Heightmap probing is now rendered in real time.

docs/todo.txt

@@ -9,32 +9,33 @@ DONE        - step every: 5mm?
         - z final safety height: Z15
 
 DONE        - from and to can be filled from current project bounding box
-
+DONE    2. probing
-    2. probing
+DONE        - machine moves at grid start position (x, y)
-        - machine moves at grid start position (x, y)
+DONE            G0X0Y0
-            G0X0Y0
+DONE        - gets down for initial probing
-        - gets down for initial probing
+DONE            G38.2 Z-65 F100
-            G38.2 Z-65 F100
+DONE        - step back a bit (1mm, relative)
-        - step back a bit (1mm, relative)
+DONE            G91 G0 Z1
-            G91 G0 Z1
+DONE        - seek again with lower feed rate
-        - seek again with lower feed rate
+DONE            G38.2 Z-5 F5
-            G38.2 Z-5 F5
+DONE        - after first probe ever, this Z becomes reference 0
-        - after first probe ever, this Z becomes reference 0
+DONE            G10 L20 P0 Z0
-            G10 L20 P0 Z0
+DONE        - all subsequent probes will be relative to this
-
+DONE        - for each probing location:
-        - all subsequent probes will be relative to this
+DONE            - G0 Z"clearance height"
-        - for each probing location:
+DONE            - G0 XxxYyyy (next point location)
-            - G0 Z"clearance height"
+DONE            - G0 Z"start probing at"
-            - G0 XxxYyyy (next point location)
+DONE            - G38.2 Z-5 F5
-            - G0 Z"start probing at"
+DONE            - store Z offset and place it in the heightmap
-            - G38.2 Z-5 F5
-            - store Z offset and place it in the heightmap
 
         3. modify loaded program with heightmap data
         - foreach line in program
             - if line contains a Z coordinate, update the Z according to the X and Y
             - if line does not contain a Z coordinate, add a Z coordinate according to the X and Y
 
+Solve bug in which the probing data does not get rendered properly as it gets probed.
+Bug: query coordinate systems after first z probe.
+
 Edge finding
     - prerequisites
         - which edge to find? -X/+X/-Y/+Y
@@ -50,8 +51,9 @@ Render arcs
 Render quadratic splines
 Render bezier splines
 Synchronize executing program with render (show executed paths with different colors)
-Show a progress bar when executing programs.
 Add aggressive buffer execution policy and make it selectable.
+Show a progress bar when executing programs.
+Show a progress bar when probing.
 
 DONE - Show program extents
 

main.cpp

@@ -513,7 +513,7 @@ public:
         return result;
     }
 
-    void fill_heightmap_from_grid(const grbl::heightmap& grid) {
+    void fill_heightmap_controls_from_grid(const grbl::heightmap& grid) const {
         txt_heightmap_from_x->set_value(std::to_string(grid.from_x));
         txt_heightmap_from_y->set_value(std::to_string(grid.from_y));
         txt_heightmap_to_x->set_value(std::to_string(grid.to_x));
@@ -562,7 +562,7 @@ public:
                     }, true);
             if (!path.empty()) {
                 heightmap_grid = load_heightmap(path);
-                fill_heightmap_from_grid(heightmap_grid);
+                fill_heightmap_controls_from_grid(heightmap_grid);
                 renderer.update_grid(heightmap_grid);
             }
         });
@@ -639,7 +639,7 @@ public:
         });
     }
 
-    void fill_heightmap_from_model() {
+    void fill_heightmap_from_model() const {
         auto min = renderer.get_extents_min();
         auto max = renderer.get_extents_max();
         txt_heightmap_from_x->set_value(std::to_string(min.x));
@@ -895,9 +895,12 @@ public:
         new MessageDialog(this, MessageDialog::Type::Warning, "Probe result", ss.str());
     }
 
+    volatile bool should_render_grid = false;
     void on_heightmap_probe_acquired(grbl::heightmap *grid) override {
         std::cout << "Updating grid" << std::endl;
-        renderer.update_grid(*grid);
+        // let's try to update this from the UI thread since the call is invoked from the
+        // grbl communicator thread.
+        should_render_grid = true;
     }
 
     void on_check_completed(bool success, size_t failed_index, size_t error) override {
@@ -1065,6 +1068,12 @@ public:
             machine_initialized = false;
         }
 
+        // TODO: change this to something prettier. make a pipe/queue for in-between threads comm
+        if (should_render_grid) {
+            renderer.update_grid(heightmap_grid);
+            should_render_grid = false;
+        }
+
         Widget::draw(ctx);
     }
 
@@ -1075,7 +1084,6 @@ public:
         m_render_pass->resize(framebuffer_size());
         m_render_pass->begin();
 
-        if (pgm.is_loaded) {
         renderer.update(pgm, cnc);
         // compute mvp
         glm::mat4 projection = glm::perspective(45.0f * glm::pi<float>() / 180.0f,
@@ -1091,7 +1099,6 @@ public:
         glm::mat3 normal_mat = glm::inverseTranspose(glm::mat3(view * model));
 
         renderer.render(model, view, projection, normal_mat, glm::vec2(fb_size.x(), fb_size.y()));
-        }
 
         m_render_pass->end();
     }

render.cpp

@@ -339,6 +339,8 @@ void grbl::program_renderer::initialize_program_buffers() {
 }
 
 GLsizei grbl::program_renderer::update_model_vbo(const grbl::program& pgm) {
+    if (!pgm.is_loaded) return 0;
+
     static auto movement_re = std::regex(R"(([gG]0*1?\s+|[xXyYzZ]\s*[0-9\.\-]+))");
     bool is_tool_on = false;
 
@@ -428,6 +430,9 @@ void grbl::program_renderer::update_grid(const grbl::heightmap& grid) {
 
     glm::vec4 color = {0.5, 0.3, 0, 1};
 
+    // this should only be called whenever the grid changes
+    // therefor it should be called each and every time we
+    // probe a new location. let's check that.
     std::vector<float> buffer_data;
 
     for (int y = 0; y < grid.y_segments; y++) {
@@ -466,7 +471,7 @@ void grbl::program_renderer::update_grid(const grbl::heightmap& grid) {
     heightmap_vertices_count = buffer_data.size() * sizeof(float) / size_of_vertex_in_bytes;
 
     glBindBuffer(GL_ARRAY_BUFFER, heightmap_vbo_id);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_STATIC_DRAW);
+    glBufferData(GL_ARRAY_BUFFER, sizeof(float) * buffer_data.size(), buffer_data.data(), GL_DYNAMIC_DRAW);
 }
 
 void grbl::program_renderer::initialize_heightmap_buffers() {