center

#! /bin/bash

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

function help() {
  echo "SYNOPSIS: fire/$0 [-h]"
  echo "EXAMPLE	: Print this documentation:"
  echo "	:   fire/$0 -h"
}

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

# 0,0		157 121 -43, -79
# 0,1		162 119	-38, -81
# 0,-1		162 119	-38, -81

# 0,0		157 122 -43, -78
# 0,1		162 120 
# 1,0		161 128 
# 2,0		164 133
# 3,0		168 138
# 4,0		171 144
# 5,0		174 150
# 13,0		203 196
# 12.5,0	201 193
# 12.5,-1	196 196
# 13,-1		197 198
# 13.5,-1	199 202
# 14,-.5	203 202
# 13.8,-.6	202 202
# 13.7,-.6	202 202
# 13.6,-.6	202 200
# 13.4,-.6	202 200

# 1,1	165 122
# 2,1	169 130
# 3,1	173 136
# 4,1	176 141

exit 0

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

  imageAt X-20Y-20Z0
  imageAt X-15Y-20Z0
  imageAt X-10Y-20Z0
  imageAt X-05Y-20Z0
  imageAt X0Y-20Z0
  imageAt X5Y-20Z0
  imageAt X10Y-20Z0
  imageAt X15Y-20Z0
  imageAt X20Y-20Z0

  imageAt X-20Y-15Z0
  imageAt X-15Y-15Z0
  imageAt X-10Y-15Z0
  imageAt X-05Y-15Z0
  imageAt X0Y-15Z0
  imageAt X5Y-15Z0
  imageAt X10Y-15Z0
  imageAt X15Y-15Z0
  imageAt X20Y-15Z0

  imageAt X-20Y-10Z0
  imageAt X-15Y-10Z0
  imageAt X-10Y-10Z0
  imageAt X-05Y-10Z0
  imageAt X0Y-10Z0
  imageAt X5Y-10Z0
  imageAt X10Y-10Z0
  imageAt X15Y-10Z0
  imageAt X20Y-10Z0

  imageAt X-20Y-5Z0
  imageAt X-15Y-5Z0
  imageAt X-10Y-5Z0
  imageAt X-05Y-5Z0
  imageAt X0Y-5Z0
  imageAt X5Y-5Z0
  imageAt X10Y-5Z0
  imageAt X15Y-5Z0
  imageAt X20Y-5Z0

  imageAt X-20Y0Z0
  imageAt X-15Y0Z0
  imageAt X-10Y0Z0
  imageAt X-05Y0Z0
  imageAt X0Y0Z0
  imageAt X5Y0Z0
  imageAt X10Y0Z0
  imageAt X15Y0Z0
  imageAt X20Y0Z0

  imageAt X-20Y5Z0
  imageAt X-15Y5Z0
  imageAt X-10Y5Z0
  imageAt X-05Y5Z0
  imageAt X0Y5Z0
  imageAt X5Y5Z0
  imageAt X10Y5Z0
  imageAt X15Y5Z0
  imageAt X20Y5Z0

  imageAt X-20Y10Z0
  imageAt X-15Y10Z0
  imageAt X-10Y10Z0
  imageAt X-05Y10Z0
  imageAt X0Y10Z0
  imageAt X5Y10Z0
  imageAt X10Y10Z0
  imageAt X15Y10Z0
  imageAt X20Y10Z0

  imageAt X-20Y15Z0
  imageAt X-15Y15Z0
  imageAt X-10Y15Z0
  imageAt X-05Y15Z0
  imageAt X0Y15Z0
  imageAt X5Y15Z0
  imageAt X10Y15Z0
  imageAt X15Y15Z0
  imageAt X20Y15Z0

  imageAt X-20Y20Z0
  imageAt X-15Y20Z0
  imageAt X-10Y20Z0
  imageAt X-05Y20Z0
  imageAt X0Y20Z0
  imageAt X5Y20Z0
  imageAt X10Y20Z0
  imageAt X15Y20Z0
  imageAt X20Y20Z0

  echo "SUCCESS	: calibrated"
  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