calibrate

#! /bin/bash

echo
echo "COMMAND	: $0 $@ # FireREST/FireFUSE visual calibration utility"

function help() {
  echo "SYNOPSIS: fire/calibrate [-hr]"
  echo "EXAMPLE	: Find maximum feed rate"
  echo "	:   fire/calibrate -f"
  echo "EXAMPLE	: Compute pixels/mm"
  echo "	:   fire/calibrate -p"
  echo "EXAMPLE	: Compute x,y error offsets"
  echo "	:   fire/calibrate -o"
  echo "EXAMPLE	: Compute pixels per millimeter of travel"
  echo "	:   fire/calibrate -r"
  echo "EXAMPLE	: Print this documentation:"
  echo "	:   fire/calibrate -h"
}

if [ "$1" == "" ] || [ "$1" == "-h" ]; then help; exit 0; fi

IMAGES=/var/firefuse/calibration
GCODEFIRE=/dev/firefuse/sync/cnc/marlin/gcode.fire
if [ ! -e $GCODEFIRE ]; then
  echo "ERROR	: FireFUSE serial connection to Marlin is unavailable"
  echo "TRY	: See /var/log/firefuse.log for details"
  exit -1
fi

function gcode() {
  if [ "$2" != "" ]; then echo "STATUS	: $2"; fi
  echo "GCODE	: $1"
  echo "$1" > $GCODEFIRE
  RC=$?; if [ $RC -ne 0 ]; then echo "ERROR	: $RC"; exit -1; fi
  return $RC
}

function imageAt() {
  echo "IMAGE	: $1"
  gcode G0$1M400
  RC=$?; if [ $RC -ne 0 ]; then echo "ERROR	: echo $GCODE > $GCODEFIRE => $RC"; exit -1; fi
  cp /dev/firefuse/sync/cv/1/camera.jpg $IMAGES/$1.jpg
  RC=$?; if [ $RC -ne 0 ]; then echo "ERROR	: $RC"; exit -1; fi
}

function calcoffset() {
  firesight -ji 0 -p FireSight/json/calcOffset.json -Dtemplate=$IMAGES/$1 -i $IMAGES/$2 
}

function calcoffsetAt() {
  RESULT=`firesight -ji 0 -p FireSight/json/calcOffset.json -Dtemplate=$IMAGES/$2.jpg -i $IMAGES/$1.jpg`	
  RC=$?; if [ $RC -ne 0 ]; then echo "ERROR	: $RC"; exit -1; fi
  #echo "RESULT	: $RESULT"
  DX=`echo $RESULT | grep -o -E "dx.:[-0-9.+]+" | grep -o -E "[-0-9.+]+"`
  DY=`echo $RESULT | grep -o -E "dy.:[-0-9.+]+" | grep -o -E "[-0-9.+]+"`
  #echo "STATUS	: dx=$DX dy=$DY"
}

function resolutionAt() {
  imageAt X0Y0$1
  imageAt X-1Y0$1
  imageAt X1Y0$1
  imageAt X0Y-1$1
  imageAt X0Y1$1
  calcoffsetAt X-1Y0$1 X1Y0$1
  EQN="scale=3;sqrt(($DX)^2+($DY)^2)/2"
  echo "STATUS	: resolution (-1,0,$1):(-1,-1,$1) "`bc <<< $EQN`
  calcoffsetAt X0Y-1$1 X0Y1$1
  EQN="scale=3;sqrt(($DX)^2+($DY)^2)/2"
  echo "STATUS	: resolution (0,-1,$1):(0,1,$1) "`bc <<< $EQN`
}

if [ "$1" == "-r" ]; then
  gcode G28Z0M400 "Homing"
  sleep 5
  gcode G0Z0Y0Z0M400 "Moving to origin"
  sleep 5

  resolutionAt Z0

  echo "SUCCESS	: calibrated"
  exit 0;
fi

if [ "$1" == "-o" ]; then
  gcode G28Z0M400 "Homing"
  sleep 5
  #gcode M203X10000Y10000Z10000G0Z0Y0Z0F4000M400 "Moving to origin"
  gcode G0Z0Y0Z0M400 "Moving to origin"
  sleep 5

  Z=1
  for X in `seq -17.5 5 17.5`
  do
  	for Y in `seq -17.5 5 17.5`
	do
		imageAt X${X}Y${Y}Z${Z}
	done
  done

  Z=-1
  for X in `seq -17.5 5 17.5`
  do
  	for Y in `seq -17.5 5 17.5`
	do
		imageAt X${X}Y${Y}Z${Z}
	done
  done

  echo "SUCCESS	: calibrated"
  exit 0;
fi

if [ "$1" == "-p" ]; then
  echo "STATUS	: taking images for calibrating pixels per mm"
  gcode G28Z0M400 "Homing"
  sleep 3
  gcode G0Z0Y0Z0M400 "Moving to origin"
  sleep 5

  for i in `seq 1 1 3`
  do
	sleep 1
	imageAt X10Y10Z0
	imageAt X10Y10Z0
    mv /var/firefuse/calibration/X10Y10Z0.jpg /var/firefuse/calibration/X10Y10Z0-$i.jpg
	gcode G0Z0Y0Z0M400 "Moving to origin"
	sleep 1
	imageAt X10Y10Z0.1
	imageAt X10Y10Z0.1
    mv /var/firefuse/calibration/X10Y10Z0.1.jpg /var/firefuse/calibration/X10Y10Z0.1-$i.jpg
  done

  echo "SUCCESS	: completed"
  exit 0;
fi


if [ "$1" == "-f" ]; then
  echo "STATUS	: calibrating feed rate"
  gcode M203X10000Y10000Z10000
  gcode G28Z0 "Homing"
  sleep 5

  gcode G0Z0Y0Z0F9000 "Moving to origin"
  gcode M400
  image X0Y0Z0
  cp /var/firefuse/calibration/X0Y0Z0.jpg /var/firefuse/calibration/X0Y0Z0-a.jpg
  gcode G0X50
  gcode M400
  image X0Y0Z0
  calcoffset X0Y0Z0 X0Y0Z0-a
fi