79 lines
3.0 KiB
C++
79 lines
3.0 KiB
C++
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#include "GCodeTimeEstimator.hpp"
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#include <boost/bind.hpp>
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#include <cmath>
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namespace Slic3r {
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void
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GCodeTimeEstimator::parse(const std::string &gcode)
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{
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GCodeReader::parse(gcode, boost::bind(&GCodeTimeEstimator::_parser, this, _1, _2));
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}
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void
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GCodeTimeEstimator::parse_file(const std::string &file)
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{
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GCodeReader::parse_file(file, boost::bind(&GCodeTimeEstimator::_parser, this, _1, _2));
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}
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void
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GCodeTimeEstimator::_parser(GCodeReader&, const GCodeReader::GCodeLine &line)
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{
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// std::cout << "[" << this->time << "] " << line.raw << std::endl;
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if (line.cmd == "G1") {
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const float dist_XY = line.dist_XY();
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const float new_F = line.new_F();
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if (dist_XY > 0) {
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//this->time += dist_XY / new_F * 60;
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this->time += _accelerated_move(dist_XY, new_F/60, this->acceleration);
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} else {
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//this->time += std::abs(line.dist_E()) / new_F * 60;
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this->time += _accelerated_move(std::abs(line.dist_E()), new_F/60, this->acceleration);
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}
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//this->time += std::abs(line.dist_Z()) / new_F * 60;
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this->time += _accelerated_move(std::abs(line.dist_Z()), new_F/60, this->acceleration);
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} else if (line.cmd == "M204" && line.has('S')) {
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this->acceleration = line.get_float('S');
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} else if (line.cmd == "G4") { // swell
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if (line.has('S')) {
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this->time += line.get_float('S');
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} else if (line.has('P')) {
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this->time += line.get_float('P')/1000;
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}
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}
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}
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// Wildly optimistic acceleration "bell" curve modeling.
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// Returns an estimate of how long the move with a given accel
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// takes in seconds.
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// It is assumed that the movement is smooth and uniform.
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float
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GCodeTimeEstimator::_accelerated_move(double length, double v, double acceleration)
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{
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// for half of the move, there are 2 zones, where the speed is increasing/decreasing and
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// where the speed is constant.
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// Since the slowdown is assumed to be uniform, calculate the average velocity for half of the
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// expected displacement.
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// final velocity v = a*t => a * (dx / 0.5v) => v^2 = 2*a*dx
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// v_avg = 0.5v => 2*v_avg = v
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// d_x = v_avg*t => t = d_x / v_avg
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acceleration = (acceleration == 0.0 ? 4000.0 : acceleration); // Set a default accel to use for print time in case it's 0 somehow.
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auto half_length = length / 2.0;
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auto t_init = v / acceleration; // time to final velocity
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auto dx_init = (0.5*v*t_init); // Initial displacement for the time to get to final velocity
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auto t = 0.0;
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if (half_length >= dx_init) {
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half_length -= (0.5*v*t_init);
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t += t_init;
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t += (half_length / v); // rest of time is at constant speed.
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} else {
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// If too much displacement for the expected final velocity, we don't hit the max, so reduce
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// the average velocity to fit the displacement we actually are looking for.
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t += std::sqrt(std::abs(length) * 2.0 * acceleration) / acceleration;
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}
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return 2.0*t; // cut in half before, so double to get full time spent.
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}
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}
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