From 8ac36791e67547ec0e1487635922f31d3365e5b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jorge=20Tim=C3=B3n?= <jtimon@jtimon.cc>
Date: Wed, 21 Dec 2022 21:33:56 +0000
Subject: [PATCH] WIP: Allow prism printing volumes

---
 .../Kinematics/HangprinterKinematics.cpp      | 22 ++++++++++++++++++-
 .../Kinematics/HangprinterKinematics.h        |  7 ++++++
 2 files changed, 28 insertions(+), 1 deletion(-)

diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp
index eb6874a231..83aac35f9d 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.cpp
+++ b/src/Movement/Kinematics/HangprinterKinematics.cpp
@@ -96,6 +96,7 @@ void HangprinterKinematics::Init() noexcept
 	constexpr uint32_t DefaultFullStepsPerMotorRev[HANGPRINTER_MAX_AXES] = { 25, 25, 25, 25, 25, 25, 25, 25, 25};
 	ARRAY_INIT(anchors, DefaultAnchors);
 	numAnchors = DefaultNumAnchors;
+	anchorsSetup = LastTopRestDown;
 	printRadius = DefaultPrintRadius;
 	spoolBuildupFactor = DefaultSpoolBuildupFactor;
 	ARRAY_INIT(spoolRadii, DefaultSpoolRadii);
@@ -359,7 +360,9 @@ static bool isSameSide(float const v0[3], float const v1[3], float const v2[3],
 	return dot0*dot1 > 0.0F;
 }
 
-bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
+// The last axe must be the one on the top
+// TODO Validate this in HangprinterKinematics::Configure
+bool HangprinterKinematics::IsReachablePyramid(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
 {
 	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
 
@@ -381,6 +384,23 @@ bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap ax
 	return reachable;
 }
 
+bool HangprinterKinematics::IsReachablePrism(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept
+{
+	// TODO Implement. We will need some sort of max height parameter since it's not implicit here.
+	return true;
+}
+
+bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept
+{
+	switch (anchorsSetup) {
+		case LastTopRestDown:
+		default:
+			return IsReachablePyramid(axesCoords, axes);
+		case AllTop:
+			return IsReachablePrism(axesCoords, axes);
+	}
+}
+
 // Limit the Cartesian position that the user wants to move to returning true if we adjusted the position
 LimitPositionResult HangprinterKinematics::LimitPosition(float finalCoords[], const float * null initialCoords,
 															size_t numVisibleAxes, AxesBitmap axesToLimit, bool isCoordinated, bool applyM208Limits) const noexcept
diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h
index e2d7df05cf..6b3080b424 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.h
+++ b/src/Movement/Kinematics/HangprinterKinematics.h
@@ -50,6 +50,9 @@ class HangprinterKinematics : public RoundBedKinematics
 	OBJECT_MODEL_ARRAY(anchors)
 	OBJECT_MODEL_ARRAY(anchorCoordinates)
 
+	bool IsReachablePyramid(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept;
+	bool IsReachablePrism(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept;
+
 private:
 	// Basic facts about movement system
 	const char* ANCHOR_CHARS = "ABCDEFHIJ"; // Skip the G, since it is reserved in G-code
@@ -58,6 +61,9 @@ class HangprinterKinematics : public RoundBedKinematics
 	static constexpr size_t B_AXIS = 1;
 	static constexpr size_t C_AXIS = 2;
 	static constexpr size_t D_AXIS = 3;
+	// LastTopRestDown (default) has a single anchor on top and produces pyramid-shaped printing volumes
+	// AllTop has a all anchors on top and produces prism-shaped printing volumes
+	enum AnchorsSetup {LastTopRestDown, AllTop}; // Allowed setups for placing the anchors
 
 	void Init() noexcept;
 	void Recalc() noexcept;
@@ -69,6 +75,7 @@ class HangprinterKinematics : public RoundBedKinematics
 
 	size_t numAnchors;
 	float anchors[HANGPRINTER_MAX_AXES][3];				// XYZ coordinates of the anchors
+	AnchorsSetup anchorsSetup;
 	float printRadius;
 	// Line buildup compensation
 	float spoolBuildupFactor;