amd/orcaslicer
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions 1
orcaslicer/src/libslic3r/GCode/GCodeProcessor.cpp

1717 lines
63 KiB
C++
Raw Blame History

#include "libslic3r/libslic3r.h"
#include "libslic3r/Utils.hpp"
#include "libslic3r/Print.hpp"
#include "GCodeProcessor.hpp"
#include <boost/log/trivial.hpp>
#include <float.h>
#include <assert.h>
#if ENABLE_GCODE_VIEWER
#if ENABLE_GCODE_VIEWER_STATISTICS
#include <chrono>
#endif // ENABLE_GCODE_VIEWER_STATISTICS
static const float INCHES_TO_MM = 25.4f;
static const float MMMIN_TO_MMSEC = 1.0f / 60.0f;
static const float DEFAULT_ACCELERATION = 1500.0f; // Prusa Firmware 1_75mm_MK2
namespace Slic3r {
const std::string GCodeProcessor::Extrusion_Role_Tag = "PrusaSlicer__EXTRUSION_ROLE:";
const std::string GCodeProcessor::Width_Tag = "PrusaSlicer__WIDTH:";
const std::string GCodeProcessor::Height_Tag = "PrusaSlicer__HEIGHT:";
const std::string GCodeProcessor::Mm3_Per_Mm_Tag = "PrusaSlicer__MM3_PER_MM:";
const std::string GCodeProcessor::Color_Change_Tag = "PrusaSlicer__COLOR_CHANGE";
const std::string GCodeProcessor::Pause_Print_Tag = "PrusaSlicer__PAUSE_PRINT";
const std::string GCodeProcessor::Custom_Code_Tag = "PrusaSlicer__CUSTOM_CODE";
static bool is_valid_extrusion_role(int value)
{
return (static_cast<int>(erNone) <= value) && (value <= static_cast<int>(erMixed));
}
static void set_option_value(ConfigOptionFloats& option, size_t id, float value)
{
if (id < option.values.size())
option.values[id] = static_cast<double>(value);
};
static float get_option_value(const ConfigOptionFloats& option, size_t id)
{
return option.values.empty() ? 0.0f :
((id < option.values.size()) ? static_cast<float>(option.values[id]) : static_cast<float>(option.values.back()));
}
static float estimated_acceleration_distance(float initial_rate, float target_rate, float acceleration)
{
return (acceleration == 0.0f) ? 0.0f : (sqr(target_rate) - sqr(initial_rate)) / (2.0f * acceleration);
}
static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
{
return (acceleration == 0.0f) ? 0.0f : (2.0f * acceleration * distance - sqr(initial_rate) + sqr(final_rate)) / (4.0f * acceleration);
}
static float speed_from_distance(float initial_feedrate, float distance, float acceleration)
{
// to avoid invalid negative numbers due to numerical errors
float value = std::max(0.0f, sqr(initial_feedrate) + 2.0f * acceleration * distance);
return ::sqrt(value);
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
static float max_allowable_speed(float acceleration, float target_velocity, float distance)
{
// to avoid invalid negative numbers due to numerical errors
float value = std::max(0.0f, sqr(target_velocity) - 2.0f * acceleration * distance);
return std::sqrt(value);
}
static float acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration)
{
return (acceleration != 0.0f) ? (speed_from_distance(initial_feedrate, distance, acceleration) - initial_feedrate) / acceleration : 0.0f;
}
void GCodeProcessor::CachedPosition::reset()
{
std::fill(position.begin(), position.end(), FLT_MAX);
feedrate = FLT_MAX;
}
void GCodeProcessor::CpColor::reset()
{
counter = 0;
current = 0;
}
float GCodeProcessor::Trapezoid::acceleration_time(float entry_feedrate, float acceleration) const
{
return acceleration_time_from_distance(entry_feedrate, accelerate_until, acceleration);
}
float GCodeProcessor::Trapezoid::cruise_time() const
{
return (cruise_feedrate != 0.0f) ? cruise_distance() / cruise_feedrate : 0.0f;
}
float GCodeProcessor::Trapezoid::deceleration_time(float distance, float acceleration) const
{
return acceleration_time_from_distance(cruise_feedrate, (distance - decelerate_after), -acceleration);
}
float GCodeProcessor::Trapezoid::cruise_distance() const
{
return decelerate_after - accelerate_until;
}
void GCodeProcessor::TimeBlock::calculate_trapezoid()
{
trapezoid.cruise_feedrate = feedrate_profile.cruise;
float accelerate_distance = std::max(0.0f, estimated_acceleration_distance(feedrate_profile.entry, feedrate_profile.cruise, acceleration));
float decelerate_distance = std::max(0.0f, estimated_acceleration_distance(feedrate_profile.cruise, feedrate_profile.exit, -acceleration));
float cruise_distance = distance - accelerate_distance - decelerate_distance;
// Not enough space to reach the nominal feedrate.
// This means no cruising, and we'll have to use intersection_distance() to calculate when to abort acceleration
// and start braking in order to reach the exit_feedrate exactly at the end of this block.
if (cruise_distance < 0.0f) {
accelerate_distance = std::clamp(intersection_distance(feedrate_profile.entry, feedrate_profile.exit, acceleration, distance), 0.0f, distance);
cruise_distance = 0.0f;
trapezoid.cruise_feedrate = speed_from_distance(feedrate_profile.entry, accelerate_distance, acceleration);
}
trapezoid.accelerate_until = accelerate_distance;
trapezoid.decelerate_after = accelerate_distance + cruise_distance;
}
float GCodeProcessor::TimeBlock::time() const
{
return trapezoid.acceleration_time(feedrate_profile.entry, acceleration)
+ trapezoid.cruise_time()
+ trapezoid.deceleration_time(distance, acceleration);
}
void GCodeProcessor::TimeMachine::State::reset()
{
feedrate = 0.0f;
safe_feedrate = 0.0f;
axis_feedrate = { 0.0f, 0.0f, 0.0f, 0.0f };
abs_axis_feedrate = { 0.0f, 0.0f, 0.0f, 0.0f };
}
void GCodeProcessor::TimeMachine::CustomGCodeTime::reset()
{
needed = false;
cache = 0.0f;
times = std::vector<std::pair<CustomGCode::Type, float>>();
}
void GCodeProcessor::TimeMachine::reset()
{
enabled = false;
acceleration = 0.0f;
extrude_factor_override_percentage = 1.0f;
time = 0.0f;
curr.reset();
prev.reset();
gcode_time.reset();
blocks = std::vector<TimeBlock>();
std::fill(moves_time.begin(), moves_time.end(), 0.0f);
std::fill(roles_time.begin(), roles_time.end(), 0.0f);
}
void GCodeProcessor::TimeMachine::simulate_st_synchronize(float additional_time)
{
if (!enabled)
return;
time += additional_time;
gcode_time.cache += additional_time;
calculate_time();
}
static void planner_forward_pass_kernel(GCodeProcessor::TimeBlock& prev, GCodeProcessor::TimeBlock& curr)
{
// If the previous block is an acceleration block, but it is not long enough to complete the
// full speed change within the block, we need to adjust the entry speed accordingly. Entry
// speeds have already been reset, maximized, and reverse planned by reverse planner.
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
if (!prev.flags.nominal_length) {
if (prev.feedrate_profile.entry < curr.feedrate_profile.entry) {
float entry_speed = std::min(curr.feedrate_profile.entry, max_allowable_speed(-prev.acceleration, prev.feedrate_profile.entry, prev.distance));
// Check for junction speed change
if (curr.feedrate_profile.entry != entry_speed) {
curr.feedrate_profile.entry = entry_speed;
curr.flags.recalculate = true;
}
}
}
}
void planner_reverse_pass_kernel(GCodeProcessor::TimeBlock& curr, GCodeProcessor::TimeBlock& next)
{
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
// check for maximum allowable speed reductions to ensure maximum possible planned speed.
if (curr.feedrate_profile.entry != curr.max_entry_speed) {
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
// for max allowable speed if block is decelerating and nominal length is false.
if (!curr.flags.nominal_length && curr.max_entry_speed > next.feedrate_profile.entry)
curr.feedrate_profile.entry = std::min(curr.max_entry_speed, max_allowable_speed(-curr.acceleration, next.feedrate_profile.entry, curr.distance));
else
curr.feedrate_profile.entry = curr.max_entry_speed;
curr.flags.recalculate = true;
}
}
static void recalculate_trapezoids(std::vector<GCodeProcessor::TimeBlock>& blocks)
{
GCodeProcessor::TimeBlock* curr = nullptr;
GCodeProcessor::TimeBlock* next = nullptr;
for (size_t i = 0; i < blocks.size(); ++i) {
GCodeProcessor::TimeBlock& b = blocks[i];
curr = next;
next = &b;
if (curr != nullptr) {
// Recalculate if current block entry or exit junction speed has changed.
if (curr->flags.recalculate || next->flags.recalculate) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
GCodeProcessor::TimeBlock block = *curr;
block.feedrate_profile.exit = next->feedrate_profile.entry;
block.calculate_trapezoid();
curr->trapezoid = block.trapezoid;
curr->flags.recalculate = false; // Reset current only to ensure next trapezoid is computed
}
}
}
// Last/newest block in buffer. Always recalculated.
if (next != nullptr) {
GCodeProcessor::TimeBlock block = *next;
block.feedrate_profile.exit = next->safe_feedrate;
block.calculate_trapezoid();
next->trapezoid = block.trapezoid;
next->flags.recalculate = false;
}
}
void GCodeProcessor::TimeMachine::calculate_time(size_t keep_last_n_blocks)
{
if (!enabled || blocks.size() < 2)
return;
assert(keep_last_n_blocks <= blocks.size());
// forward_pass
for (size_t i = 0; i + 1 < blocks.size(); ++i) {
planner_forward_pass_kernel(blocks[i], blocks[i + 1]);
}
// reverse_pass
for (int i = static_cast<int>(blocks.size()) - 1; i > 0; --i)
planner_reverse_pass_kernel(blocks[i - 1], blocks[i]);
recalculate_trapezoids(blocks);
size_t n_blocks_process = blocks.size() - keep_last_n_blocks;
// m_g1_times.reserve(m_g1_times.size() + n_blocks_process);
for (size_t i = 0; i < n_blocks_process; ++i) {
const TimeBlock& block = blocks[i];
float block_time = block.time();
time += block_time;
gcode_time.cache += block_time;
moves_time[static_cast<size_t>(block.move_type)] += block_time;
roles_time[static_cast<size_t>(block.role)] += block_time;
// if (block.g1_line_id >= 0)
// m_g1_times.emplace_back(block.g1_line_id, time);
}
if (keep_last_n_blocks)
blocks.erase(blocks.begin(), blocks.begin() + n_blocks_process);
else
blocks.clear();
}
void GCodeProcessor::TimeProcessor::reset()
{
extruder_unloaded = true;
machine_limits = MachineEnvelopeConfig();
filament_load_times = std::vector<float>();
filament_unload_times = std::vector<float>();
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
machines[i].reset();
}
machines[static_cast<size_t>(ETimeMode::Normal)].enabled = true;
}
const std::vector<std::pair<GCodeProcessor::EProducer, std::string>> GCodeProcessor::Producers = {
{ EProducer::PrusaSlicer, "PrusaSlicer" },
{ EProducer::Cura, "Cura" },
{ EProducer::Simplify3D, "Simplify3D" },
{ EProducer::CraftWare, "CraftWare" },
{ EProducer::ideaMaker, "ideaMaker" }
};
unsigned int GCodeProcessor::s_result_id = 0;
void GCodeProcessor::apply_config(const PrintConfig& config)
{
m_parser.apply_config(config);
m_flavor = config.gcode_flavor;
size_t extruders_count = config.nozzle_diameter.values.size();
m_extruder_offsets.resize(extruders_count);
for (size_t id = 0; id < extruders_count; ++id) {
Vec2f offset = config.extruder_offset.get_at(id).cast<float>();
m_extruder_offsets[id] = Vec3f(offset(0), offset(1), 0.0f);
}
m_extruders_color.resize(extruders_count);
for (size_t id = 0; id < extruders_count; ++id) {
m_extruders_color[id] = static_cast<unsigned int>(id);
}
m_time_processor.machine_limits = reinterpret_cast<const MachineEnvelopeConfig&>(config);
// Filament load / unload times are not specific to a firmware flavor. Let anybody use it if they find it useful.
// As of now the fields are shown at the UI dialog in the same combo box as the ramming values, so they
// are considered to be active for the single extruder multi-material printers only.
m_time_processor.filament_load_times.clear();
for (double d : config.filament_load_time.values) {
m_time_processor.filament_load_times.push_back(static_cast<float>(d));
}
m_time_processor.filament_unload_times.clear();
for (double d : config.filament_unload_time.values) {
m_time_processor.filament_unload_times.push_back(static_cast<float>(d));
}
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
float max_acceleration = get_option_value(m_time_processor.machine_limits.machine_max_acceleration_extruding, i);
m_time_processor.machines[i].acceleration = (max_acceleration > 0.0f) ? max_acceleration : DEFAULT_ACCELERATION;
}
}
void GCodeProcessor::enable_stealth_time_estimator(bool enabled)
{
m_time_processor.machines[static_cast<size_t>(ETimeMode::Stealth)].enabled = enabled;
}
void GCodeProcessor::reset()
{
m_units = EUnits::Millimeters;
m_global_positioning_type = EPositioningType::Absolute;
m_e_local_positioning_type = EPositioningType::Absolute;
m_extruder_offsets = std::vector<Vec3f>(1, Vec3f::Zero());
m_flavor = gcfRepRap;
m_start_position = { 0.0f, 0.0f, 0.0f, 0.0f };
m_end_position = { 0.0f, 0.0f, 0.0f, 0.0f };
m_origin = { 0.0f, 0.0f, 0.0f, 0.0f };
m_cached_position.reset();
m_feedrate = 0.0f;
m_width = 0.0f;
m_height = 0.0f;
m_mm3_per_mm = 0.0f;
m_fan_speed = 0.0f;
m_extrusion_role = erNone;
m_extruder_id = 0;
m_extruders_color = ExtrudersColor();
m_cp_color.reset();
m_producer = EProducer::Unknown;
m_producers_enabled = false;
m_time_processor.reset();
m_result.reset();
m_result.id = ++s_result_id;
}
void GCodeProcessor::process_file(const std::string& filename)
{
#if ENABLE_GCODE_VIEWER_STATISTICS
auto start_time = std::chrono::high_resolution_clock::now();
#endif // ENABLE_GCODE_VIEWER_STATISTICS
m_result.id = ++s_result_id;
m_result.moves.emplace_back(MoveVertex());
m_parser.parse_file(filename, [this](GCodeReader& reader, const GCodeReader::GCodeLine& line) { process_gcode_line(line); });
// process the remaining time blocks
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
TimeMachine& machine = m_time_processor.machines[i];
TimeMachine::CustomGCodeTime& gcode_time = machine.gcode_time;
machine.calculate_time();
if (gcode_time.needed && gcode_time.cache != 0.0f)
gcode_time.times.push_back({ CustomGCode::ColorChange, gcode_time.cache });
}
#if ENABLE_GCODE_VIEWER_STATISTICS
m_result.time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start_time).count();
#endif // ENABLE_GCODE_VIEWER_STATISTICS
}
void GCodeProcessor::update_print_stats_estimated_times(PrintStatistics& print_statistics)
{
print_statistics.estimated_normal_print_time = get_time(GCodeProcessor::ETimeMode::Normal);
print_statistics.estimated_normal_custom_gcode_print_times = get_custom_gcode_times(GCodeProcessor::ETimeMode::Normal, true);
print_statistics.estimated_normal_moves_times = get_moves_time(GCodeProcessor::ETimeMode::Normal);
print_statistics.estimated_normal_roles_times = get_roles_time(GCodeProcessor::ETimeMode::Normal);
if (m_time_processor.machines[static_cast<size_t>(GCodeProcessor::ETimeMode::Stealth)].enabled) {
print_statistics.estimated_silent_print_time = get_time(GCodeProcessor::ETimeMode::Stealth);
print_statistics.estimated_silent_custom_gcode_print_times = get_custom_gcode_times(GCodeProcessor::ETimeMode::Stealth, true);
print_statistics.estimated_silent_moves_times = get_moves_time(GCodeProcessor::ETimeMode::Stealth);
print_statistics.estimated_silent_roles_times = get_roles_time(GCodeProcessor::ETimeMode::Stealth);
}
else {
print_statistics.estimated_silent_print_time = 0.0f;
print_statistics.estimated_silent_custom_gcode_print_times.clear();
print_statistics.estimated_silent_moves_times.clear();
print_statistics.estimated_silent_roles_times.clear();
}
}
float GCodeProcessor::get_time(ETimeMode mode) const
{
return (mode < ETimeMode::Count) ? m_time_processor.machines[static_cast<size_t>(mode)].time : 0.0f;
}
std::string GCodeProcessor::get_time_dhm(ETimeMode mode) const
{
return (mode < ETimeMode::Count) ? short_time(get_time_dhms(m_time_processor.machines[static_cast<size_t>(mode)].time)) : std::string("N/A");
}
std::vector<std::pair<CustomGCode::Type, std::pair<float, float>>> GCodeProcessor::get_custom_gcode_times(ETimeMode mode, bool include_remaining) const
{
std::vector<std::pair<CustomGCode::Type, std::pair<float, float>>> ret;
if (mode < ETimeMode::Count) {
const TimeMachine& machine = m_time_processor.machines[static_cast<size_t>(mode)];
float total_time = 0.0f;
for (const auto& [type, time] : machine.gcode_time.times) {
float remaining = include_remaining ? machine.time - total_time : 0.0f;
ret.push_back({ type, { time, remaining } });
total_time += time;
}
}
return ret;
}
std::vector<std::pair<GCodeProcessor::EMoveType, float>> GCodeProcessor::get_moves_time(ETimeMode mode) const
{
std::vector<std::pair<EMoveType, float>> ret;
if (mode < ETimeMode::Count) {
for (size_t i = 0; i < m_time_processor.machines[static_cast<size_t>(mode)].moves_time.size(); ++i) {
float time = m_time_processor.machines[static_cast<size_t>(mode)].moves_time[i];
if (time > 0.0f)
ret.push_back({ static_cast<EMoveType>(i), time });
}
}
return ret;
}
std::vector<std::pair<ExtrusionRole, float>> GCodeProcessor::get_roles_time(ETimeMode mode) const
{
std::vector<std::pair<ExtrusionRole, float>> ret;
if (mode < ETimeMode::Count) {
for (size_t i = 0; i < m_time_processor.machines[static_cast<size_t>(mode)].roles_time.size(); ++i) {
float time = m_time_processor.machines[static_cast<size_t>(mode)].roles_time[i];
if (time > 0.0f)
ret.push_back({ static_cast<ExtrusionRole>(i), time });
}
}
return ret;
}
void GCodeProcessor::process_gcode_line(const GCodeReader::GCodeLine& line)
{
/* std::cout << line.raw() << std::endl; */
// update start position
m_start_position = m_end_position;
std::string cmd = line.cmd();
if (cmd.length() > 1) {
// process command lines
switch (::toupper(cmd[0]))
{
case 'G':
{
switch (::atoi(&cmd[1]))
{
case 0: { process_G0(line); break; } // Move
case 1: { process_G1(line); break; } // Move
case 10: { process_G10(line); break; } // Retract
case 11: { process_G11(line); break; } // Unretract
case 20: { process_G20(line); break; } // Set Units to Inches
case 21: { process_G21(line); break; } // Set Units to Millimeters
case 22: { process_G22(line); break; } // Firmware controlled retract
case 23: { process_G23(line); break; } // Firmware controlled unretract
case 90: { process_G90(line); break; } // Set to Absolute Positioning
case 91: { process_G91(line); break; } // Set to Relative Positioning
case 92: { process_G92(line); break; } // Set Position
default: { break; }
}
break;
}
case 'M':
{
switch (::atoi(&cmd[1]))
{
case 1: { process_M1(line); break; } // Sleep or Conditional stop
case 82: { process_M82(line); break; } // Set extruder to absolute mode
case 83: { process_M83(line); break; } // Set extruder to relative mode
case 106: { process_M106(line); break; } // Set fan speed
case 107: { process_M107(line); break; } // Disable fan
case 108: { process_M108(line); break; } // Set tool (Sailfish)
case 132: { process_M132(line); break; } // Recall stored home offsets
case 135: { process_M135(line); break; } // Set tool (MakerWare)
case 201: { process_M201(line); break; } // Set max printing acceleration
case 203: { process_M203(line); break; } // Set maximum feedrate
case 204: { process_M204(line); break; } // Set default acceleration
case 205: { process_M205(line); break; } // Advanced settings
case 221: { process_M221(line); break; } // Set extrude factor override percentage
case 401: { process_M401(line); break; } // Repetier: Store x, y and z position
case 402: { process_M402(line); break; } // Repetier: Go to stored position
case 566: { process_M566(line); break; } // Set allowable instantaneous speed change
case 702: { process_M702(line); break; } // Unload the current filament into the MK3 MMU2 unit at the end of print.
default: { break; }
}
break;
}
case 'T':
{
process_T(line); // Select Tool
break;
}
default: { break; }
}
}
else {
std::string comment = line.comment();
if (comment.length() > 1)
// process tags embedded into comments
process_tags(comment);
}
}
void GCodeProcessor::process_tags(const std::string& comment)
{
if (m_producers_enabled && m_producer == EProducer::Unknown && detect_producer(comment))
return;
else if (m_producers_enabled && m_producer != EProducer::Unknown) {
if (process_producers_tags(comment))
return;
}
// extrusion role tag
size_t pos = comment.find(Extrusion_Role_Tag);
if (pos != comment.npos) {
try
{
int role = std::stoi(comment.substr(pos + Extrusion_Role_Tag.length()));
if (is_valid_extrusion_role(role))
m_extrusion_role = static_cast<ExtrusionRole>(role);
else {
// todo: show some error ?
}
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Extrusion Role (" << comment << ").";
}
return;
}
// width tag
pos = comment.find(Width_Tag);
if (pos != comment.npos) {
try
{
m_width = std::stof(comment.substr(pos + Width_Tag.length()));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Width (" << comment << ").";
}
return;
}
// height tag
pos = comment.find(Height_Tag);
if (pos != comment.npos) {
try
{
m_height = std::stof(comment.substr(pos + Height_Tag.length()));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Height (" << comment << ").";
}
return;
}
// mm3 per mm tag
pos = comment.find(Mm3_Per_Mm_Tag);
if (pos != comment.npos) {
try
{
m_mm3_per_mm = std::stof(comment.substr(pos + Mm3_Per_Mm_Tag.length()));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Mm3_Per_Mm (" << comment << ").";
}
return;
}
// color change tag
pos = comment.find(Color_Change_Tag);
if (pos != comment.npos) {
pos = comment.find_last_of(",T");
try
{
unsigned char extruder_id = (pos == comment.npos) ? 0 : static_cast<unsigned char>(std::stoi(comment.substr(pos + 1)));
m_extruders_color[extruder_id] = static_cast<unsigned char>(m_extruder_offsets.size()) + m_cp_color.counter; // color_change position in list of color for preview
++m_cp_color.counter;
if (m_cp_color.counter == UCHAR_MAX)
m_cp_color.counter = 0;
if (m_extruder_id == extruder_id) {
m_cp_color.current = m_extruders_color[extruder_id];
store_move_vertex(EMoveType::Color_change);
}
process_custom_gcode_time(CustomGCode::ColorChange);
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Color_Change (" << comment << ").";
}
return;
}
// pause print tag
pos = comment.find(Pause_Print_Tag);
if (pos != comment.npos) {
store_move_vertex(EMoveType::Pause_Print);
process_custom_gcode_time(CustomGCode::PausePrint);
return;
}
// custom code tag
pos = comment.find(Custom_Code_Tag);
if (pos != comment.npos) {
store_move_vertex(EMoveType::Custom_GCode);
return;
}
}
bool GCodeProcessor::process_producers_tags(const std::string& comment)
{
switch (m_producer)
{
case EProducer::PrusaSlicer: { return process_prusaslicer_tags(comment); }
case EProducer::Cura: { return process_cura_tags(comment); }
case EProducer::Simplify3D: { return process_simplify3d_tags(comment); }
case EProducer::CraftWare: { return process_craftware_tags(comment); }
case EProducer::ideaMaker: { return process_ideamaker_tags(comment); }
default: { return false; }
}
}
bool GCodeProcessor::process_prusaslicer_tags(const std::string& comment)
{
std::cout << comment << "\n";
return false;
}
bool GCodeProcessor::process_cura_tags(const std::string& comment)
{
// TYPE -> extrusion role
std::string tag = "TYPE:";
size_t pos = comment.find(tag);
if (pos != comment.npos) {
std::string type = comment.substr(pos + tag.length());
if (type == "SKIRT")
m_extrusion_role = erSkirt;
else if (type == "WALL-OUTER")
m_extrusion_role = erExternalPerimeter;
else if (type == "WALL-INNER")
m_extrusion_role = erPerimeter;
else if (type == "SKIN")
m_extrusion_role = erSolidInfill;
else if (type == "FILL")
m_extrusion_role = erInternalInfill;
else if (type == "SUPPORT")
m_extrusion_role = erSupportMaterial;
else if (type == "SUPPORT-INTERFACE")
m_extrusion_role = erSupportMaterialInterface;
else if (type == "PRIME-TOWER")
m_extrusion_role = erWipeTower;
else {
m_extrusion_role = erNone;
BOOST_LOG_TRIVIAL(warning) << "GCodeProcessor found unknown extrusion role: " << type;
}
return true;
}
return false;
}
bool GCodeProcessor::process_simplify3d_tags(const std::string& comment)
{
// extrusion roles
// ; skirt
size_t pos = comment.find(" skirt");
if (pos == 0) {
m_extrusion_role = erSkirt;
return true;
}
// ; outer perimeter
pos = comment.find(" outer perimeter");
if (pos == 0) {
m_extrusion_role = erExternalPerimeter;
return true;
}
// ; inner perimeter
pos = comment.find(" inner perimeter");
if (pos == 0) {
m_extrusion_role = erPerimeter;
return true;
}
// ; gap fill
pos = comment.find(" gap fill");
if (pos == 0) {
m_extrusion_role = erGapFill;
return true;
}
// ; infill
pos = comment.find(" infill");
if (pos == 0) {
m_extrusion_role = erInternalInfill;
return true;
}
// ; solid layer
pos = comment.find(" solid layer");
if (pos == 0) {
m_extrusion_role = erNone; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
return true;
}
// ; bridge
pos = comment.find(" bridge");
if (pos == 0) {
m_extrusion_role = erBridgeInfill;
return true;
}
// ; support
pos = comment.find(" support");
if (pos == 0) {
m_extrusion_role = erSupportMaterial;
return true;
}
// ; prime pillar
pos = comment.find(" prime pillar");
if (pos == 0) {
m_extrusion_role = erWipeTower;
return true;
}
// ; ooze shield
pos = comment.find(" ooze shield");
if (pos == 0) {
m_extrusion_role = erNone; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
return true;
}
// ; raft
pos = comment.find(" raft");
if (pos == 0) {
m_extrusion_role = erSkirt;
return true;
}
// geometry
// ; tool
std::string tag = " tool";
pos = comment.find(tag);
if (pos == 0) {
std::string data = comment.substr(pos + tag.length());
std::string h_tag = "H";
size_t h_start = data.find(h_tag);
size_t h_end = data.find_first_of(' ', h_start);
std::string w_tag = "W";
size_t w_start = data.find(w_tag);
size_t w_end = data.find_first_of(' ', w_start);
if (h_start != data.npos) {
try
{
std::string test = data.substr(h_start + 1, (h_end != data.npos) ? h_end - h_start - 1 : h_end);
m_height = std::stof(data.substr(h_start + 1, (h_end != data.npos) ? h_end - h_start - 1 : h_end));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Height (" << comment << ").";
}
}
if (w_start != data.npos) {
try
{
std::string test = data.substr(w_start + 1, (w_end != data.npos) ? w_end - w_start - 1 : w_end);
m_width = std::stof(data.substr(w_start + 1, (w_end != data.npos) ? w_end - w_start - 1 : w_end));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Width (" << comment << ").";
}
}
return true;
}
std::cout << comment << "\n";
return false;
}
bool GCodeProcessor::process_craftware_tags(const std::string& comment)
{
// segType -> extrusion role
std::string tag = "segType:";
size_t pos = comment.find(tag);
if (pos != comment.npos) {
std::string type = comment.substr(pos + tag.length());
if (type == "Skirt")
m_extrusion_role = erSkirt;
else if (type == "Perimeter")
m_extrusion_role = erExternalPerimeter;
else if (type == "HShell")
m_extrusion_role = erNone; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
else if (type == "InnerHair")
m_extrusion_role = erNone; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
else if (type == "Loop")
m_extrusion_role = erNone; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
else if (type == "Infill")
m_extrusion_role = erInternalInfill;
else if (type == "Raft")
m_extrusion_role = erSkirt;
else if (type == "Support")
m_extrusion_role = erSupportMaterial;
else if (type == "SupportTouch")
m_extrusion_role = erSupportMaterial;
else if (type == "SoftSupport")
m_extrusion_role = erSupportMaterialInterface;
else if (type == "Pillar")
m_extrusion_role = erWipeTower;
else {
m_extrusion_role = erNone;
BOOST_LOG_TRIVIAL(warning) << "GCodeProcessor found unknown extrusion role: " << type;
}
return true;
}
return false;
}
bool GCodeProcessor::process_ideamaker_tags(const std::string& comment)
{
// TYPE -> extrusion role
std::string tag = "TYPE:";
size_t pos = comment.find(tag);
if (pos != comment.npos) {
std::string type = comment.substr(pos + tag.length());
if (type == "RAFT")
m_extrusion_role = erSkirt;
else if (type == "WALL-OUTER")
m_extrusion_role = erExternalPerimeter;
else if (type == "WALL-INNER")
m_extrusion_role = erPerimeter;
else if (type == "SOLID-FILL")
m_extrusion_role = erSolidInfill;
else if (type == "FILL")
m_extrusion_role = erInternalInfill;
else if (type == "BRIDGE")
m_extrusion_role = erBridgeInfill;
else if (type == "SUPPORT")
m_extrusion_role = erSupportMaterial;
else {
m_extrusion_role = erNone;
BOOST_LOG_TRIVIAL(warning) << "GCodeProcessor found unknown extrusion role: " << type;
}
return true;
}
// geometry
// width
tag = "WIDTH:";
pos = comment.find(tag);
if (pos != comment.npos) {
try
{
m_width = std::stof(comment.substr(pos + tag.length()));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Width (" << comment << ").";
}
return true;
}
// height
tag = "HEIGHT:";
pos = comment.find(tag);
if (pos != comment.npos) {
try
{
m_height = std::stof(comment.substr(pos + tag.length()));
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid value for Height (" << comment << ").";
}
return true;
}
return false;
}
bool GCodeProcessor::detect_producer(const std::string& comment)
{
for (const auto& [id, search_string] : Producers) {
size_t pos = comment.find(search_string);
if (pos != comment.npos) {
m_producer = id;
BOOST_LOG_TRIVIAL(info) << "Detected gcode producer: " << search_string;
return true;
}
}
return false;
}
void GCodeProcessor::process_G0(const GCodeReader::GCodeLine& line)
{
process_G1(line);
}
void GCodeProcessor::process_G1(const GCodeReader::GCodeLine& line)
{
auto absolute_position = [this](Axis axis, const GCodeReader::GCodeLine& lineG1)
{
bool is_relative = (m_global_positioning_type == EPositioningType::Relative);
if (axis == E)
is_relative |= (m_e_local_positioning_type == EPositioningType::Relative);
if (lineG1.has(Slic3r::Axis(axis))) {
float lengthsScaleFactor = (m_units == EUnits::Inches) ? INCHES_TO_MM : 1.0f;
float ret = lineG1.value(Slic3r::Axis(axis)) * lengthsScaleFactor;
return is_relative ? m_start_position[axis] + ret : m_origin[axis] + ret;
}
else
return m_start_position[axis];
};
auto move_type = [this](const AxisCoords& delta_pos) {
EMoveType type = EMoveType::Noop;
if (delta_pos[E] < 0.0f) {
type = (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f || delta_pos[Z] != 0.0f) ? EMoveType::Travel : EMoveType::Retract;
}
else if (delta_pos[E] > 0.0f) {
if (delta_pos[X] == 0.0f && delta_pos[Y] == 0.0f && delta_pos[Z] == 0.0f)
type = EMoveType::Unretract;
else if (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f)
type = EMoveType::Extrude;
}
else if (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f || delta_pos[Z] != 0.0f)
type = EMoveType::Travel;
#if ENABLE_GCODE_VIEWER_AS_STATE
if (type == EMoveType::Extrude && (m_width == 0.0f || m_height == 0.0f)) {
if (m_extrusion_role != erCustom) {
m_width = 0.5f;
m_height = 0.5f;
}
type = EMoveType::Travel;
}
#else
if (type == EMoveType::Extrude && (m_width == 0.0f || m_height == 0.0f || !is_valid_extrusion_role(m_extrusion_role)))
type = EMoveType::Travel;
#endif // ENABLE_GCODE_VIEWER_AS_STATE
return type;
};
// updates axes positions from line
for (unsigned char a = X; a <= E; ++a) {
m_end_position[a] = absolute_position((Axis)a, line);
}
// updates feedrate from line, if present
if (line.has_f())
m_feedrate = line.f() * MMMIN_TO_MMSEC;
// calculates movement deltas
float max_abs_delta = 0.0f;
AxisCoords delta_pos;
for (unsigned char a = X; a <= E; ++a) {
delta_pos[a] = m_end_position[a] - m_start_position[a];
max_abs_delta = std::max(max_abs_delta, std::abs(delta_pos[a]));
}
// no displacement, return
if (max_abs_delta == 0.0f)
return;
EMoveType type = move_type(delta_pos);
// time estimate section
auto move_length = [](const AxisCoords& delta_pos) {
float sq_xyz_length = sqr(delta_pos[X]) + sqr(delta_pos[Y]) + sqr(delta_pos[Z]);
return (sq_xyz_length > 0.0f) ? std::sqrt(sq_xyz_length) : std::abs(delta_pos[E]);
};
auto is_extrusion_only_move = [](const AxisCoords& delta_pos) {
return delta_pos[X] == 0.0f && delta_pos[Y] == 0.0f && delta_pos[Z] == 0.0f && delta_pos[E] != 0.0f;
};
float distance = move_length(delta_pos);
assert(distance != 0.0f);
float inv_distance = 1.0f / distance;
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
TimeMachine& machine = m_time_processor.machines[i];
if (!machine.enabled)
continue;
TimeMachine::State& curr = machine.curr;
TimeMachine::State& prev = machine.prev;
std::vector<TimeBlock>& blocks = machine.blocks;
curr.feedrate = (delta_pos[E] == 0.0f) ?
minimum_travel_feedrate(static_cast<ETimeMode>(i), m_feedrate) :
minimum_feedrate(static_cast<ETimeMode>(i), m_feedrate);
TimeBlock block;
block.move_type = type;
block.role = m_extrusion_role;
block.distance = distance;
// calculates block cruise feedrate
float min_feedrate_factor = 1.0f;
for (unsigned char a = X; a <= E; ++a) {
curr.axis_feedrate[a] = curr.feedrate * delta_pos[a] * inv_distance;
if (a == E)
curr.axis_feedrate[a] *= machine.extrude_factor_override_percentage;
curr.abs_axis_feedrate[a] = std::abs(curr.axis_feedrate[a]);
if (curr.abs_axis_feedrate[a] != 0.0f) {
float axis_max_feedrate = get_axis_max_feedrate(static_cast<ETimeMode>(i), static_cast<Axis>(a));
if (axis_max_feedrate != 0.0f)
min_feedrate_factor = std::min(min_feedrate_factor, axis_max_feedrate / curr.abs_axis_feedrate[a]);
}
}
block.feedrate_profile.cruise = min_feedrate_factor * curr.feedrate;
if (min_feedrate_factor < 1.0f) {
for (unsigned char a = X; a <= E; ++a) {
curr.axis_feedrate[a] *= min_feedrate_factor;
curr.abs_axis_feedrate[a] *= min_feedrate_factor;
}
}
// calculates block acceleration
float acceleration = is_extrusion_only_move(delta_pos) ?
get_retract_acceleration(static_cast<ETimeMode>(i)) :
get_acceleration(static_cast<ETimeMode>(i));
for (unsigned char a = X; a <= E; ++a) {
float axis_max_acceleration = get_axis_max_acceleration(static_cast<ETimeMode>(i), static_cast<Axis>(a));
if (acceleration * std::abs(delta_pos[a]) * inv_distance > axis_max_acceleration)
acceleration = axis_max_acceleration;
}
block.acceleration = acceleration;
// calculates block exit feedrate
curr.safe_feedrate = block.feedrate_profile.cruise;
for (unsigned char a = X; a <= E; ++a) {
float axis_max_jerk = get_axis_max_jerk(static_cast<ETimeMode>(i), static_cast<Axis>(a));
if (curr.abs_axis_feedrate[a] > axis_max_jerk)
curr.safe_feedrate = std::min(curr.safe_feedrate, axis_max_jerk);
}
block.feedrate_profile.exit = curr.safe_feedrate;
static const float PREVIOUS_FEEDRATE_THRESHOLD = 0.0001f;
// calculates block entry feedrate
float vmax_junction = curr.safe_feedrate;
if (!blocks.empty() && prev.feedrate > PREVIOUS_FEEDRATE_THRESHOLD) {
bool prev_speed_larger = prev.feedrate > block.feedrate_profile.cruise;
float smaller_speed_factor = prev_speed_larger ? (block.feedrate_profile.cruise / prev.feedrate) : (prev.feedrate / block.feedrate_profile.cruise);
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = prev_speed_larger ? block.feedrate_profile.cruise : prev.feedrate;
float v_factor = 1.0f;
bool limited = false;
for (unsigned char a = X; a <= E; ++a) {
// Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
float v_exit = prev.axis_feedrate[a];
float v_entry = curr.axis_feedrate[a];
if (prev_speed_larger)
v_exit *= smaller_speed_factor;
if (limited) {
v_exit *= v_factor;
v_entry *= v_factor;
}
// Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
float jerk =
(v_exit > v_entry) ?
(((v_entry > 0.0f) || (v_exit < 0.0f)) ?
// coasting
(v_exit - v_entry) :
// axis reversal
std::max(v_exit, -v_entry)) :
// v_exit <= v_entry
(((v_entry < 0.0f) || (v_exit > 0.0f)) ?
// coasting
(v_entry - v_exit) :
// axis reversal
std::max(-v_exit, v_entry));
float axis_max_jerk = get_axis_max_jerk(static_cast<ETimeMode>(i), static_cast<Axis>(a));
if (jerk > axis_max_jerk) {
v_factor *= axis_max_jerk / jerk;
limited = true;
}
}
if (limited)
vmax_junction *= v_factor;
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
float vmax_junction_threshold = vmax_junction * 0.99f;
// Not coasting. The machine will stop and start the movements anyway, better to start the segment from start.
if ((prev.safe_feedrate > vmax_junction_threshold) && (curr.safe_feedrate > vmax_junction_threshold))
vmax_junction = curr.safe_feedrate;
}
float v_allowable = max_allowable_speed(-acceleration, curr.safe_feedrate, block.distance);
block.feedrate_profile.entry = std::min(vmax_junction, v_allowable);
block.max_entry_speed = vmax_junction;
block.flags.nominal_length = (block.feedrate_profile.cruise <= v_allowable);
block.flags.recalculate = true;
block.safe_feedrate = curr.safe_feedrate;
// calculates block trapezoid
block.calculate_trapezoid();
// updates previous
prev = curr;
blocks.push_back(block);
if (blocks.size() > TimeProcessor::Planner::refresh_threshold)
machine.calculate_time(TimeProcessor::Planner::queue_size);
}
// store move
store_move_vertex(type);
}
void GCodeProcessor::process_G10(const GCodeReader::GCodeLine& line)
{
// stores retract move
store_move_vertex(EMoveType::Retract);
}
void GCodeProcessor::process_G11(const GCodeReader::GCodeLine& line)
{
// stores unretract move
store_move_vertex(EMoveType::Unretract);
}
void GCodeProcessor::process_G20(const GCodeReader::GCodeLine& line)
{
m_units = EUnits::Inches;
}
void GCodeProcessor::process_G21(const GCodeReader::GCodeLine& line)
{
m_units = EUnits::Millimeters;
}
void GCodeProcessor::process_G22(const GCodeReader::GCodeLine& line)
{
// stores retract move
store_move_vertex(EMoveType::Retract);
}
void GCodeProcessor::process_G23(const GCodeReader::GCodeLine& line)
{
// stores unretract move
store_move_vertex(EMoveType::Unretract);
}
void GCodeProcessor::process_G90(const GCodeReader::GCodeLine& line)
{
m_global_positioning_type = EPositioningType::Absolute;
}
void GCodeProcessor::process_G91(const GCodeReader::GCodeLine& line)
{
m_global_positioning_type = EPositioningType::Relative;
}
void GCodeProcessor::process_G92(const GCodeReader::GCodeLine& line)
{
float lengths_scale_factor = (m_units == EUnits::Inches) ? INCHES_TO_MM : 1.0f;
bool any_found = false;
if (line.has_x()) {
m_origin[X] = m_end_position[X] - line.x() * lengths_scale_factor;
any_found = true;
}
if (line.has_y()) {
m_origin[Y] = m_end_position[Y] - line.y() * lengths_scale_factor;
any_found = true;
}
if (line.has_z()) {
m_origin[Z] = m_end_position[Z] - line.z() * lengths_scale_factor;
any_found = true;
}
if (line.has_e()) {
// extruder coordinate can grow to the point where its float representation does not allow for proper addition with small increments,
// we set the value taken from the G92 line as the new current position for it
m_end_position[E] = line.e() * lengths_scale_factor;
any_found = true;
}
else
simulate_st_synchronize();
if (!any_found && !line.has_unknown_axis()) {
// The G92 may be called for axes that PrusaSlicer does not recognize, for example see GH issue #3510,
// where G92 A0 B0 is called although the extruder axis is till E.
for (unsigned char a = X; a <= E; ++a) {
m_origin[a] = m_end_position[a];
}
}
}
void GCodeProcessor::process_M1(const GCodeReader::GCodeLine& line)
{
simulate_st_synchronize();
}
void GCodeProcessor::process_M82(const GCodeReader::GCodeLine& line)
{
m_e_local_positioning_type = EPositioningType::Absolute;
}
void GCodeProcessor::process_M83(const GCodeReader::GCodeLine& line)
{
m_e_local_positioning_type = EPositioningType::Relative;
}
void GCodeProcessor::process_M106(const GCodeReader::GCodeLine& line)
{
if (!line.has('P')) {
// The absence of P means the print cooling fan, so ignore anything else.
float new_fan_speed;
if (line.has_value('S', new_fan_speed))
m_fan_speed = (100.0f / 255.0f) * new_fan_speed;
else
m_fan_speed = 100.0f;
}
}
void GCodeProcessor::process_M107(const GCodeReader::GCodeLine& line)
{
m_fan_speed = 0.0f;
}
void GCodeProcessor::process_M108(const GCodeReader::GCodeLine& line)
{
// These M-codes are used by Sailfish to change active tool.
// They have to be processed otherwise toolchanges will be unrecognised
// by the analyzer - see https://github.com/prusa3d/PrusaSlicer/issues/2566
if (m_flavor != gcfSailfish)
return;
std::string cmd = line.raw();
size_t pos = cmd.find("T");
if (pos != std::string::npos)
process_T(cmd.substr(pos));
}
void GCodeProcessor::process_M132(const GCodeReader::GCodeLine& line)
{
// This command is used by Makerbot to load the current home position from EEPROM
// see: https://github.com/makerbot/s3g/blob/master/doc/GCodeProtocol.md
// Using this command to reset the axis origin to zero helps in fixing: https://github.com/prusa3d/PrusaSlicer/issues/3082
if (line.has_x())
m_origin[X] = 0.0f;
if (line.has_y())
m_origin[Y] = 0.0f;
if (line.has_z())
m_origin[Z] = 0.0f;
if (line.has_e())
m_origin[E] = 0.0f;
}
void GCodeProcessor::process_M135(const GCodeReader::GCodeLine& line)
{
// These M-codes are used by MakerWare to change active tool.
// They have to be processed otherwise toolchanges will be unrecognised
// by the analyzer - see https://github.com/prusa3d/PrusaSlicer/issues/2566
if (m_flavor != gcfMakerWare)
return;
std::string cmd = line.raw();
size_t pos = cmd.find("T");
if (pos != std::string::npos)
process_T(cmd.substr(pos));
}
void GCodeProcessor::process_M201(const GCodeReader::GCodeLine& line)
{
// see http://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration
float factor = (m_flavor != gcfRepRap && m_units == EUnits::Inches) ? INCHES_TO_MM : 1.0f;
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
if (line.has_x())
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_x, i, line.x() * factor);
if (line.has_y() && i < m_time_processor.machine_limits.machine_max_acceleration_y.values.size())
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_y, i, line.y() * factor);
if (line.has_z() && i < m_time_processor.machine_limits.machine_max_acceleration_z.values.size())
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_z, i, line.z() * factor);
if (line.has_e() && i < m_time_processor.machine_limits.machine_max_acceleration_e.values.size())
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_e, i, line.e() * factor);
}
}
void GCodeProcessor::process_M203(const GCodeReader::GCodeLine& line)
{
// see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
if (m_flavor == gcfRepetier)
return;
// see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
// http://smoothieware.org/supported-g-codes
float factor = (m_flavor == gcfMarlin || m_flavor == gcfSmoothie) ? 1.0f : MMMIN_TO_MMSEC;
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
if (line.has_x())
set_option_value(m_time_processor.machine_limits.machine_max_feedrate_x, i, line.x() * factor);
if (line.has_y())
set_option_value(m_time_processor.machine_limits.machine_max_feedrate_y, i, line.y() * factor);
if (line.has_z())
set_option_value(m_time_processor.machine_limits.machine_max_feedrate_z, i, line.z() * factor);
if (line.has_e())
set_option_value(m_time_processor.machine_limits.machine_max_feedrate_e, i, line.e() * factor);
}
}
void GCodeProcessor::process_M204(const GCodeReader::GCodeLine& line)
{
float value;
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
if (line.has_value('S', value)) {
// Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
// and it is also generated by Slic3r to control acceleration per extrusion type
// (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
set_acceleration(static_cast<ETimeMode>(i), value);
if (line.has_value('T', value))
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
}
else {
// New acceleration format, compatible with the upstream Marlin.
if (line.has_value('P', value))
set_acceleration(static_cast<ETimeMode>(i), value);
if (line.has_value('R', value))
set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
if (line.has_value('T', value)) {
// Interpret the T value as the travel acceleration in the new Marlin format.
//FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
// set_travel_acceleration(value);
}
}
}
}
void GCodeProcessor::process_M205(const GCodeReader::GCodeLine& line)
{
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
if (line.has_x()) {
float max_jerk = line.x();
set_option_value(m_time_processor.machine_limits.machine_max_jerk_x, i, max_jerk);
set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, max_jerk);
}
if (line.has_y())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, line.y());
if (line.has_z())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_z, i, line.z());
if (line.has_e())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_e, i, line.e());
float value;
if (line.has_value('S', value))
set_option_value(m_time_processor.machine_limits.machine_min_extruding_rate, i, value);
if (line.has_value('T', value))
set_option_value(m_time_processor.machine_limits.machine_min_travel_rate, i, value);
}
}
void GCodeProcessor::process_M221(const GCodeReader::GCodeLine& line)
{
float value_s;
float value_t;
if (line.has_value('S', value_s) && !line.has_value('T', value_t)) {
value_s *= 0.01f;
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
m_time_processor.machines[i].extrude_factor_override_percentage = value_s;
}
}
}
void GCodeProcessor::process_M401(const GCodeReader::GCodeLine& line)
{
if (m_flavor != gcfRepetier)
return;
for (unsigned char a = 0; a <= 3; ++a) {
m_cached_position.position[a] = m_start_position[a];
}
m_cached_position.feedrate = m_feedrate;
}
void GCodeProcessor::process_M402(const GCodeReader::GCodeLine& line)
{
if (m_flavor != gcfRepetier)
return;
// see for reference:
// https://github.com/repetier/Repetier-Firmware/blob/master/src/ArduinoAVR/Repetier/Printer.cpp
// void Printer::GoToMemoryPosition(bool x, bool y, bool z, bool e, float feed)
bool has_xyz = !(line.has_x() || line.has_y() || line.has_z());
float p = FLT_MAX;
for (unsigned char a = X; a <= Z; ++a) {
if (has_xyz || line.has(a)) {
p = m_cached_position.position[a];
if (p != FLT_MAX)
m_start_position[a] = p;
}
}
p = m_cached_position.position[E];
if (p != FLT_MAX)
m_start_position[E] = p;
p = FLT_MAX;
if (!line.has_value(4, p))
p = m_cached_position.feedrate;
if (p != FLT_MAX)
m_feedrate = p;
}
void GCodeProcessor::process_M566(const GCodeReader::GCodeLine& line)
{
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
if (line.has_x())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_x, i, line.x() * MMMIN_TO_MMSEC);
if (line.has_y())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, line.y() * MMMIN_TO_MMSEC);
if (line.has_z())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_z, i, line.z() * MMMIN_TO_MMSEC);
if (line.has_e())
set_option_value(m_time_processor.machine_limits.machine_max_jerk_e, i, line.e() * MMMIN_TO_MMSEC);
}
}
void GCodeProcessor::process_M702(const GCodeReader::GCodeLine& line)
{
if (line.has('C')) {
// MK3 MMU2 specific M code:
// M702 C is expected to be sent by the custom end G-code when finalizing a print.
// The MK3 unit shall unload and park the active filament into the MMU2 unit.
m_time_processor.extruder_unloaded = true;
simulate_st_synchronize(get_filament_unload_time(m_extruder_id));
}
}
void GCodeProcessor::process_T(const GCodeReader::GCodeLine& line)
{
process_T(line.cmd());
}
void GCodeProcessor::process_T(const std::string& command)
{
if (command.length() > 1) {
try
{
unsigned char id = static_cast<unsigned char>(std::stoi(command.substr(1)));
if (m_extruder_id != id) {
unsigned char extruders_count = static_cast<unsigned char>(m_extruder_offsets.size());
if (id >= extruders_count)
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid toolchange, maybe from a custom gcode.";
else {
unsigned char old_extruder_id = m_extruder_id;
m_extruder_id = id;
m_cp_color.current = m_extruders_color[id];
// Specific to the MK3 MMU2:
// The initial value of extruder_unloaded is set to true indicating
// that the filament is parked in the MMU2 unit and there is nothing to be unloaded yet.
float extra_time = get_filament_unload_time(static_cast<size_t>(old_extruder_id));
m_time_processor.extruder_unloaded = false;
extra_time += get_filament_load_time(static_cast<size_t>(m_extruder_id));
simulate_st_synchronize(extra_time);
}
// store tool change move
store_move_vertex(EMoveType::Tool_change);
}
}
catch (...)
{
BOOST_LOG_TRIVIAL(error) << "GCodeProcessor encountered an invalid toolchange (" << command << ").";
}
}
}
void GCodeProcessor::store_move_vertex(EMoveType type)
{
MoveVertex vertex;
vertex.type = type;
vertex.extrusion_role = m_extrusion_role;
vertex.position = Vec3f(m_end_position[X], m_end_position[Y], m_end_position[Z]) + m_extruder_offsets[m_extruder_id];
vertex.delta_extruder = m_end_position[E] - m_start_position[E];
vertex.feedrate = m_feedrate;
vertex.width = m_width;
vertex.height = m_height;
vertex.mm3_per_mm = m_mm3_per_mm;
vertex.fan_speed = m_fan_speed;
vertex.extruder_id = m_extruder_id;
vertex.cp_color_id = m_cp_color.current;
vertex.time = static_cast<float>(m_result.moves.size());
m_result.moves.emplace_back(vertex);
}
float GCodeProcessor::minimum_feedrate(ETimeMode mode, float feedrate) const
{
if (m_time_processor.machine_limits.machine_min_extruding_rate.empty())
return feedrate;
return std::max(feedrate, get_option_value(m_time_processor.machine_limits.machine_min_extruding_rate, static_cast<size_t>(mode)));
}
float GCodeProcessor::minimum_travel_feedrate(ETimeMode mode, float feedrate) const
{
if (m_time_processor.machine_limits.machine_min_travel_rate.empty())
return feedrate;
return std::max(feedrate, get_option_value(m_time_processor.machine_limits.machine_min_travel_rate, static_cast<size_t>(mode)));
}
float GCodeProcessor::get_axis_max_feedrate(ETimeMode mode, Axis axis) const
{
switch (axis)
{
case X: { return get_option_value(m_time_processor.machine_limits.machine_max_feedrate_x, static_cast<size_t>(mode)); }
case Y: { return get_option_value(m_time_processor.machine_limits.machine_max_feedrate_y, static_cast<size_t>(mode)); }
case Z: { return get_option_value(m_time_processor.machine_limits.machine_max_feedrate_z, static_cast<size_t>(mode)); }
case E: { return get_option_value(m_time_processor.machine_limits.machine_max_feedrate_e, static_cast<size_t>(mode)); }
default: { return 0.0f; }
}
}
float GCodeProcessor::get_axis_max_acceleration(ETimeMode mode, Axis axis) const
{
switch (axis)
{
case X: { return get_option_value(m_time_processor.machine_limits.machine_max_acceleration_x, static_cast<size_t>(mode)); }
case Y: { return get_option_value(m_time_processor.machine_limits.machine_max_acceleration_y, static_cast<size_t>(mode)); }
case Z: { return get_option_value(m_time_processor.machine_limits.machine_max_acceleration_z, static_cast<size_t>(mode)); }
case E: { return get_option_value(m_time_processor.machine_limits.machine_max_acceleration_e, static_cast<size_t>(mode)); }
default: { return 0.0f; }
}
}
float GCodeProcessor::get_axis_max_jerk(ETimeMode mode, Axis axis) const
{
switch (axis)
{
case X: { return get_option_value(m_time_processor.machine_limits.machine_max_jerk_x, static_cast<size_t>(mode)); }
case Y: { return get_option_value(m_time_processor.machine_limits.machine_max_jerk_y, static_cast<size_t>(mode)); }
case Z: { return get_option_value(m_time_processor.machine_limits.machine_max_jerk_z, static_cast<size_t>(mode)); }
case E: { return get_option_value(m_time_processor.machine_limits.machine_max_jerk_e, static_cast<size_t>(mode)); }
default: { return 0.0f; }
}
}
float GCodeProcessor::get_retract_acceleration(ETimeMode mode) const
{
return get_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, static_cast<size_t>(mode));
}
float GCodeProcessor::get_acceleration(ETimeMode mode) const
{
size_t id = static_cast<size_t>(mode);
return (id < m_time_processor.machines.size()) ? m_time_processor.machines[id].acceleration : DEFAULT_ACCELERATION;
}
void GCodeProcessor::set_acceleration(ETimeMode mode, float value)
{
size_t id = static_cast<size_t>(mode);
if (id < m_time_processor.machines.size()) {
float max_acceleration = get_option_value(m_time_processor.machine_limits.machine_max_acceleration_extruding, id);
m_time_processor.machines[id].acceleration = (max_acceleration == 0.0f) ? value : std::min(value, max_acceleration);
}
}
float GCodeProcessor::get_filament_load_time(size_t extruder_id)
{
return (m_time_processor.filament_load_times.empty() || m_time_processor.extruder_unloaded) ?
0.0f :
((extruder_id < m_time_processor.filament_load_times.size()) ?
m_time_processor.filament_load_times[extruder_id] : m_time_processor.filament_load_times.front());
}
float GCodeProcessor::get_filament_unload_time(size_t extruder_id)
{
return (m_time_processor.filament_unload_times.empty() || m_time_processor.extruder_unloaded) ?
0.0f :
((extruder_id < m_time_processor.filament_unload_times.size()) ?
m_time_processor.filament_unload_times[extruder_id] : m_time_processor.filament_unload_times.front());
}
void GCodeProcessor::process_custom_gcode_time(CustomGCode::Type code)
{
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
TimeMachine& machine = m_time_processor.machines[i];
if (!machine.enabled)
continue;
TimeMachine::CustomGCodeTime& gcode_time = machine.gcode_time;
gcode_time.needed = true;
//FIXME this simulates st_synchronize! is it correct?
// The estimated time may be longer than the real print time.
machine.simulate_st_synchronize();
if (gcode_time.cache != 0.0f) {
gcode_time.times.push_back({ code, gcode_time.cache });
gcode_time.cache = 0.0f;
}
}
}
void GCodeProcessor::simulate_st_synchronize(float additional_time)
{
for (size_t i = 0; i < static_cast<size_t>(ETimeMode::Count); ++i) {
m_time_processor.machines[i].simulate_st_synchronize(additional_time);
}
}
} /* namespace Slic3r */
#endif // ENABLE_GCODE_VIEWER
Reference in a new issue View git blame Copy permalink