HP: Allow custom and prism-like setups instead of just pyramid-like setups

- Change from bool to class and introduce None mode for
custom (experimental) setups (all allowed)

- refactor out IsInsidePyramidSides

- refactor out IsInsidePrismSides

- introduce HangprinterAnchorMode::LastOnTop for prism-like setups
  with all anchors on top

- introduce a T parameter in M666 to configure the anchor mode

Author: jtimon

src/Movement/Kinematics/HangprinterKinematics.cpp

@@ -99,6 +99,7 @@ void HangprinterKinematics::Init() noexcept
 	constexpr float DefaultTorqueConstants[HANGPRINTER_AXES] = { 0.0F };
 
 	ARRAY_INIT(anchors, DefaultAnchors);
+	anchorMode = HangprinterAnchorMode::LastOnTop;
 	printRadius = DefaultPrintRadius;
 	spoolBuildupFactor = DefaultSpoolBuildupFactor;
 	ARRAY_INIT(spoolRadii, DefaultSpoolRadii);
@@ -229,6 +230,12 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const
 	}
 	else if (mCode == 666)
 	{
+		// 0=None, 1=last-top, 2=all-top, 3-half-top, etc
+		uint32_t unsignedAnchorMode = (uint32_t)anchorMode;
+		gb.TryGetUIValue('A', unsignedAnchorMode, seen);
+		if (unsignedAnchorMode <= (uint32_t)HangprinterAnchorMode::AllOnTop) {
+			anchorMode = (HangprinterAnchorMode)unsignedAnchorMode;
+		}
 		gb.TryGetFValue('Q', spoolBuildupFactor, seen);
 		gb.TryGetFloatArray('R', HANGPRINTER_AXES, spoolRadii, seen);
 		gb.TryGetUIArray('U', HANGPRINTER_AXES, mechanicalAdvantage, seen);
@@ -248,7 +255,7 @@ bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const
 		}
 		else
 		{
-			reply.printf("M666 Q%.4f\n", (double)spoolBuildupFactor);
+			reply.printf("M666 A%u Q%.4f\n", (unsigned)anchorMode, (double)spoolBuildupFactor);
 
 			reply.lcatf("R%.2f", (double)spoolRadii[0]);
 			for (size_t i = 1; i < HANGPRINTER_AXES; ++i)
@@ -444,25 +451,51 @@ static bool isSameSide(float const v0[3], float const v1[3], float const v2[3],
 	return dot0*dot1 > 0.0F;
 }
 
-// For each triangle side in a pseudo-pyramid, check if the point is inside the pyramid (Except for the base)
-// Also check that any point below the line between two exterior anchors (all anchors are exterior except for the last one)
-// is in the "inside part" all the way down to min_Z, however low it may be.
-// To further limit the movements in the X and Y axes one can simply set a smaller print radius.
-bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
+bool HangprinterKinematics::IsInsidePyramidSides(float const coords[3]) const noexcept
 {
-	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
 	bool reachable = true;
 
 	// Check all the planes defined by triangle sides in the pyramid
 	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
 		reachable = reachable && isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], anchors[HANGPRINTER_AXES - 1], anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
 	}
+	return reachable;
+}
+
+bool HangprinterKinematics::IsInsidePrismSides(float const coords[3], unsigned const discount_last) const noexcept
+{
+	bool reachable = true;
 
 	// For each side of the base, check the plane formed by side and another point bellow them in z.
-	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
+	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - discount_last; ++i) {
 		float const lower_point[3] = {anchors[i][0], anchors[i][1], anchors[i][2] - 1};
 		reachable = reachable && isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], lower_point, anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
 	}
+	return reachable;
+}
+
+// For each triangle side in a pseudo-pyramid, check if the point is inside the pyramid (Except for the base)
+// Also check that any point below the line between two exterior anchors (all anchors are exterior except for the last one)
+// is in the "inside part" all the way down to min_Z, however low it may be.
+// To further limit the movements in the X and Y axes one can simply set a smaller print radius.
+bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
+{
+	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
+	bool reachable = true;
+
+	switch (anchorMode) {
+		case HangprinterAnchorMode::None:
+			return true;
+
+		// This reaches a pyramid on top of the lower prism if the bed is below the lower anchors
+		case HangprinterAnchorMode::LastOnTop:
+		default:
+			reachable = IsInsidePyramidSides(coords);
+			return reachable && IsInsidePrismSides(coords, 1);
+
+		case HangprinterAnchorMode::AllOnTop:
+			return IsInsidePrismSides(coords, 0);
+	};
 
 	return reachable;
 }
@@ -586,7 +619,7 @@ bool HangprinterKinematics::WriteCalibrationParameters(FileStore *f) const noexc
 	ok = f->Write(scratchString.c_str());
 	if (!ok) return false;
 
-	scratchString.printf("M666 Q%.6f ", (double)spoolBuildupFactor);
+	scratchString.printf("M666 A%u Q%.6f ", (unsigned)anchorMode, (double)spoolBuildupFactor);
 	ok = f->Write(scratchString.c_str());
 	if (!ok) return false;
 

src/Movement/Kinematics/HangprinterKinematics.h

@@ -12,6 +12,13 @@
 
 #if SUPPORT_HANGPRINTER
 
+// Different modes can be configured for different tradeoffs in terms of printing volumes and speeds
+enum class HangprinterAnchorMode {
+	None, // All is reacheable in None anchor mode as printing volume
+	LastOnTop, // (Default) Rsults in a pyramid plus a prism below if the lower anchors are above the printing bed
+	AllOnTop, // Result in a prism (speeds get limited, specially going down in Z)
+};
+
 class HangprinterKinematics : public RoundBedKinematics
 {
 public:
@@ -55,6 +62,9 @@ class HangprinterKinematics : public RoundBedKinematics
 protected:
 	DECLARE_OBJECT_MODEL_WITH_ARRAYS
 
+	bool IsInsidePyramidSides(float const coords[3]) const noexcept;
+	bool IsInsidePrismSides(float const coords[3], unsigned const discount_last) const noexcept;
+
 private:
 	// Basic facts about movement system
 	const char* ANCHOR_CHARS = "ABCD";
@@ -72,6 +82,7 @@ class HangprinterKinematics : public RoundBedKinematics
 	void PrintParameters(const StringRef& reply) const noexcept;			// Print all the parameters for debugging
 
 	// The real defaults are in the cpp file
+	HangprinterAnchorMode anchorMode = HangprinterAnchorMode::LastOnTop;
 	float printRadius = 0.0F;
 	float anchors[HANGPRINTER_AXES][3] = {{ 0.0, 0.0, 0.0},
 	                                      { 0.0, 0.0, 0.0},