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feat: Enhance HeightMap with Corner Navigation and Trace Speed Control #697

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feat: Enhance HeightMap with Corner Navigation and Trace Speed Control #697

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e6315d8
Trace control
Ahrovan Jan 23, 2026
3c87966
Improve safety: add area validation and connection checks
Ahrovan Jan 23, 2026
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166 changes: 163 additions & 3 deletions src/candle/frmmain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,9 @@ void frmMain::initUi()
ui->fraDropModification->setVisible(false);
ui->fraDropUser->setVisible(false);

// Default Speed Selection
ui->cboTraceSpeed->setCurrentIndex(1); // 0=Slow, 1=Medium, 2=Fast

// Dock widgets
setCorner(Qt::TopLeftCorner, Qt::LeftDockWidgetArea);
setCorner(Qt::BottomLeftCorner, Qt::LeftDockWidgetArea);
Expand Down Expand Up @@ -3380,7 +3383,10 @@ void frmMain::saveSettings()

// Language
set.setValue("language", m_settings->language());


// Save Trace Z
set.setValue("heightmapTraceZ", ui->txtHeightMapTraceZ->value());

set.endGroup();
}

Expand Down Expand Up @@ -3570,7 +3576,10 @@ void frmMain::storeSettings()
void frmMain::restoreSettings()
{
auto set = m_storage.group("General");


// Restore Trace Z
ui->txtHeightMapTraceZ->setValue(set->value("heightmapTraceZ", 5.0).toDouble());

m_settingsLoading = true;

emit settingsAboutToLoad();
Expand Down Expand Up @@ -5995,4 +6004,155 @@ bool frmMain::actionTextLessThan(const QAction *a1, const QAction *a2)
QScriptValue frmMain::importExtension(QScriptContext *context, QScriptEngine *engine)
{
return engine->importExtension(context->argument(0).toString());
}
}

// =================================================================
// Emergency Stop Button
// =================================================================
void frmMain::on_cmdHeightMapStop_clicked()
{
// Immediate soft reset to halt all machine motion
grblReset();
}

// =================================================================
// Trace Border Function with Speed Control
// =================================================================
void frmMain::on_cmdHeightMapTrace_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;

if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) {
QMessageBox::warning(this, tr("Safety Error"), tr("Device is busy. Please wait for IDLE state."));
return;
}

double x = ui->txtHeightMapBorderX->value();
double y = ui->txtHeightMapBorderY->value();
double w = ui->txtHeightMapBorderWidth->value();
double h = ui->txtHeightMapBorderHeight->value();
double safeZ = ui->txtHeightMapTraceZ->value();

// Validation: Ensure border area is defined
if (w <= 0 || h <= 0) {
QMessageBox::information(this, tr("HeightMap"), tr("Please define a valid border area first."));
return;
}

// Determine feed rate from UI selection (mm/min)
int speedIndex = ui->cboTraceSpeed->currentIndex();
double traceFeed;
switch (speedIndex) {
case 0: traceFeed = 300.0; break; // Slow
case 1: traceFeed = 800.0; break; // Medium
case 2: traceFeed = 2000.0; break; // Fast
default: traceFeed = 500.0;
}

QStringList cmds;
cmds << "G21 G90"; // Metric, Absolute Positioning
cmds << QString("G0 Z%1").arg(safeZ); // Retract to Safe Z
cmds << QString("G0 X%1 Y%2").arg(x).arg(y); // Move to starting corner

// Border tracing sequence
cmds << QString("G1 X%1 F%2").arg(x + w).arg(traceFeed);
cmds << QString("G1 Y%1").arg(y + h);
cmds << QString("G1 X%1").arg(x);
cmds << QString("G1 Y%1").arg(y);

sendCommands(cmds.join("\n"), -1);
}

// =================================================================
// Corner Navigation Helpers
// =================================================================

void frmMain::on_cmdCornerTL_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;
if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) return;
if (ui->txtHeightMapBorderWidth->value() <= 0 || ui->txtHeightMapBorderHeight->value() <= 0) return;

double targetX = ui->txtHeightMapBorderX->value();
double targetY = ui->txtHeightMapBorderY->value() + ui->txtHeightMapBorderHeight->value();
double safeZ = ui->txtHeightMapTraceZ->value();

QStringList cmds;
cmds << "G21 G90" << QString("G0 Z%1").arg(safeZ) << QString("G0 X%1 Y%2").arg(targetX).arg(targetY);
sendCommands(cmds.join("\n"), -1);
}

void frmMain::on_cmdCornerTR_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;
if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) return;
if (ui->txtHeightMapBorderWidth->value() <= 0 || ui->txtHeightMapBorderHeight->value() <= 0) return;

double targetX = ui->txtHeightMapBorderX->value() + ui->txtHeightMapBorderWidth->value();
double targetY = ui->txtHeightMapBorderY->value() + ui->txtHeightMapBorderHeight->value();
double safeZ = ui->txtHeightMapTraceZ->value();

QStringList cmds;
cmds << "G21 G90" << QString("G0 Z%1").arg(safeZ) << QString("G0 X%1 Y%2").arg(targetX).arg(targetY);
sendCommands(cmds.join("\n"), -1);
}

void frmMain::on_cmdCornerBL_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;
if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) return;
// BL only needs X and Y, but we check width/height to ensure map is initialized
if (ui->txtHeightMapBorderWidth->value() <= 0 || ui->txtHeightMapBorderHeight->value() <= 0) return;

double targetX = ui->txtHeightMapBorderX->value();
double targetY = ui->txtHeightMapBorderY->value();
double safeZ = ui->txtHeightMapTraceZ->value();

QStringList cmds;
cmds << "G21 G90" << QString("G0 Z%1").arg(safeZ) << QString("G0 X%1 Y%2").arg(targetX).arg(targetY);
sendCommands(cmds.join("\n"), -1);
}

void frmMain::on_cmdCornerBR_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;
if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) return;
if (ui->txtHeightMapBorderWidth->value() <= 0 || ui->txtHeightMapBorderHeight->value() <= 0) return;

double targetX = ui->txtHeightMapBorderX->value() + ui->txtHeightMapBorderWidth->value();
double targetY = ui->txtHeightMapBorderY->value();
double safeZ = ui->txtHeightMapTraceZ->value();

QStringList cmds;
cmds << "G21 G90" << QString("G0 Z%1").arg(safeZ) << QString("G0 X%1 Y%2").arg(targetX).arg(targetY);
sendCommands(cmds.join("\n"), -1);
}

// =================================================================
// Move to Center Function
// =================================================================
void frmMain::on_cmdHeightMapCenter_clicked()
{
if (!m_currentConnection || !m_currentConnection->isConnected()) return;
if (m_deviceState != DeviceIdle && m_deviceState != DeviceJog) return;

double x = ui->txtHeightMapBorderX->value();
double y = ui->txtHeightMapBorderY->value();
double w = ui->txtHeightMapBorderWidth->value();
double h = ui->txtHeightMapBorderHeight->value();
double safeZ = ui->txtHeightMapTraceZ->value();

if (w <= 0 || h <= 0) return;

double centerX = x + (w / 2.0);
double centerY = y + (h / 2.0);

QStringList cmds;
cmds << "G21 G90";
cmds << QString("G0 Z%1").arg(safeZ);
cmds << QString("G0 X%1 Y%2").arg(centerX).arg(centerY);

sendCommands(cmds.join("\n"), -1);
}

#include "frmmain.moc"
7 changes: 7 additions & 0 deletions src/candle/frmmain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,7 @@ private slots:
void on_cmdHeightMapLoad_clicked();
void on_cmdHeightMapOrigin_clicked();
void on_cmdHeightMapBorderAuto_clicked();
void on_cmdHeightMapTrace_clicked();
void on_cmdHeightMapOriginTool_clicked();
void on_cmdYPlus_pressed();
void on_cmdYPlus_released();
Expand All @@ -244,6 +245,12 @@ private slots:
void on_mnuViewPanels_aboutToShow();
void on_dockVisualizer_visibilityChanged(bool visible);
void on_sliProgram_valueChanged(int value);
void on_cmdCornerTL_clicked();
void on_cmdCornerTR_clicked();
void on_cmdCornerBL_clicked();
void on_cmdCornerBR_clicked();
void on_cmdHeightMapStop_clicked();
void on_cmdHeightMapCenter_clicked();

void onConnectionDataReceived(QString data);
void onConnectionErrorOccurred(QString error);
Expand Down
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