PrusaSlicer-NonPlainar/xs/src/libslic3r/GCodeWriter.cpp

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#include "GCodeWriter.hpp"
#include <algorithm>
#include <iomanip>
#include <iostream>
#include <map>
#define FLAVOR_IS(val) this->config.gcode_flavor == val
#define FLAVOR_IS_NOT(val) this->config.gcode_flavor != val
#define COMMENT(comment) if (this->config.gcode_comments && !comment.empty()) gcode << " ; " << comment;
#define PRECISION(val, precision) std::fixed << std::setprecision(precision) << val
#define XYZF_NUM(val) PRECISION(val, 3)
#define E_NUM(val) PRECISION(val, 5)
namespace Slic3r {
Extruder*
GCodeWriter::extruder()
{
return this->_extruder;
}
std::string
GCodeWriter::extrusion_axis() const
{
return this->_extrusion_axis;
}
void
GCodeWriter::apply_print_config(const PrintConfig &print_config)
{
this->config.apply(print_config, true);
this->_extrusion_axis = this->config.get_extrusion_axis();
}
void
GCodeWriter::set_extruders(const std::vector<unsigned int> &extruder_ids)
{
for (std::vector<unsigned int>::const_iterator i = extruder_ids.begin(); i != extruder_ids.end(); ++i) {
this->extruders.insert( std::pair<unsigned int,Extruder>(*i, Extruder(*i, &this->config)) );
}
/* we enable support for multiple extruder if any extruder greater than 0 is used
(even if prints only uses that one) since we need to output Tx commands
first extruder has index 0 */
this->multiple_extruders = (*std::max_element(extruder_ids.begin(), extruder_ids.end())) > 0;
}
std::string
GCodeWriter::preamble()
{
std::ostringstream gcode;
if (FLAVOR_IS_NOT(gcfMakerWare)) {
gcode << "G21 ; set units to millimeters\n";
gcode << "G90 ; use absolute coordinates\n";
}
if (FLAVOR_IS(gcfRepRap) || FLAVOR_IS(gcfTeacup)) {
if (this->config.use_relative_e_distances) {
gcode << "M83 ; use relative distances for extrusion\n";
} else {
gcode << "M82 ; use absolute distances for extrusion\n";
}
gcode << this->reset_e(true);
}
return gcode.str();
}
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std::string
GCodeWriter::postamble()
{
std::ostringstream gcode;
if (FLAVOR_IS(gcfMachinekit))
gcode << "M2 ; end of program\n";
return gcode.str();
}
std::string
GCodeWriter::set_temperature(unsigned int temperature, bool wait, int tool)
{
if (wait && (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)))
return "";
std::string code, comment;
if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
code = "M109";
comment = "set temperature and wait for it to be reached";
} else {
code = "M104";
comment = "set temperature";
}
std::ostringstream gcode;
gcode << code << " ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << temperature;
if (tool != -1 && (this->multiple_extruders || FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish))) {
gcode << " T" << tool;
}
gcode << " ; " << comment << "\n";
if (FLAVOR_IS(gcfTeacup) && wait)
gcode << "M116 ; wait for temperature to be reached\n";
return gcode.str();
}
std::string
GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait)
{
std::string code, comment;
if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
code = "M109";
} else {
code = "M190";
}
comment = "set bed temperature and wait for it to be reached";
} else {
code = "M140";
comment = "set bed temperature";
}
std::ostringstream gcode;
gcode << code << " ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << temperature << " ; " << comment << "\n";
if (FLAVOR_IS(gcfTeacup) && wait)
gcode << "M116 ; wait for bed temperature to be reached\n";
return gcode.str();
}
std::string
GCodeWriter::set_fan(unsigned int speed, bool dont_save)
{
std::ostringstream gcode;
if (this->_last_fan_speed != speed || dont_save) {
if (!dont_save) this->_last_fan_speed = speed;
if (speed == 0) {
if (FLAVOR_IS(gcfTeacup)) {
gcode << "M106 S0";
} else if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
gcode << "M127";
} else {
gcode << "M107";
}
if (this->config.gcode_comments) gcode << " ; disable fan";
gcode << "\n";
} else {
if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
gcode << "M126";
} else {
gcode << "M106 ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << (255.0 * speed / 100.0);
}
if (this->config.gcode_comments) gcode << " ; enable fan";
gcode << "\n";
}
}
return gcode.str();
}
std::string
GCodeWriter::set_acceleration(unsigned int acceleration)
{
if (acceleration == 0 || acceleration == this->_last_acceleration)
return "";
this->_last_acceleration = acceleration;
std::ostringstream gcode;
gcode << "M204 S" << acceleration;
if (this->config.gcode_comments) gcode << " ; adjust acceleration";
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::reset_e(bool force)
{
if (FLAVOR_IS(gcfMach3)
|| FLAVOR_IS(gcfMakerWare)
|| FLAVOR_IS(gcfSailfish))
return "";
if (this->_extruder != NULL) {
if (this->_extruder->E == 0 && !force) return "";
this->_extruder->E = 0;
}
if (!this->_extrusion_axis.empty() && !this->config.use_relative_e_distances) {
std::ostringstream gcode;
gcode << "G92 " << this->_extrusion_axis << "0";
if (this->config.gcode_comments) gcode << " ; reset extrusion distance";
gcode << "\n";
return gcode.str();
} else {
return "";
}
}
std::string
GCodeWriter::update_progress(unsigned int num, unsigned int tot, bool allow_100)
{
if (FLAVOR_IS_NOT(gcfMakerWare) && FLAVOR_IS_NOT(gcfSailfish))
return "";
unsigned int percent = 100.0 * num / tot;
if (!allow_100) percent = std::min(percent, (unsigned int)99);
std::ostringstream gcode;
gcode << "M73 P" << percent;
if (this->config.gcode_comments) gcode << " ; update progress";
gcode << "\n";
return gcode.str();
}
bool
GCodeWriter::need_toolchange(unsigned int extruder_id) const
{
// return false if this extruder was already selected
return (this->_extruder == NULL) || (this->_extruder->id != extruder_id);
}
std::string
GCodeWriter::set_extruder(unsigned int extruder_id)
{
if (!this->need_toolchange(extruder_id)) return "";
return this->toolchange(extruder_id);
}
std::string
GCodeWriter::toolchange(unsigned int extruder_id)
{
// set the new extruder
this->_extruder = &this->extruders.find(extruder_id)->second;
// return the toolchange command
// if we are running a single-extruder setup, just set the extruder and return nothing
std::ostringstream gcode;
if (this->multiple_extruders) {
if (FLAVOR_IS(gcfMakerWare)) {
gcode << "M135 T";
} else if (FLAVOR_IS(gcfSailfish)) {
gcode << "M108 T";
} else {
gcode << "T";
}
gcode << extruder_id;
if (this->config.gcode_comments) gcode << " ; change extruder";
gcode << "\n";
gcode << this->reset_e(true);
}
return gcode.str();
}
std::string
GCodeWriter::set_speed(double F, const std::string &comment)
{
std::ostringstream gcode;
gcode << "G1 F" << F;
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::travel_to_xy(const Pointf &point, const std::string &comment)
{
this->_pos.x = point.x;
this->_pos.y = point.y;
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point.x)
<< " Y" << XYZF_NUM(point.y)
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::travel_to_xyz(const Pointf3 &point, const std::string &comment)
{
/* If target Z is lower than current Z but higher than nominal Z we
don't perform the Z move but we only move in the XY plane and
adjust the nominal Z by reducing the lift amount that will be
used for unlift. */
if (!this->will_move_z(point.z)) {
double nominal_z = this->_pos.z - this->_lifted;
this->_lifted = this->_lifted - (point.z - nominal_z);
return this->travel_to_xy(point);
}
/* In all the other cases, we perform an actual XYZ move and cancel
the lift. */
this->_lifted = 0;
this->_pos = point;
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point.x)
<< " Y" << XYZF_NUM(point.y)
<< " Z" << XYZF_NUM(point.z)
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::travel_to_z(double z, const std::string &comment)
{
/* If target Z is lower than current Z but higher than nominal Z
we don't perform the move but we only adjust the nominal Z by
reducing the lift amount that will be used for unlift. */
if (!this->will_move_z(z)) {
double nominal_z = this->_pos.z - this->_lifted;
this->_lifted = this->_lifted - (z - nominal_z);
return "";
}
/* In all the other cases, we perform an actual Z move and cancel
the lift. */
this->_lifted = 0;
return this->_travel_to_z(z, comment);
}
std::string
GCodeWriter::_travel_to_z(double z, const std::string &comment)
{
this->_pos.z = z;
std::ostringstream gcode;
gcode << "G1 Z" << XYZF_NUM(z)
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
bool
GCodeWriter::will_move_z(double z) const
{
/* If target Z is lower than current Z but higher than nominal Z
we don't perform an actual Z move. */
if (this->_lifted > 0) {
double nominal_z = this->_pos.z - this->_lifted;
if (z >= nominal_z && z <= this->_pos.z)
return false;
}
return true;
}
std::string
GCodeWriter::extrude_to_xy(const Pointf &point, double dE, const std::string &comment)
{
this->_pos.x = point.x;
this->_pos.y = point.y;
this->_extruder->extrude(dE);
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point.x)
<< " Y" << XYZF_NUM(point.y)
<< " " << this->_extrusion_axis << E_NUM(this->_extruder->E);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::extrude_to_xyz(const Pointf3 &point, double dE, const std::string &comment)
{
this->_pos = point;
this->_lifted = 0;
this->_extruder->extrude(dE);
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point.x)
<< " Y" << XYZF_NUM(point.y)
<< " Z" << XYZF_NUM(point.z)
<< " " << this->_extrusion_axis << E_NUM(this->_extruder->E);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string
GCodeWriter::retract()
{
return this->_retract(
this->_extruder->retract_length(),
this->_extruder->retract_restart_extra(),
"retract"
);
}
std::string
GCodeWriter::retract_for_toolchange()
{
return this->_retract(
this->_extruder->retract_length_toolchange(),
this->_extruder->retract_restart_extra_toolchange(),
"retract for toolchange"
);
}
std::string
GCodeWriter::_retract(double length, double restart_extra, const std::string &comment)
{
std::ostringstream gcode;
/* If firmware retraction is enabled, we use a fake value of 1
since we ignore the actual configured retract_length which
might be 0, in which case the retraction logic gets skipped. */
if (this->config.use_firmware_retraction) length = 1;
// If we use volumetric E values we turn lengths into volumes */
if (this->config.use_volumetric_e) {
double d = this->_extruder->filament_diameter();
double area = d * d * PI/4;
length = length * area;
restart_extra = restart_extra * area;
}
double dE = this->_extruder->retract(length, restart_extra);
if (dE != 0) {
if (this->config.use_firmware_retraction) {
if (FLAVOR_IS(gcfMachinekit))
gcode << "G22 ; retract\n";
else
gcode << "G10 ; retract\n";
} else {
gcode << "G1 " << this->_extrusion_axis << E_NUM(this->_extruder->E)
<< " F" << this->_extruder->retract_speed_mm_min;
COMMENT(comment);
gcode << "\n";
}
}
if (FLAVOR_IS(gcfMakerWare))
gcode << "M103 ; extruder off\n";
return gcode.str();
}
std::string
GCodeWriter::unretract()
{
std::ostringstream gcode;
if (FLAVOR_IS(gcfMakerWare))
gcode << "M101 ; extruder on\n";
double dE = this->_extruder->unretract();
if (dE != 0) {
if (this->config.use_firmware_retraction) {
if (FLAVOR_IS(gcfMachinekit))
gcode << "G23 ; unretract\n";
else
gcode << "G11 ; unretract\n";
gcode << this->reset_e();
} else {
// use G1 instead of G0 because G0 will blend the restart with the previous travel move
gcode << "G1 " << this->_extrusion_axis << E_NUM(this->_extruder->E)
<< " F" << this->_extruder->retract_speed_mm_min;
if (this->config.gcode_comments) gcode << " ; unretract";
gcode << "\n";
}
}
return gcode.str();
}
/* If this method is called more than once before calling unlift(),
it will not perform subsequent lifts, even if Z was raised manually
(i.e. with travel_to_z()) and thus _lifted was reduced. */
std::string
GCodeWriter::lift()
{
double target_lift = this->config.retract_lift.get_at(0);
if (this->_lifted == 0 && target_lift > 0) {
this->_lifted = target_lift;
return this->_travel_to_z(this->_pos.z + target_lift, "lift Z");
}
return "";
}
std::string
GCodeWriter::unlift()
{
std::string gcode;
if (this->_lifted > 0) {
gcode += this->_travel_to_z(this->_pos.z - this->_lifted, "restore layer Z");
this->_lifted = 0;
}
return gcode;
}
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Pointf3
GCodeWriter::get_position() const
{
return this->_pos;
}
#ifdef SLIC3RXS
REGISTER_CLASS(GCodeWriter, "GCode::Writer");
#endif
}