r.Read())
{
if (!r.IsStartElement())
{
continue;
}
switch (r.Name)
{
case "heightmap":
map.Min = new Vector2(double.Parse(r["MinX"].Replace(',', '.'), NumberFormatInfo.InvariantInfo), double.Parse(r["MinY"].Replace(',', '.'), NumberFormatInfo.InvariantInfo));
map.Max = new Vector2(double.Parse(r["MaxX"].Replace(',', '.'), NumberFormatInfo.InvariantInfo), double.Parse(r["MaxY"].Replace(',', '.'), NumberFormatInfo.InvariantInfo));
map.SizeX = int.Parse(r["SizeX"].Replace(',', '.'), NumberFormatInfo.InvariantInfo);
map.SizeY = int.Parse(r["SizeY"].Replace(',', '.'), NumberFormatInfo.InvariantInfo);
map.Points = new double?[map.SizeX, map.SizeY];
break;
case "point":
int x = int.Parse(r["X"].Replace(',', '.')), y = int.Parse(r["Y"].Replace(',', '.'), NumberFormatInfo.InvariantInfo);
double height = double.Parse(r.ReadInnerXml().Replace(',', '.'), NumberFormatInfo.InvariantInfo);
map.Points[x, y] = height;
if (height > map.MaxHeight)
{
map.MaxHeight = height;
}
if (height < map.MinHeight)
{
map.MinHeight = height;
}
break;
}
}
// r.Dispose();
for (int x = 0; x < map.SizeX; x++)
{
for (int y = 0; y < map.SizeY; y++)
{
if (!map.Points[x, y].HasValue)
{
map.NotProbed.Enqueue(new Tuple <int, int>(x, y));
}
}
if (++x >= map.SizeX)
{
break;
}
for (int y = map.SizeY - 1; y >= 0; y--)
{
if (!map.Points[x, y].HasValue)
{
map.NotProbed.Enqueue(new Tuple <int, int>(x, y));
}
}
}
return(map);
}
private void btnStartHeightScan_Click(object sender, EventArgs e)
{
enableControls(scanStarted);
if (!scanStarted)
{
isMapOk = false;
timeInit = DateTime.UtcNow;
elapsed = TimeSpan.Zero;
elapsedOld = elapsed;
btnStartHeightScan.Text = "STOP scanning Height Map";
decimal x1, x2, y1, y2;
x1 = Math.Min(nUDX1.Value, nUDX2.Value);
x2 = Math.Max(nUDX1.Value, nUDX2.Value);
y1 = Math.Min(nUDY1.Value, nUDY2.Value);
y2 = Math.Max(nUDY1.Value, nUDY2.Value);
if (x1 == x2)
{
x2 = x1 + 10;
}
if (y1 == y2)
{
y2 = y1 + 10;
}
nUDX1.Value = x1; nUDX2.Value = x2; nUDY1.Value = y1; nUDY2.Value = y2;
//decimal stepX = (x2 - x1) / (nUDGridX.Value - 1);
//decimal stepY = (y2 - y1) / (nUDGridY.Value - 1);
cntSent = 0; cntReceived = 0;
gcode.reduceGCode = true; // reduce number format to #.# in gcode.frmtNum()
Map = new HeightMap((double)nUDGridX.Value, new Vector2((double)x1, (double)y1), new Vector2((double)x2, (double)y2));
MapIndex = new List <Point>();
lblXDim.Text = string.Format("X Min:{0} Max:{1} Step:{2}", Map.Min.X, Map.Max.X, Map.SizeX);
lblYDim.Text = string.Format("Y Min:{0} Max:{1} Step:{2}", Map.Min.Y, Map.Max.Y, Map.SizeY);
textBox1.Clear();
textBox1.Text += Map.SizeX.ToString() + " " + Map.SizeY.ToString();
int pixX, pixY;
BMPsizeX = 240;
BMPsizeY = Map.SizeY * BMPsizeX / Map.SizeX;
heightMapBMP = new Bitmap(BMPsizeX, BMPsizeY);
using (Graphics graph = Graphics.FromImage(heightMapBMP))
{
Rectangle ImageSize = new Rectangle(0, 0, BMPsizeX, BMPsizeY);
graph.FillRectangle(Brushes.White, ImageSize);
}
Vector2 tmp;
scanCode = new StringBuilder();
scanCode.AppendFormat("G90F{0}\r\n", gcode.frmtNum((float)nUDProbeSpeed.Value));
for (int iy = 0; iy < Map.SizeY; iy++)
{
tmp = Map.GetCoordinates(0, iy);
scanCode.AppendFormat("G0Z{0}\r\n", gcode.frmtNum((float)nUDProbeUp.Value));
scanCode.AppendFormat("G0Y{0}\r\n", gcode.frmtNum((float)tmp.Y));
pixY = iy * BMPsizeY / Map.SizeY;
for (int ix = 0; ix < Map.SizeX; ix++)
{
pixX = ix * BMPsizeX / Map.SizeX;
heightMapBMP.SetPixel(pixX, pixY, Color.FromArgb(255, 00, 00));
tmp = Map.GetCoordinates(ix, iy);
MapIndex.Add(new Point(ix, iy));
scanCode.AppendFormat("G0Z{0}\r\n", gcode.frmtNum((float)nUDProbeUp.Value));
scanCode.AppendFormat("X{0}\r\n", gcode.frmtNum((float)tmp.X));
if (nUDProbeDown.Value == 0)
{
scanCode.AppendFormat("($PROBE)\r\n");
}
else
{
scanCode.AppendFormat("G38.3Z{0}\r\n", gcode.frmtNum((float)nUDProbeDown.Value));
}
cntSent++;
}
if (iy < Map.SizeY - 1)
{
iy++;
tmp = Map.GetCoordinates(0, iy); //?
scanCode.AppendFormat("G0Z{0}\r\n", gcode.frmtNum((float)nUDProbeUp.Value));
scanCode.AppendFormat("G0Y{0}\r\n", gcode.frmtNum((float)tmp.Y));
for (int ix = Map.SizeX - 1; ix >= 0; ix--)
{
pixX = ix * BMPsizeX / Map.SizeX;
heightMapBMP.SetPixel(pixX, pixY, Color.FromArgb(100, 100, 100));
tmp = Map.GetCoordinates(ix, iy);
MapIndex.Add(new Point(ix, iy));
scanCode.AppendFormat("G0Z{0}\r\n", gcode.frmtNum((float)nUDProbeUp.Value));
scanCode.AppendFormat("X{0}\r\n", gcode.frmtNum((float)tmp.X));
if (nUDProbeDown.Value == 0)
{
scanCode.AppendFormat("($PROBE)\r\n");
}
else
{
scanCode.AppendFormat("G38.3Z{0}\r\n", gcode.frmtNum((float)nUDProbeDown.Value));
}
cntSent++;
}
}
}
scanCode.AppendFormat("G0 Z{0}\r\n", gcode.frmtNum((float)nUDProbeUp.Value));
tmp = Map.GetCoordinates(0, 0);
scanCode.AppendFormat("G0 X{0} Y{1}\r\n", gcode.frmtNum((float)tmp.X), gcode.frmtNum((float)tmp.Y));
scanCode.AppendLine("M30"); // finish
textBox1.Text += "Code sent\r\n" + scanCode.ToString();
progressBar1.Maximum = cntSent;
lblProgress.Text = string.Format("{0}%", (100 * cntReceived / progressBar1.Maximum));
pictureBox1.Image = new Bitmap(heightMapBMP);
pictureBox1.Refresh();
}
else
{
btnStartHeightScan.Text = "Generate Height Map";
}
scanStarted = !scanStarted;
}