Heightmap: position cells, grid sync, panel toggles

- Heightmap table cells now show XY position (small
  text) above the measured height value
- HeightmapTableModel subscribes to Heightmap::changed
  and resets automatically; uses setHeightAt() instead
  of direct array access
- Grid parameters (size, Z range, probe feed,
  interpolation step) sync to Heightmap model on change
- Program panel gains Program/Heightmap toggle buttons,
  replacing the old external visibility API
- Visualizer auto-updates on heightmap change and adds
  a "Toggle grid" toolbar button
- Default grid size changed from 1×1 to 5×5
- Cell colors adapt to dark/light theme
- Fix saveChanges() to check both gcode and heightmap
  changes on window close
- Add heightmap user documentation page

Author: etet100

docs/heightmap.md

@@ -0,0 +1,41 @@
+---
+title: Heightmap / Surface Leveling
+---
+
+# Heightmap / Surface Leveling
+
+AstroCore can scan the surface of the CNC table by probing at multiple points and building a height map. This is useful when the table or workpiece is not perfectly flat — the height map allows the application to compensate for any unevenness by adjusting the Z axis in real time while running a program.
+
+## Setting up the grid
+
+Before scanning, you need to define a grid — a mesh of probe points placed over the working area. The grid is configured in the heightmap panel: you set its position, size, and the number of probe points in each direction.
+
+## Scanning
+
+Once the grid is configured, the **Scan table** function moves the tool to each grid vertex in sequence and probes the surface height at that point. The machine must be connected and the probe must be set up correctly before starting.
+
+![Heightmap scan in progress](screenshots/screenshot_main_dark_heightmap.png)
+
+## Viewing the result
+
+The scanned surface can be viewed in two ways:
+
+- **Visualizer** — the 3D view shows the heightmap as a colored surface overlaid on the working area. Colors represent height — from blue (low) to red (high). Height markers can be displayed at each probe point by enabling the marker overlay in the visualizer.
+- **Heightmap table** — switching to the heightmap view in the program panel shows the probed values as a grid table. Each cell displays the X, Y position of the probe point and the measured height.
+
+![Heightmap visualizer with markers](screenshots/screenshot_main_heightmap_markers_2d.png)
+
+## Manual editing
+
+Any individual height value can be edited manually:
+
+- In the **visualizer** — click a height marker to edit its value directly.
+- In the **table** — click any cell and type the new value.
+
+This is useful for correcting a bad probe reading or filling in a point that was not probed.
+
+## Interpolation
+
+Between the probed grid points, the application interpolates the surface to compute the Z correction for any position in the working area. Several interpolation methods are available (Bicubic, Bilinear, Linear, Nearest Neighbour). Bicubic produces the smoothest result.
+
+![Bicubic interpolation](screenshots/screenshot_heightmap_bicubic.png)

docs/index.md

@@ -38,6 +38,7 @@ Main documentation pages available in this folder:
 - [User interface](ui.md)
 - [Jogging](jogging.md)
 - [G-code editing](gcode-editing.md)
+- [Heightmap / Surface leveling](heightmap.md)
 - [Connection and virtual modes](connection-modes.md)
 - [Log browser](log-browser.md)
 - [Architecture overview](architecture.md)

docs/screenshots/screenshot_main_dark_heightmap.png

@@ -11,8 +11,8 @@ const QMap<QString,QVariant> DEFAULTS = {
     {"heightmapAreaX2", 100},
     {"heightmapAreaY2", 100},
     {"heightmapAreaShow", false},
-    {"heightmapGridX", 1},
-    {"heightmapGridY", 1},
+    {"heightmapGridX", 5},
+    {"heightmapGridY", 5},
     {"heightmapGridZTop", 1},
     {"heightmapGridZBottom", -1},
     {"heightmapProbeFeed", 10},

src/gpilot/core/heightmap/configurationheightmap.cpp

@@ -122,6 +122,51 @@ void Heightmap::setArea(QRectF area)
     // reset();
 }
 
+void Heightmap::setGridSize(QSize size)
+{
+    if (size == m_size) {
+        return;
+    }
+
+    QSizeF currentArea(m_endPos.x() - m_startPos.x(), m_endPos.y() - m_startPos.y());
+    m_size = size;
+    m_stepSize = QSizeF(
+        size.width()  > 1 ? currentArea.width()  / (size.width()  - 1) : 0,
+        size.height() > 1 ? currentArea.height() / (size.height() - 1) : 0
+    );
+    m_data = QList<double>(size.width() * size.height(), NAN);
+    updateEndPos();
+    updateMinMax();
+    notifyChanged();
+}
+
+void Heightmap::setProbeFeed(int probeFeed)
+{
+    if (probeFeed == m_probeFeed) {
+        return;
+    }
+    m_probeFeed = probeFeed;
+    notifyChanged();
+}
+
+void Heightmap::setZBottomTop(BottomTop zBottomTop)
+{
+    if (zBottomTop.bottom == m_zBottomTop.bottom && zBottomTop.top == m_zBottomTop.top) {
+        return;
+    }
+    m_zBottomTop = zBottomTop;
+    notifyChanged();
+}
+
+void Heightmap::setInterpolationStepSize(QSizeF stepSize)
+{
+    if (stepSize == m_interpolationStepSize) {
+        return;
+    }
+    m_interpolationStepSize = stepSize;
+    notifyChanged();
+}
+
 QPair<int, int> Heightmap::gridIndices(const QPointF &ptMm) const
 {
     int i = static_cast<int>((ptMm.x() - m_startPos.x()) / m_stepSize.width());

src/gpilot/core/heightmap/heightmap.cpp

@@ -29,7 +29,7 @@ class Heightmap : public QObject
         };
 
         Heightmap(
-            QSize size = QSize(11, 11),
+            QSize size = QSize(5, 5),
             QPointF startPos = QPointF(0.0, 0.0),
             QSizeF stepSize = QSizeF(10.0, 10.0),
             InterpolationMode interpolationMode = InterpolationMode::Bicubic,
@@ -60,13 +60,18 @@ class Heightmap : public QObject
         double stepWidth() const { return m_stepSize.width(); }
         double stepHeight() const { return m_stepSize.height(); }
         QSizeF interpolationStepSize() const { return m_interpolationStepSize; }
+        void setInterpolationStepSize(QSizeF stepSize);
         InterpolationMode interpolationMode() const { return m_interpolationMode; }
         void setInterpolationMode(InterpolationMode mode);
         QRectF area() const { return QRectF(m_startPos, m_endPos); }
         void setArea(QRectF area);
+        // Resize grid keeping the current area; recomputes stepSize and resets data to NaN.
+        void setGridSize(QSize size);
         MinMax valuesMinMax() const { return m_valuesMinMax; }
         BottomTop zBottomTop() const { return m_zBottomTop; }
+        void setZBottomTop(BottomTop zBottomTop);
         int probeFeed() const { return m_probeFeed; }
+        void setProbeFeed(int probeFeed);
         QPair<int, int> gridIndices(const QPointF& pt_mm) const;
         QList<QPointF> probePoints(QPointF currentPos, ScanMode mode) const;
         double& at(int x, int y);

src/gpilot/core/heightmap/heightmap.h

@@ -463,6 +463,7 @@ void FrmMain::initializeHeightmapPanel()
             ui->visualizer->updateHeightmap();
         }
     });
+    connect(ui->heightmap, &PartMainHeightmap::gridParametersChanged, this, &FrmMain::onGridParametersChanged);
     connect(ui->heightmap, &PartMainHeightmap::interpolationModeChanged, this, [this](Heightmap::InterpolationMode mode) {
         ui->visualizer->setHeightmapInterpolationMode(mode);
         heightmap().setInterpolationMode(mode);
@@ -715,7 +716,7 @@ void FrmMain::closeEvent(QCloseEvent *ce)
     bool mode = m_heightmapMode;
     m_heightmapMode = false;
 
-    if (!saveChanges(m_heightmapMode)) {
+    if (!saveChanges(false) || !saveChanges(true)) {
         ce->ignore();
         m_heightmapMode = mode;
         return;
@@ -2182,6 +2183,28 @@ void FrmMain::onHeightmapDataChangedByUser()
     // updateHeightmapInterpolationDrawer();
 }
 
+void FrmMain::onGridParametersChanged(QSize gridSize, PartMainHeightmap::MinMax zMinMax, int probeFeed, QSize interpolationStep)
+{
+    auto& cfg = ConfigurationHeightmap::instance();
+    cfg.setProperty("gridX", gridSize.width());
+    cfg.setProperty("gridY", gridSize.height());
+    cfg.setProperty("gridZBottom", zMinMax.min);
+    cfg.setProperty("gridZTop", zMinMax.max);
+    cfg.setProperty("probeFeed", probeFeed);
+    cfg.setProperty("interpolationStepX", interpolationStep.width());
+    cfg.setProperty("interpolationStepY", interpolationStep.height());
+
+    Heightmap& hm = heightmap();
+    hm.beginUpdate();
+    hm.setGridSize(gridSize);
+    hm.setZBottomTop({ zMinMax.min, zMinMax.max });
+    hm.setProbeFeed(probeFeed);
+    hm.setInterpolationStepSize(QSizeF(interpolationStep.width(), interpolationStep.height()));
+    hm.endUpdate();
+
+    updateHeightmapGrid();
+}
+
 void FrmMain::preloadSettings()
 {
     ConfigurationUI &uiConfiguration = UiConfigs::instance().ui();
@@ -2719,7 +2742,6 @@ void FrmMain::applyLoaderGCode(GCodeLoaderData *data)
 
     ui->program->selectFirstRow();
 
-    resetHeightmap();
     updateControlsState();
 }
 
@@ -2808,7 +2830,7 @@ bool FrmMain::saveChanges(bool heightMapMode)
 {
     FilesManager& fm = FilesManager::instance();
 
-    if ((!heightMapMode && fm.gcodeModified())) {
+    if (!heightMapMode && fm.gcodeModified()) {
         int res = QMessageBox::warning(this, this->windowTitle(), tr("G-code program file was changed. Save?"),
                                        QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
         if (res == QMessageBox::Cancel) return false;
@@ -2817,7 +2839,7 @@ bool FrmMain::saveChanges(bool heightMapMode)
         fm.setGcodeModified(false);
     }
 
-    if (fm.heightmapModified()) {
+    if (heightMapMode && fm.heightmapModified()) {
         int res = QMessageBox::warning(this, this->windowTitle(), tr("Heightmap file was changed. Save?"),
                                        QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
         if (res == QMessageBox::Cancel) return false;
@@ -2991,8 +3013,8 @@ void FrmMain::updateControlsState()
     // ui->cboJogStep->setStyleSheet(QString("font-size: %1").arg(UiConfigs::instance().ui().fontSize()));
     // ui->cboJogFeed->setStyleSheet(ui->cboJogStep->styleSheet());
 
-    ui->program->setHeightMapVisible(m_heightmapMode);
-    ui->program->setProgramVisible(!m_heightmapMode);
+    // ui->program->setHeightMapVisible(m_heightmapMode);
+    // ui->program->setProgramVisible(!m_heightmapMode);
 
     ui->program->setSendButtonText(m_heightmapMode ? tr("Probe") : tr("Send"));
 
@@ -3066,26 +3088,11 @@ void FrmMain::updateJogTitle()
 
 bool FrmMain::updateHeightmapGrid()
 {
-    if (!heightmap().anyHeightSet()) {
-        if (QMessageBox::warning(this, this->windowTitle(), tr("Changing grid settings will reset probe data. Continue?"),
-                                                           QMessageBox::Yes | QMessageBox::No) == QMessageBox::No) return false;
-    }
-
-    // Update grid drawer
     QRectF borderRect = ui->heightmap->areaRectFromTextboxes();
-    // ui->visualizer->heightmapGridDrawer()->setBorderRect(borderRect);
-    // ui->visualizer->heightmapGridDrawer()->setGridSize(QPointF(ui->txtHeightMapGridX->value(), ui->txtHeightMapGridY->value()));
-    // ui->visualizer->heightmapGridDrawer()->setZBottom(ui->txtHeightMapGridZBottom->value());
-    // ui->visualizer->heightmapGridDrawer()->setZTop(ui->txtHeightMapGridZTop->value());
 
-    // Reset model
     int gridPointsX = heightmap().gridSize().width();
     int gridPointsY = heightmap().gridSize().height();
 
-    ui->program->resizeHeightmapModel(gridPointsX, gridPointsY);
-    ui->program->setHeightmap(nullptr);
-    ui->program->setHeightmap(&heightmap());
-
     // Update interpolation
     ui->visualizer->updateHeightmapInterpolation(true);
 
@@ -3426,7 +3433,7 @@ bool FrmMain::actionTextLessThan(const QAction *a1, const QAction *a2)
 void FrmMain::setHeightmapPoint(QPoint point, double height)
 {
     heightmap().setHeightAt(point, height);
-    ui->visualizer->updateHeightmap();
+    // ui->visualizer->updateHeightmap();
 
     ui->console->append(QString("[Heightmap] Point (%1, %2) set to %3").arg(point.x()).arg(point.y()).arg(height));
 }

src/gpilot/ui/forms/frmmain.cpp

@@ -33,6 +33,7 @@
 #include "ui/forms/partials/main/partmainstate.h"
 #include "ui/forms/partials/main/partmainconsole.h"
 #include "ui/forms/partials/main/partmainvisualizer.h"
+#include "ui/forms/partials/main/partmainheightmap.h"
 #include "ui/forms/partials/main/partmainoverride.h"
 #include "ui/forms/frmgrblconfigurator.h"
 #include "ui/forms/frmlog.h"
@@ -182,6 +183,7 @@ private slots:
     // void onProgramLinesUpdated(int from, int to);
     // void updateHeightmapInterpolationDrawer(bool reset = false);
     void onHeightmapDataChangedByUser();
+    void onGridParametersChanged(QSize gridSize, PartMainHeightmap::MinMax zMinMax, int probeFeed, QSize interpolationStep);
     void centralWidgetActionTriggered(bool checked);
 
 protected:

src/gpilot/ui/forms/frmmain.h

@@ -14,7 +14,7 @@
    <bool>true</bool>
   </property>
   <property name="windowTitle">
-   <string>G-Pilot GCode Sender</string>
+   <string>AstroCore GCode Sender</string>
   </property>
   <property name="windowIcon">
    <iconset resource="../resources/images.qrc">
@@ -384,13 +384,13 @@ QGroupBox::title {
           <x>0</x>
           <y>0</y>
           <width>105</width>
-          <height>525</height>
+          <height>565</height>
          </rect>
         </property>
         <property name="acceptDrops">
          <bool>true</bool>
         </property>
-        <layout class="QVBoxLayout" name="verticalLayout_13" stretch="0,0,0,0,0">
+        <layout class="QVBoxLayout" name="verticalLayout_13" stretch="0,0,0,0,0,0">
          <property name="sizeConstraint">
           <enum>QLayout::SizeConstraint::SetMinimumSize</enum>
          </property>
@@ -532,7 +532,6 @@ QGroupBox::title {
            </layout>
           </widget>
          </item>
-
         </layout>
        </widget>
       </widget>
@@ -742,7 +741,7 @@ QGroupBox::title {
           <x>0</x>
           <y>0</y>
           <width>105</width>
-          <height>335</height>
+          <height>295</height>
          </rect>
         </property>
         <property name="acceptDrops">

src/gpilot/ui/forms/frmmain.ui

@@ -74,6 +74,8 @@ QRectF PartMainHeightmap::areaRectFromTextboxes()
 
 void PartMainHeightmap::applyHeightmapConfiguration(ConfigurationHeightmap &configurationHeightmap)
 {
+    QSignalBlocker blocker(this);
+
     ui->txtAreaX->setValue(configurationHeightmap.areaX1());
     ui->txtAreaX1->setValue(configurationHeightmap.areaX1());
     ui->txtAreaY->setValue(configurationHeightmap.areaY1());
@@ -203,10 +205,10 @@ void PartMainHeightmap::emitShowVisualizationChanged()
 void PartMainHeightmap::emitGridParametersChanged()
 {
     emit gridParametersChanged(
-        QPoint(ui->txtGridX->value(), ui->txtGridY->value()),
+        QSize(ui->txtGridX->value(), ui->txtGridY->value()),
         { ui->txtGridZBottom->value(), ui->txtGridZTop->value() },
         ui->txtProbeFeed->value(),
-        QPoint(ui->txtInterpolationStepX->value(), ui->txtInterpolationStepY->value())
+        QSize(ui->txtInterpolationStepX->value(), ui->txtInterpolationStepY->value())
     );
 }
 
@@ -241,10 +243,10 @@ void PartMainHeightmap::onAreaChanged()
 void PartMainHeightmap::onGridParametersChanged()
 {
     emit gridParametersChanged(
-        QPoint(ui->txtGridX->value(), ui->txtGridY->value()),
+        QSize(ui->txtGridX->value(), ui->txtGridY->value()),
         { ui->txtGridZBottom->value(),  ui->txtGridZTop->value() },
         ui->txtProbeFeed->value(),
-        QPoint(ui->txtInterpolationStepX->value(), ui->txtInterpolationStepY->value())
+        QSize(ui->txtInterpolationStepX->value(), ui->txtInterpolationStepY->value())
     );
 }