From 05e6dbbe4be46295533a36672718c5eef57847d6 Mon Sep 17 00:00:00 2001 From: Lukas Matena Date: Mon, 17 Jun 2019 10:16:07 +0200 Subject: [PATCH] Wipe tower - refactoring (removed the abstract WipeTower class) - abstract class WipeTower and its descendant WipeTowerPrusaMM were merged into a single (non-abstract) WipeTower class - all uses of WipeTower::xy struct were replaced by Eigen Vec2f (it is no longer necessary to be independent on libraries that PrusaSlicer uses) - the WipeTowerPrusaMM.hpp/.cpp will be renamed in the next commit (hopefully it will retain its git history that way) --- src/libslic3r/GCode.cpp | 48 ++-- src/libslic3r/GCode.hpp | 4 +- src/libslic3r/GCode/PrintExtents.cpp | 8 +- src/libslic3r/GCode/WipeTower.hpp | 174 ------------- src/libslic3r/GCode/WipeTowerPrusaMM.cpp | 304 ++++++++++++----------- src/libslic3r/GCode/WipeTowerPrusaMM.hpp | 143 +++++++---- src/libslic3r/Print.cpp | 4 +- src/slic3r/GUI/GLCanvas3D.cpp | 14 +- 8 files changed, 293 insertions(+), 406 deletions(-) delete mode 100644 src/libslic3r/GCode/WipeTower.hpp diff --git a/src/libslic3r/GCode.cpp b/src/libslic3r/GCode.cpp index a606f5666..dadf9f26e 100644 --- a/src/libslic3r/GCode.cpp +++ b/src/libslic3r/GCode.cpp @@ -4,7 +4,7 @@ #include "EdgeGrid.hpp" #include "Geometry.hpp" #include "GCode/PrintExtents.hpp" -#include "GCode/WipeTowerPrusaMM.hpp" +#include "GCode/WipeTower.hpp" #include "Utils.hpp" #include @@ -162,9 +162,9 @@ std::string Wipe::wipe(GCode &gcodegen, bool toolchange) return gcode; } -static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const WipeTower::xy &wipe_tower_pt) +static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const Vec2f &wipe_tower_pt) { - return Point(scale_(wipe_tower_pt.x - gcodegen.origin()(0)), scale_(wipe_tower_pt.y - gcodegen.origin()(1))); + return Point(scale_(wipe_tower_pt.x() - gcodegen.origin()(0)), scale_(wipe_tower_pt.y() - gcodegen.origin()(1))); } std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const @@ -174,13 +174,13 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T // Toolchangeresult.gcode assumes the wipe tower corner is at the origin // We want to rotate and shift all extrusions (gcode postprocessing) and starting and ending position float alpha = m_wipe_tower_rotation/180.f * float(M_PI); - WipeTower::xy start_pos = tcr.start_pos; - WipeTower::xy end_pos = tcr.end_pos; + Vec2f start_pos = tcr.start_pos; + Vec2f end_pos = tcr.end_pos; if (!tcr.priming) { - start_pos.rotate(alpha); - start_pos.translate(m_wipe_tower_pos); - end_pos.rotate(alpha); - end_pos.translate(m_wipe_tower_pos); + start_pos = Eigen::Rotation2Df(alpha) * start_pos; + start_pos += m_wipe_tower_pos; + end_pos = Eigen::Rotation2Df(alpha) * end_pos; + end_pos += m_wipe_tower_pos; } std::string tcr_rotated_gcode = tcr.priming ? tcr.gcode : rotate_wipe_tower_moves(tcr.gcode, tcr.start_pos, m_wipe_tower_pos, alpha); @@ -264,7 +264,7 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T // A phony move to the end position at the wipe tower. - gcodegen.writer().travel_to_xy(Vec2d(end_pos.x, end_pos.y)); + gcodegen.writer().travel_to_xy(end_pos.cast()); gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, end_pos)); // Prepare a future wipe. @@ -274,8 +274,8 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen, end_pos)); // Wipe end point: Wipe direction away from the closer tower edge to the further tower edge. gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen, - WipeTower::xy((std::abs(m_left - end_pos.x) < std::abs(m_right - end_pos.x)) ? m_right : m_left, - end_pos.y))); + Vec2f((std::abs(m_left - end_pos.x()) < std::abs(m_right - end_pos.x())) ? m_right : m_left, + end_pos.y()))); } // Let the planner know we are traveling between objects. @@ -285,14 +285,14 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T // This function postprocesses gcode_original, rotates and moves all G1 extrusions and returns resulting gcode // Starting position has to be supplied explicitely (otherwise it would fail in case first G1 command only contained one coordinate) -std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gcode_original, const WipeTower::xy& start_pos, const WipeTower::xy& translation, float angle) const +std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gcode_original, const Vec2f& start_pos, const Vec2f& translation, float angle) const { std::istringstream gcode_str(gcode_original); std::string gcode_out; std::string line; - WipeTower::xy pos = start_pos; - WipeTower::xy transformed_pos; - WipeTower::xy old_pos(-1000.1f, -1000.1f); + Vec2f pos = start_pos; + Vec2f transformed_pos; + Vec2f old_pos(-1000.1f, -1000.1f); while (gcode_str) { std::getline(gcode_str, line); // we read the gcode line by line @@ -303,25 +303,25 @@ std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gco char ch = 0; while (line_str >> ch) { if (ch == 'X') - line_str >> pos.x; + line_str >> pos.x(); else if (ch == 'Y') - line_str >> pos.y; + line_str >> pos.y(); else line_out << ch; } transformed_pos = pos; - transformed_pos.rotate(angle); - transformed_pos.translate(translation); + transformed_pos = Eigen::Rotation2Df(angle) * transformed_pos; + transformed_pos += translation; if (transformed_pos != old_pos) { line = line_out.str(); char buf[2048] = "G1"; - if (transformed_pos.x != old_pos.x) - sprintf(buf + strlen(buf), " X%.3f", transformed_pos.x); - if (transformed_pos.y != old_pos.y) - sprintf(buf + strlen(buf), " Y%.3f", transformed_pos.y); + if (transformed_pos.x() != old_pos.x()) + sprintf(buf + strlen(buf), " X%.3f", transformed_pos.x()); + if (transformed_pos.y() != old_pos.y()) + sprintf(buf + strlen(buf), " Y%.3f", transformed_pos.y()); line.replace(line.find("G1 "), 3, buf); old_pos = transformed_pos; diff --git a/src/libslic3r/GCode.hpp b/src/libslic3r/GCode.hpp index 639c83aa4..4b81b42aa 100644 --- a/src/libslic3r/GCode.hpp +++ b/src/libslic3r/GCode.hpp @@ -108,12 +108,12 @@ private: std::string append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const; // Postprocesses gcode: rotates and moves all G1 extrusions and returns result - std::string rotate_wipe_tower_moves(const std::string& gcode_original, const WipeTower::xy& start_pos, const WipeTower::xy& translation, float angle) const; + std::string rotate_wipe_tower_moves(const std::string& gcode_original, const Vec2f& start_pos, const Vec2f& translation, float angle) const; // Left / right edges of the wipe tower, for the planning of wipe moves. const float m_left; const float m_right; - const WipeTower::xy m_wipe_tower_pos; + const Vec2f m_wipe_tower_pos; const float m_wipe_tower_rotation; // Reference to cached values at the Printer class. const std::vector &m_priming; diff --git a/src/libslic3r/GCode/PrintExtents.cpp b/src/libslic3r/GCode/PrintExtents.cpp index 4ff7c1cbd..07a71a0ea 100644 --- a/src/libslic3r/GCode/PrintExtents.cpp +++ b/src/libslic3r/GCode/PrintExtents.cpp @@ -149,8 +149,8 @@ BoundingBoxf get_wipe_tower_extrusions_extents(const Print &print, const coordf_ const WipeTower::Extrusion &e = tcr.extrusions[i]; if (e.width > 0) { Vec2d delta = 0.5 * Vec2d(e.width, e.width); - Vec2d p1 = trafo * Vec2d((&e - 1)->pos.x, (&e - 1)->pos.y); - Vec2d p2 = trafo * Vec2d(e.pos.x, e.pos.y); + Vec2d p1 = trafo * (&e - 1)->pos.cast(); + Vec2d p2 = trafo * e.pos.cast(); bbox.merge(p1.cwiseMin(p2) - delta); bbox.merge(p1.cwiseMax(p2) + delta); } @@ -169,8 +169,8 @@ BoundingBoxf get_wipe_tower_priming_extrusions_extents(const Print &print) for (size_t i = 1; i < tcr.extrusions.size(); ++ i) { const WipeTower::Extrusion &e = tcr.extrusions[i]; if (e.width > 0) { - Vec2d p1((&e - 1)->pos.x, (&e - 1)->pos.y); - Vec2d p2(e.pos.x, e.pos.y); + const Vec2d& p1 = (&e - 1)->pos.cast(); + const Vec2d& p2 = e.pos.cast(); bbox.merge(p1); coordf_t radius = 0.5 * e.width; bbox.min(0) = std::min(bbox.min(0), std::min(p1(0), p2(0)) - radius); diff --git a/src/libslic3r/GCode/WipeTower.hpp b/src/libslic3r/GCode/WipeTower.hpp deleted file mode 100644 index ba841fdd7..000000000 --- a/src/libslic3r/GCode/WipeTower.hpp +++ /dev/null @@ -1,174 +0,0 @@ -#ifndef slic3r_WipeTower_hpp_ -#define slic3r_WipeTower_hpp_ - -#include -#include -#include -#include - -namespace Slic3r -{ - -// A pure virtual WipeTower definition. -class WipeTower -{ -public: - // Internal point class, to make the wipe tower independent from other slic3r modules. - // This is important for Prusa Research as we want to build the wipe tower post-processor independently from slic3r. - struct xy - { - xy(float x = 0.f, float y = 0.f) : x(x), y(y) {} - xy(const xy& pos,float xp,float yp) : x(pos.x+xp), y(pos.y+yp) {} - xy operator+(const xy &rhs) const { xy out(*this); out.x += rhs.x; out.y += rhs.y; return out; } - xy operator-(const xy &rhs) const { xy out(*this); out.x -= rhs.x; out.y -= rhs.y; return out; } - xy& operator+=(const xy &rhs) { x += rhs.x; y += rhs.y; return *this; } - xy& operator-=(const xy &rhs) { x -= rhs.x; y -= rhs.y; return *this; } - bool operator==(const xy &rhs) const { return x == rhs.x && y == rhs.y; } - bool operator!=(const xy &rhs) const { return x != rhs.x || y != rhs.y; } - - // Rotate the point around center of the wipe tower about given angle (in degrees) - xy rotate(float width, float depth, float angle) const { - xy out(0,0); - float temp_x = x - width / 2.f; - float temp_y = y - depth / 2.f; - angle *= float(M_PI/180.); - out.x += temp_x * cos(angle) - temp_y * sin(angle) + width / 2.f; - out.y += temp_x * sin(angle) + temp_y * cos(angle) + depth / 2.f; - return out; - } - - // Rotate the point around origin about given angle in degrees - void rotate(float angle) { - float temp_x = x * cos(angle) - y * sin(angle); - y = x * sin(angle) + y * cos(angle); - x = temp_x; - } - - void translate(const xy& vect) { - x += vect.x; - y += vect.y; - } - - float x; - float y; - }; - - WipeTower() {} - virtual ~WipeTower() {} - - // Return the wipe tower position. - virtual const xy& position() const = 0; - - // Return the wipe tower width. - virtual float width() const = 0; - - // The wipe tower is finished, there should be no more tool changes or wipe tower prints. - virtual bool finished() const = 0; - - // Switch to a next layer. - virtual void set_layer( - // Print height of this layer. - float print_z, - // Layer height, used to calculate extrusion the rate. - float layer_height, - // Maximum number of tool changes on this layer or the layers below. - size_t max_tool_changes, - // Is this the first layer of the print? In that case print the brim first. - bool is_first_layer, - // Is this the last layer of the wipe tower? - bool is_last_layer) = 0; - - enum Purpose { - PURPOSE_MOVE_TO_TOWER, - PURPOSE_EXTRUDE, - PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE, - }; - - // Extrusion path of the wipe tower, for 3D preview of the generated tool paths. - struct Extrusion - { - Extrusion(const xy &pos, float width, unsigned int tool) : pos(pos), width(width), tool(tool) {} - // End position of this extrusion. - xy pos; - // Width of a squished extrusion, corrected for the roundings of the squished extrusions. - // This is left zero if it is a travel move. - float width; - // Current extruder index. - unsigned int tool; - }; - - struct ToolChangeResult - { - // Print heigh of this tool change. - float print_z; - float layer_height; - // G-code section to be directly included into the output G-code. - std::string gcode; - // For path preview. - std::vector extrusions; - // Initial position, at which the wipe tower starts its action. - // At this position the extruder is loaded and there is no Z-hop applied. - xy start_pos; - // Last point, at which the normal G-code generator of Slic3r shall continue. - // At this position the extruder is loaded and there is no Z-hop applied. - xy end_pos; - // Time elapsed over this tool change. - // This is useful not only for the print time estimation, but also for the control of layer cooling. - float elapsed_time; - - // Is this a priming extrusion? (If so, the wipe tower rotation & translation will not be applied later) - bool priming; - - // Initial tool - int initial_tool; - - // New tool - int new_tool; - - // Sum the total length of the extrusion. - float total_extrusion_length_in_plane() { - float e_length = 0.f; - for (size_t i = 1; i < this->extrusions.size(); ++ i) { - const Extrusion &e = this->extrusions[i]; - if (e.width > 0) { - xy v = e.pos - (&e - 1)->pos; - e_length += sqrt(v.x*v.x+v.y*v.y); - } - } - return e_length; - } - }; - - // Returns gcode to prime the nozzles at the front edge of the print bed. - virtual std::vector prime( - // print_z of the first layer. - float first_layer_height, - // Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object. - const std::vector &tools, - // If true, the last priming are will be the same as the other priming areas, and the rest of the wipe will be performed inside the wipe tower. - // If false, the last priming are will be large enough to wipe the last extruder sufficiently. - bool last_wipe_inside_wipe_tower) = 0; - - // Returns gcode for toolchange and the end position. - // if new_tool == -1, just unload the current filament over the wipe tower. - virtual ToolChangeResult tool_change(unsigned int new_tool, bool last_in_layer) = 0; - - // Close the current wipe tower layer with a perimeter and possibly fill the unfilled space with a zig-zag. - // Call this method only if layer_finished() is false. - virtual ToolChangeResult finish_layer() = 0; - - // Is the current layer finished? A layer is finished if either the wipe tower is finished, or - // the wipe tower has been completely covered by the tool change extrusions, - // or the rest of the tower has been filled by a sparse infill with the finish_layer() method. - virtual bool layer_finished() const = 0; - - // Returns used filament length per extruder: - virtual std::vector get_used_filament() const = 0; - - // Returns total number of toolchanges: - virtual int get_number_of_toolchanges() const = 0; -}; - -}; // namespace Slic3r - -#endif /* slic3r_WipeTower_hpp_ */ diff --git a/src/libslic3r/GCode/WipeTowerPrusaMM.cpp b/src/libslic3r/GCode/WipeTowerPrusaMM.cpp index 0c32bd50c..e901ba296 100644 --- a/src/libslic3r/GCode/WipeTowerPrusaMM.cpp +++ b/src/libslic3r/GCode/WipeTowerPrusaMM.cpp @@ -13,7 +13,7 @@ TODO LIST */ -#include "WipeTowerPrusaMM.hpp" +#include "WipeTower.hpp" #include #include @@ -35,12 +35,23 @@ TODO LIST namespace Slic3r { -namespace PrusaMultiMaterial { +// Rotate the point around center of the wipe tower about given angle (in degrees) +static Vec2f rotate(const Vec2f& pt, float width, float depth, float angle) +{ + Vec2f out(0,0); + float temp_x = pt(0) - width / 2.f; + float temp_y = pt(1) - depth / 2.f; + angle *= float(M_PI/180.); + out.x() += temp_x * cos(angle) - temp_y * sin(angle) + width / 2.f; + out.y() += temp_x * sin(angle) + temp_y * cos(angle) + depth / 2.f; + return out; +} -class Writer + +class WipeTowerWriter { public: - Writer(float layer_height, float line_width, GCodeFlavor flavor, const std::vector& filament_parameters) : + WipeTowerWriter(float layer_height, float line_width, GCodeFlavor flavor, const std::vector& filament_parameters) : m_current_pos(std::numeric_limits::max(), std::numeric_limits::max()), m_current_z(0.f), m_current_feedrate(0.f), @@ -61,7 +72,7 @@ public: change_analyzer_line_width(line_width); } - Writer& change_analyzer_line_width(float line_width) { + WipeTowerWriter& change_analyzer_line_width(float line_width) { // adds tag for analyzer: char buf[64]; sprintf(buf, ";%s%f\n", GCodeAnalyzer::Width_Tag.c_str(), line_width); @@ -69,7 +80,7 @@ public: return *this; } - Writer& change_analyzer_mm3_per_mm(float len, float e) { + WipeTowerWriter& change_analyzer_mm3_per_mm(float len, float e) { static const float area = M_PI * 1.75f * 1.75f / 4.f; float mm3_per_mm = (len == 0.f ? 0.f : area * e / len); // adds tag for analyzer: @@ -79,25 +90,25 @@ public: return *this; } - Writer& set_initial_position(const WipeTower::xy &pos, float width = 0.f, float depth = 0.f, float internal_angle = 0.f) { + WipeTowerWriter& set_initial_position(const Vec2f &pos, float width = 0.f, float depth = 0.f, float internal_angle = 0.f) { m_wipe_tower_width = width; m_wipe_tower_depth = depth; m_internal_angle = internal_angle; - m_start_pos = WipeTower::xy(pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); + m_start_pos = rotate(pos + Vec2f(0.f,m_y_shift), m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); m_current_pos = pos; return *this; } - Writer& set_initial_tool(const unsigned int tool) { m_current_tool = tool; return *this; } + WipeTowerWriter& set_initial_tool(const unsigned int tool) { m_current_tool = tool; return *this; } - Writer& set_z(float z) + WipeTowerWriter& set_z(float z) { m_current_z = z; return *this; } - Writer& set_extrusion_flow(float flow) + WipeTowerWriter& set_extrusion_flow(float flow) { m_extrusion_flow = flow; return *this; } - Writer& set_y_shift(float shift) { - m_current_pos.y -= shift-m_y_shift; + WipeTowerWriter& set_y_shift(float shift) { + m_current_pos.y() -= shift-m_y_shift; m_y_shift = shift; return (*this); } @@ -105,10 +116,10 @@ public: // Suppress / resume G-code preview in Slic3r. Slic3r will have difficulty to differentiate the various // filament loading and cooling moves from normal extrusion moves. Therefore the writer // is asked to suppres output of some lines, which look like extrusions. - Writer& suppress_preview() { change_analyzer_line_width(0.f); m_preview_suppressed = true; return *this; } - Writer& resume_preview() { change_analyzer_line_width(m_default_analyzer_line_width); m_preview_suppressed = false; return *this; } + WipeTowerWriter& suppress_preview() { change_analyzer_line_width(0.f); m_preview_suppressed = true; return *this; } + WipeTowerWriter& resume_preview() { change_analyzer_line_width(m_default_analyzer_line_width); m_preview_suppressed = false; return *this; } - Writer& feedrate(float f) + WipeTowerWriter& feedrate(float f) { if (f != m_current_feedrate) m_gcode += "G1" + set_format_F(f) + "\n"; @@ -117,30 +128,30 @@ public: const std::string& gcode() const { return m_gcode; } const std::vector& extrusions() const { return m_extrusions; } - float x() const { return m_current_pos.x; } - float y() const { return m_current_pos.y; } - const WipeTower::xy& pos() const { return m_current_pos; } - const WipeTower::xy start_pos_rotated() const { return m_start_pos; } - const WipeTower::xy pos_rotated() const { return WipeTower::xy(m_current_pos, 0.f, m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); } + float x() const { return m_current_pos.x(); } + float y() const { return m_current_pos.y(); } + const Vec2f& pos() const { return m_current_pos; } + const Vec2f start_pos_rotated() const { return m_start_pos; } + const Vec2f pos_rotated() const { return rotate(m_current_pos + Vec2f(0.f, m_y_shift), m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); } float elapsed_time() const { return m_elapsed_time; } float get_and_reset_used_filament_length() { float temp = m_used_filament_length; m_used_filament_length = 0.f; return temp; } // Extrude with an explicitely provided amount of extrusion. - Writer& extrude_explicit(float x, float y, float e, float f = 0.f, bool record_length = false, bool limit_volumetric_flow = true) + WipeTowerWriter& extrude_explicit(float x, float y, float e, float f = 0.f, bool record_length = false, bool limit_volumetric_flow = true) { - if (x == m_current_pos.x && y == m_current_pos.y && e == 0.f && (f == 0.f || f == m_current_feedrate)) + if (x == m_current_pos.x() && y == m_current_pos.y() && e == 0.f && (f == 0.f || f == m_current_feedrate)) // Neither extrusion nor a travel move. return *this; - float dx = x - m_current_pos.x; - float dy = y - m_current_pos.y; + float dx = x - m_current_pos.x(); + float dy = y - m_current_pos.y(); double len = sqrt(dx*dx+dy*dy); if (record_length) m_used_filament_length += e; // Now do the "internal rotation" with respect to the wipe tower center - WipeTower::xy rotated_current_pos(WipeTower::xy(m_current_pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we are - WipeTower::xy rot(WipeTower::xy(x,y+m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we want to go + Vec2f rotated_current_pos(rotate(m_current_pos + Vec2f(0.f,m_y_shift), m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we are + Vec2f rot(rotate(Vec2f(x,y+m_y_shift), m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we want to go if (! m_preview_suppressed && e > 0.f && len > 0.) { change_analyzer_mm3_per_mm(len, e); @@ -151,15 +162,15 @@ public: width += m_layer_height * float(1. - M_PI / 4.); if (m_extrusions.empty() || m_extrusions.back().pos != rotated_current_pos) m_extrusions.emplace_back(WipeTower::Extrusion(rotated_current_pos, 0, m_current_tool)); - m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool)); + m_extrusions.emplace_back(WipeTower::Extrusion(rot, width, m_current_tool)); } m_gcode += "G1"; - if (std::abs(rot.x - rotated_current_pos.x) > EPSILON) - m_gcode += set_format_X(rot.x); + if (std::abs(rot.x() - rotated_current_pos.x()) > EPSILON) + m_gcode += set_format_X(rot.x()); - if (std::abs(rot.y - rotated_current_pos.y) > EPSILON) - m_gcode += set_format_Y(rot.y); + if (std::abs(rot.y() - rotated_current_pos.y()) > EPSILON) + m_gcode += set_format_Y(rot.y()); if (e != 0.f) @@ -173,8 +184,8 @@ public: m_gcode += set_format_F(f); } - m_current_pos.x = x; - m_current_pos.y = y; + m_current_pos.x() = x; + m_current_pos.y() = y; // Update the elapsed time with a rough estimate. m_elapsed_time += ((len == 0) ? std::abs(e) : len) / m_current_feedrate * 60.f; @@ -182,42 +193,42 @@ public: return *this; } - Writer& extrude_explicit(const WipeTower::xy &dest, float e, float f = 0.f, bool record_length = false, bool limit_volumetric_flow = true) - { return extrude_explicit(dest.x, dest.y, e, f, record_length); } + WipeTowerWriter& extrude_explicit(const Vec2f &dest, float e, float f = 0.f, bool record_length = false, bool limit_volumetric_flow = true) + { return extrude_explicit(dest.x(), dest.y(), e, f, record_length); } // Travel to a new XY position. f=0 means use the current value. - Writer& travel(float x, float y, float f = 0.f) + WipeTowerWriter& travel(float x, float y, float f = 0.f) { return extrude_explicit(x, y, 0.f, f); } - Writer& travel(const WipeTower::xy &dest, float f = 0.f) - { return extrude_explicit(dest.x, dest.y, 0.f, f); } + WipeTowerWriter& travel(const Vec2f &dest, float f = 0.f) + { return extrude_explicit(dest.x(), dest.y(), 0.f, f); } // Extrude a line from current position to x, y with the extrusion amount given by m_extrusion_flow. - Writer& extrude(float x, float y, float f = 0.f) + WipeTowerWriter& extrude(float x, float y, float f = 0.f) { - float dx = x - m_current_pos.x; - float dy = y - m_current_pos.y; + float dx = x - m_current_pos.x(); + float dy = y - m_current_pos.y(); return extrude_explicit(x, y, sqrt(dx*dx+dy*dy) * m_extrusion_flow, f, true); } - Writer& extrude(const WipeTower::xy &dest, const float f = 0.f) - { return extrude(dest.x, dest.y, f); } + WipeTowerWriter& extrude(const Vec2f &dest, const float f = 0.f) + { return extrude(dest.x(), dest.y(), f); } - Writer& rectangle(const WipeTower::xy& ld,float width,float height,const float f = 0.f) + WipeTowerWriter& rectangle(const Vec2f& ld,float width,float height,const float f = 0.f) { - WipeTower::xy corners[4]; + Vec2f corners[4]; corners[0] = ld; - corners[1] = WipeTower::xy(ld,width,0.f); - corners[2] = WipeTower::xy(ld,width,height); - corners[3] = WipeTower::xy(ld,0.f,height); + corners[1] = ld + Vec2f(width,0.f); + corners[2] = ld + Vec2f(width,height); + corners[3] = ld + Vec2f(0.f,height); int index_of_closest = 0; - if (x()-ld.x > ld.x+width-x()) // closer to the right + if (x()-ld.x() > ld.x()+width-x()) // closer to the right index_of_closest = 1; - if (y()-ld.y > ld.y+height-y()) // closer to the top + if (y()-ld.y() > ld.y()+height-y()) // closer to the top index_of_closest = (index_of_closest==0 ? 3 : 2); - travel(corners[index_of_closest].x, y()); // travel to the closest corner - travel(x(),corners[index_of_closest].y); + travel(corners[index_of_closest].x(), y()); // travel to the closest corner + travel(x(),corners[index_of_closest].y()); int i = index_of_closest; do { @@ -228,7 +239,7 @@ public: return (*this); } - Writer& load(float e, float f = 0.f) + WipeTowerWriter& load(float e, float f = 0.f) { if (e == 0.f && (f == 0.f || f == m_current_feedrate)) return *this; @@ -244,14 +255,14 @@ public: // Derectract while moving in the X direction. // If |x| > 0, the feed rate relates to the x distance, // otherwise the feed rate relates to the e distance. - Writer& load_move_x(float x, float e, float f = 0.f) - { return extrude_explicit(x, m_current_pos.y, e, f); } + WipeTowerWriter& load_move_x(float x, float e, float f = 0.f) + { return extrude_explicit(x, m_current_pos.y(), e, f); } - Writer& retract(float e, float f = 0.f) + WipeTowerWriter& retract(float e, float f = 0.f) { return load(-e, f); } // Loads filament while also moving towards given points in x-axis (x feedrate is limited by cutting the distance short if necessary) - Writer& load_move_x_advanced(float farthest_x, float loading_dist, float loading_speed, float max_x_speed = 50.f) + WipeTowerWriter& load_move_x_advanced(float farthest_x, float loading_dist, float loading_speed, float max_x_speed = 50.f) { float time = std::abs(loading_dist / loading_speed); float x_speed = std::min(max_x_speed, std::abs(farthest_x - x()) / time); @@ -262,7 +273,7 @@ public: } // Elevate the extruder head above the current print_z position. - Writer& z_hop(float hop, float f = 0.f) + WipeTowerWriter& z_hop(float hop, float f = 0.f) { m_gcode += std::string("G1") + set_format_Z(m_current_z + hop); if (f != 0 && f != m_current_feedrate) @@ -272,29 +283,29 @@ public: } // Lower the extruder head back to the current print_z position. - Writer& z_hop_reset(float f = 0.f) + WipeTowerWriter& z_hop_reset(float f = 0.f) { return z_hop(0, f); } // Move to x1, +y_increment, // extrude quickly amount e to x2 with feed f. - Writer& ram(float x1, float x2, float dy, float e0, float e, float f) + WipeTowerWriter& ram(float x1, float x2, float dy, float e0, float e, float f) { - extrude_explicit(x1, m_current_pos.y + dy, e0, f, true, false); - extrude_explicit(x2, m_current_pos.y, e, 0.f, true, false); + extrude_explicit(x1, m_current_pos.y() + dy, e0, f, true, false); + extrude_explicit(x2, m_current_pos.y(), e, 0.f, true, false); return *this; } // Let the end of the pulled out filament cool down in the cooling tube // by moving up and down and moving the print head left / right // at the current Y position to spread the leaking material. - Writer& cool(float x1, float x2, float e1, float e2, float f) + WipeTowerWriter& cool(float x1, float x2, float e1, float e2, float f) { - extrude_explicit(x1, m_current_pos.y, e1, f); - extrude_explicit(x2, m_current_pos.y, e2); + extrude_explicit(x1, m_current_pos.y(), e1, f); + extrude_explicit(x2, m_current_pos.y(), e2); return *this; } - Writer& set_tool(int tool) + WipeTowerWriter& set_tool(int tool) { char buf[64]; sprintf(buf, "T%d\n", tool); @@ -304,7 +315,7 @@ public: } // Set extruder temperature, don't wait by default. - Writer& set_extruder_temp(int temperature, bool wait = false) + WipeTowerWriter& set_extruder_temp(int temperature, bool wait = false) { char buf[128]; sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature); @@ -313,7 +324,7 @@ public: }; // Wait for a period of time (seconds). - Writer& wait(float time) + WipeTowerWriter& wait(float time) { if (time==0) return *this; @@ -324,7 +335,7 @@ public: }; // Set speed factor override percentage. - Writer& speed_override(int speed) + WipeTowerWriter& speed_override(int speed) { char buf[128]; sprintf(buf, "M220 S%d\n", speed); @@ -333,21 +344,21 @@ public: }; // Let the firmware back up the active speed override value. - Writer& speed_override_backup() + WipeTowerWriter& speed_override_backup() { m_gcode += "M220 B\n"; return *this; }; // Let the firmware restore the active speed override value. - Writer& speed_override_restore() + WipeTowerWriter& speed_override_restore() { m_gcode += "M220 R\n"; return *this; }; // Set digital trimpot motor - Writer& set_extruder_trimpot(int current) + WipeTowerWriter& set_extruder_trimpot(int current) { char buf[128]; if (m_gcode_flavor == gcfRepRap) @@ -358,20 +369,20 @@ public: return *this; }; - Writer& flush_planner_queue() + WipeTowerWriter& flush_planner_queue() { m_gcode += "G4 S0\n"; return *this; } // Reset internal extruder counter. - Writer& reset_extruder() + WipeTowerWriter& reset_extruder() { m_gcode += "G92 E0\n"; return *this; } - Writer& comment_with_value(const char *comment, int value) + WipeTowerWriter& comment_with_value(const char *comment, int value) { char strvalue[64]; sprintf(strvalue, "%d", value); @@ -380,7 +391,7 @@ public: }; - Writer& set_fan(unsigned int speed) + WipeTowerWriter& set_fan(unsigned int speed) { if (speed == m_last_fan_speed) return *this; @@ -398,11 +409,11 @@ public: return *this; } - Writer& append(const char *text) { m_gcode += text; return *this; } + WipeTowerWriter& append(const char *text) { m_gcode += text; return *this; } private: - WipeTower::xy m_start_pos; - WipeTower::xy m_current_pos; + Vec2f m_start_pos; + Vec2f m_current_pos; float m_current_z; float m_current_feedrate; unsigned int m_current_tool; @@ -421,20 +432,20 @@ private: const float m_default_analyzer_line_width; float m_used_filament_length = 0.f; GCodeFlavor m_gcode_flavor; - const std::vector& m_filpar; + const std::vector& m_filpar; std::string set_format_X(float x) { char buf[64]; sprintf(buf, " X%.3f", x); - m_current_pos.x = x; + m_current_pos.x() = x; return buf; } std::string set_format_Y(float y) { char buf[64]; sprintf(buf, " Y%.3f", y); - m_current_pos.y = y; + m_current_pos.y() = y; return buf; } @@ -457,14 +468,13 @@ private: return buf; } - Writer& operator=(const Writer &rhs); -}; // class Writer + WipeTowerWriter& operator=(const WipeTowerWriter &rhs); +}; // class WipeTowerWriter -}; // namespace PrusaMultiMaterial // Returns gcode to prime the nozzles at the front edge of the print bed. -std::vector WipeTowerPrusaMM::prime( +std::vector WipeTower::prime( // print_z of the first layer. float first_layer_height, // Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object. @@ -482,7 +492,7 @@ std::vector WipeTowerPrusaMM::prime( // box_coordinates cleaning_box(xy(0.5f, - 1.5f), m_wipe_tower_width, wipe_area); const float prime_section_width = std::min(240.f / tools.size(), 60.f); - box_coordinates cleaning_box(xy(5.f, 0.01f + m_perimeter_width/2.f), prime_section_width, 100.f); + box_coordinates cleaning_box(Vec2f(5.f, 0.01f + m_perimeter_width/2.f), prime_section_width, 100.f); std::vector results; @@ -491,7 +501,7 @@ std::vector WipeTowerPrusaMM::prime( for (size_t idx_tool = 0; idx_tool < tools.size(); ++ idx_tool) { int old_tool = m_current_tool; - PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); + WipeTowerWriter writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); writer.set_extrusion_flow(m_extrusion_flow) .set_z(m_z_pos) .set_initial_tool(m_current_tool); @@ -503,7 +513,7 @@ std::vector WipeTowerPrusaMM::prime( .append(";--------------------\n") .speed_override_backup() .speed_override(100) - .set_initial_position(xy(0.f, 0.f)) // Always move to the starting position + .set_initial_position(Vec2f::Zero()) // Always move to the starting position .travel(cleaning_box.ld, 7200); if (m_set_extruder_trimpot) writer.set_extruder_trimpot(750); // Increase the extruder driver current to allow fast ramming. @@ -524,7 +534,7 @@ std::vector WipeTowerPrusaMM::prime( //writer.travel(writer.x(), writer.y() + m_perimeter_width, 7200); toolchange_Wipe(writer, cleaning_box , 20.f); box_coordinates box = cleaning_box; - box.translate(0.f, writer.y() - cleaning_box.ld.y + m_perimeter_width); + box.translate(0.f, writer.y() - cleaning_box.ld.y() + m_perimeter_width); toolchange_Unload(writer, box , m_filpar[m_current_tool].material, m_filpar[tools[idx_tool + 1]].first_layer_temperature); cleaning_box.translate(prime_section_width, 0.f); writer.travel(cleaning_box.ld, 7200); @@ -574,7 +584,7 @@ std::vector WipeTowerPrusaMM::prime( return results; } -WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, bool last_in_layer) +WipeTower::ToolChangeResult WipeTower::tool_change(unsigned int tool, bool last_in_layer) { if ( m_print_brim ) return toolchange_Brim(); @@ -602,12 +612,12 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo } box_coordinates cleaning_box( - xy(m_perimeter_width / 2.f, m_perimeter_width / 2.f), + Vec2f(m_perimeter_width / 2.f, m_perimeter_width / 2.f), m_wipe_tower_width - m_perimeter_width, (tool != (unsigned int)(-1) ? /*m_layer_info->depth*/wipe_area+m_depth_traversed-0.5*m_perimeter_width : m_wipe_tower_depth-m_perimeter_width)); - PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); + WipeTowerWriter writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); writer.set_extrusion_flow(m_extrusion_flow) .set_z(m_z_pos) .set_initial_tool(m_current_tool) @@ -623,7 +633,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo writer.speed_override_backup(); writer.speed_override(100); - xy initial_position = cleaning_box.ld + WipeTower::xy(0.f,m_depth_traversed); + Vec2f initial_position = cleaning_box.ld + Vec2f(0.f, m_depth_traversed); writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation); // Increase the extruder driver current to allow fast ramming. @@ -647,9 +657,9 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo if (last_change_in_layer) {// draw perimeter line writer.set_y_shift(m_y_shift); if (m_peters_wipe_tower) - writer.rectangle(WipeTower::xy(0.f, 0.f),m_layer_info->depth + 3*m_perimeter_width,m_wipe_tower_depth); + writer.rectangle(Vec2f::Zero(), m_layer_info->depth + 3*m_perimeter_width, m_wipe_tower_depth); else { - writer.rectangle(WipeTower::xy(0.f, 0.f),m_wipe_tower_width, m_layer_info->depth + m_perimeter_width); + writer.rectangle(Vec2f::Zero(), m_wipe_tower_width, m_layer_info->depth + m_perimeter_width); if (layer_finished()) { // no finish_layer will be called, we must wipe the nozzle writer.travel(writer.x()> m_wipe_tower_width / 2.f ? 0.f : m_wipe_tower_width, writer.y()); } @@ -684,27 +694,27 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, boo return result; } -WipeTower::ToolChangeResult WipeTowerPrusaMM::toolchange_Brim(bool sideOnly, float y_offset) +WipeTower::ToolChangeResult WipeTower::toolchange_Brim(bool sideOnly, float y_offset) { int old_tool = m_current_tool; const box_coordinates wipeTower_box( - WipeTower::xy(0.f, 0.f), + Vec2f::Zero(), m_wipe_tower_width, m_wipe_tower_depth); - PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); + WipeTowerWriter writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); writer.set_extrusion_flow(m_extrusion_flow * 1.1f) .set_z(m_z_pos) // Let the writer know the current Z position as a base for Z-hop. .set_initial_tool(m_current_tool) .append(";-------------------------------------\n" "; CP WIPE TOWER FIRST LAYER BRIM START\n"); - xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 6.f, 0); + Vec2f initial_position = wipeTower_box.lu - Vec2f(m_perimeter_width * 6.f, 0); writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation); - writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 6.f, 0), // Prime the extruder left of the wipe tower. - 1.5f * m_extrusion_flow * (wipeTower_box.lu.y - wipeTower_box.ld.y), 2400); + writer.extrude_explicit(wipeTower_box.ld - Vec2f(m_perimeter_width * 6.f, 0), // Prime the extruder left of the wipe tower. + 1.5f * m_extrusion_flow * (wipeTower_box.lu.y() - wipeTower_box.ld.y()), 2400); // The tool is supposed to be active and primed at the time when the wipe tower brim is extruded. // Extrude 4 rounds of a brim around the future wipe tower. @@ -745,14 +755,14 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::toolchange_Brim(bool sideOnly, flo // Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool. -void WipeTowerPrusaMM::toolchange_Unload( - PrusaMultiMaterial::Writer &writer, +void WipeTower::toolchange_Unload( + WipeTowerWriter &writer, const box_coordinates &cleaning_box, const std::string& current_material, const int new_temperature) { - float xl = cleaning_box.ld.x + 1.f * m_perimeter_width; - float xr = cleaning_box.rd.x - 1.f * m_perimeter_width; + float xl = cleaning_box.ld.x() + 1.f * m_perimeter_width; + float xr = cleaning_box.rd.x() - 1.f * m_perimeter_width; const float line_width = m_perimeter_width * m_filpar[m_current_tool].ramming_line_width_multiplicator; // desired ramming line thickness const float y_step = line_width * m_filpar[m_current_tool].ramming_step_multiplicator * m_extra_spacing; // spacing between lines in mm @@ -765,7 +775,7 @@ void WipeTowerPrusaMM::toolchange_Unload( float remaining = xr - xl ; // keeps track of distance to the next turnaround float e_done = 0; // measures E move done from each segment - writer.travel(xl, cleaning_box.ld.y + m_depth_traversed + y_step/2.f ); // move to starting position + writer.travel(xl, cleaning_box.ld.y() + m_depth_traversed + y_step/2.f ); // move to starting position // if the ending point of the ram would end up in mid air, align it with the end of the wipe tower: if (m_layer_info > m_plan.begin() && m_layer_info < m_plan.end() && (m_layer_info-1!=m_plan.begin() || !m_adhesion )) { @@ -832,7 +842,7 @@ void WipeTowerPrusaMM::toolchange_Unload( e_done = 0; } } - WipeTower::xy end_of_ramming(writer.x(),writer.y()); + Vec2f end_of_ramming(writer.x(),writer.y()); writer.change_analyzer_line_width(m_perimeter_width); // so the next lines are not affected by ramming_line_width_multiplier // Retraction: @@ -887,15 +897,15 @@ void WipeTowerPrusaMM::toolchange_Unload( // this is to align ramming and future wiping extrusions, so the future y-steps can be uniform from the start: // the perimeter_width will later be subtracted, it is there to not load while moving over just extruded material - writer.travel(end_of_ramming.x, end_of_ramming.y + (y_step/m_extra_spacing-m_perimeter_width) / 2.f + m_perimeter_width, 2400.f); + writer.travel(end_of_ramming.x(), end_of_ramming.y() + (y_step/m_extra_spacing-m_perimeter_width) / 2.f + m_perimeter_width, 2400.f); writer.resume_preview() .flush_planner_queue(); } // Change the tool, set a speed override for soluble and flex materials. -void WipeTowerPrusaMM::toolchange_Change( - PrusaMultiMaterial::Writer &writer, +void WipeTower::toolchange_Change( + WipeTowerWriter &writer, const unsigned int new_tool, const std::string& new_material) { @@ -917,13 +927,13 @@ void WipeTowerPrusaMM::toolchange_Change( m_current_tool = new_tool; } -void WipeTowerPrusaMM::toolchange_Load( - PrusaMultiMaterial::Writer &writer, +void WipeTower::toolchange_Load( + WipeTowerWriter &writer, const box_coordinates &cleaning_box) { if (m_semm && (m_parking_pos_retraction != 0 || m_extra_loading_move != 0)) { - float xl = cleaning_box.ld.x + m_perimeter_width * 0.75f; - float xr = cleaning_box.rd.x - m_perimeter_width * 0.75f; + float xl = cleaning_box.ld.x() + m_perimeter_width * 0.75f; + float xr = cleaning_box.rd.x() - m_perimeter_width * 0.75f; float oldx = writer.x(); // the nozzle is in place to do the first wiping moves, we will remember the position // Load the filament while moving left / right, so the excess material will not create a blob at a single position. @@ -951,8 +961,8 @@ void WipeTowerPrusaMM::toolchange_Load( } // Wipe the newly loaded filament until the end of the assigned wipe area. -void WipeTowerPrusaMM::toolchange_Wipe( - PrusaMultiMaterial::Writer &writer, +void WipeTower::toolchange_Wipe( + WipeTowerWriter &writer, const box_coordinates &cleaning_box, float wipe_volume) { @@ -960,8 +970,8 @@ void WipeTowerPrusaMM::toolchange_Wipe( writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f)) .append("; CP TOOLCHANGE WIPE\n"); float wipe_coeff = m_is_first_layer ? 0.5f : 1.f; - const float& xl = cleaning_box.ld.x; - const float& xr = cleaning_box.rd.x; + const float& xl = cleaning_box.ld.x(); + const float& xr = cleaning_box.rd.x(); // Variables x_to_wipe and traversed_x are here to be able to make sure it always wipes at least // the ordered volume, even if it means violating the box. This can later be removed and simply @@ -992,7 +1002,7 @@ void WipeTowerPrusaMM::toolchange_Wipe( else writer.extrude(xl + (i % 4 == 1 ? 0 : 1.5*m_perimeter_width), writer.y(), wipe_speed * wipe_coeff); - if (writer.y()+EPSILON > cleaning_box.lu.y-0.5f*m_perimeter_width) + if (writer.y()+EPSILON > cleaning_box.lu.y()-0.5f*m_perimeter_width) break; // in case next line would not fit traversed_x -= writer.x(); @@ -1019,7 +1029,7 @@ void WipeTowerPrusaMM::toolchange_Wipe( -WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer() +WipeTower::ToolChangeResult WipeTower::finish_layer() { // This should only be called if the layer is not finished yet. // Otherwise the caller would likely travel to the wipe tower in vain. @@ -1027,7 +1037,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer() int old_tool = m_current_tool; - PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); + WipeTowerWriter writer(m_layer_height, m_perimeter_width, m_gcode_flavor, m_filpar); writer.set_extrusion_flow(m_extrusion_flow) .set_z(m_z_pos) .set_initial_tool(m_current_tool) @@ -1039,7 +1049,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer() // Slow down on the 1st layer. float speed_factor = m_is_first_layer ? 0.5f : 1.f; float current_depth = m_layer_info->depth - m_layer_info->toolchanges_depth(); - box_coordinates fill_box(xy(m_perimeter_width, m_depth_traversed + m_perimeter_width), + box_coordinates fill_box(Vec2f(m_perimeter_width, m_depth_traversed + m_perimeter_width), m_wipe_tower_width - 2 * m_perimeter_width, current_depth-m_perimeter_width); @@ -1053,44 +1063,44 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer() else box.expand(-m_perimeter_width); } else i=2; // only draw the inner perimeter, outer has been already drawn by tool_change(...) - writer.rectangle(box.ld,box.rd.x-box.ld.x,box.ru.y-box.rd.y,2900*speed_factor); + writer.rectangle(box.ld, box.rd.x()-box.ld.x(), box.ru.y()-box.rd.y(), 2900*speed_factor); } // we are in one of the corners, travel to ld along the perimeter: - if (writer.x() > fill_box.ld.x+EPSILON) writer.travel(fill_box.ld.x,writer.y()); - if (writer.y() > fill_box.ld.y+EPSILON) writer.travel(writer.x(),fill_box.ld.y); + if (writer.x() > fill_box.ld.x()+EPSILON) writer.travel(fill_box.ld.x(),writer.y()); + if (writer.y() > fill_box.ld.y()+EPSILON) writer.travel(writer.x(),fill_box.ld.y()); if (m_is_first_layer && m_adhesion) { // Extrude a dense infill at the 1st layer to improve 1st layer adhesion of the wipe tower. box.expand(-m_perimeter_width/2.f); - int nsteps = int(floor((box.lu.y - box.ld.y) / (2*m_perimeter_width))); - float step = (box.lu.y - box.ld.y) / nsteps; - writer.travel(box.ld-xy(m_perimeter_width/2.f,m_perimeter_width/2.f)); + int nsteps = int(floor((box.lu.y() - box.ld.y()) / (2*m_perimeter_width))); + float step = (box.lu.y() - box.ld.y()) / nsteps; + writer.travel(box.ld - Vec2f(m_perimeter_width/2.f, m_perimeter_width/2.f)); if (nsteps >= 0) for (int i = 0; i < nsteps; ++i) { - writer.extrude(box.ld.x+m_perimeter_width/2.f, writer.y() + 0.5f * step); - writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y()); - writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y() + 0.5f * step); - writer.extrude(box.ld.x + m_perimeter_width / 2.f, writer.y()); + writer.extrude(box.ld.x()+m_perimeter_width/2.f, writer.y() + 0.5f * step); + writer.extrude(box.rd.x() - m_perimeter_width / 2.f, writer.y()); + writer.extrude(box.rd.x() - m_perimeter_width / 2.f, writer.y() + 0.5f * step); + writer.extrude(box.ld.x() + m_perimeter_width / 2.f, writer.y()); } - writer.travel(box.rd.x-m_perimeter_width/2.f,writer.y()); // wipe the nozzle + writer.travel(box.rd.x()-m_perimeter_width/2.f,writer.y()); // wipe the nozzle } else { // Extrude a sparse infill to support the material to be printed above. - const float dy = (fill_box.lu.y - fill_box.ld.y - m_perimeter_width); - const float left = fill_box.lu.x+2*m_perimeter_width; - const float right = fill_box.ru.x - 2 * m_perimeter_width; + const float dy = (fill_box.lu.y() - fill_box.ld.y() - m_perimeter_width); + const float left = fill_box.lu.x() + 2*m_perimeter_width; + const float right = fill_box.ru.x() - 2 * m_perimeter_width; if (dy > m_perimeter_width) { // Extrude an inverse U at the left of the region. - writer.travel(fill_box.ld + xy(m_perimeter_width * 2, 0.f)) - .extrude(fill_box.lu + xy(m_perimeter_width * 2, 0.f), 2900 * speed_factor); + writer.travel(fill_box.ld + Vec2f(m_perimeter_width * 2, 0.f)) + .extrude(fill_box.lu + Vec2f(m_perimeter_width * 2, 0.f), 2900 * speed_factor); const int n = 1+(right-left)/(m_bridging); const float dx = (right-left)/n; for (int i=1;i<=n;++i) { float x=left+dx*i; writer.travel(x,writer.y()); - writer.extrude(x,i%2 ? fill_box.rd.y : fill_box.ru.y); + writer.extrude(x,i%2 ? fill_box.rd.y() : fill_box.ru.y()); } writer.travel(left,writer.y(),7200); // wipes the nozzle before moving away from the wipe tower } @@ -1121,7 +1131,7 @@ WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer() } // Appends a toolchange into m_plan and calculates neccessary depth of the corresponding box -void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume) +void WipeTower::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume) { assert(m_plan.empty() || m_plan.back().z <= z_par + WT_EPSILON); // refuses to add a layer below the last one @@ -1157,7 +1167,7 @@ void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsi -void WipeTowerPrusaMM::plan_tower() +void WipeTower::plan_tower() { // Calculate m_wipe_tower_depth (maximum depth for all the layers) and propagate depths downwards m_wipe_tower_depth = 0.f; @@ -1180,7 +1190,7 @@ void WipeTowerPrusaMM::plan_tower() } } -void WipeTowerPrusaMM::save_on_last_wipe() +void WipeTower::save_on_last_wipe() { for (m_layer_info=m_plan.begin();m_layer_infoz, m_layer_info->height, 0, m_layer_info->z == m_plan.front().z, m_layer_info->z == m_plan.back().z); @@ -1205,7 +1215,7 @@ void WipeTowerPrusaMM::save_on_last_wipe() // Processes vector m_plan and calls respective functions to generate G-code for the wipe tower // Resulting ToolChangeResults are appended into vector "result" -void WipeTowerPrusaMM::generate(std::vector> &result) +void WipeTower::generate(std::vector> &result) { if (m_plan.empty()) @@ -1251,7 +1261,7 @@ void WipeTowerPrusaMM::generate(std::vector #include @@ -7,30 +7,81 @@ #include #include -#include "WipeTower.hpp" -#include "PrintConfig.hpp" +#include "libslic3r/PrintConfig.hpp" namespace Slic3r { -namespace PrusaMultiMaterial { - class Writer; -}; +class WipeTowerWriter; -class WipeTowerPrusaMM : public WipeTower +class WipeTower { public: + struct Extrusion + { + Extrusion(const Vec2f &pos, float width, unsigned int tool) : pos(pos), width(width), tool(tool) {} + // End position of this extrusion. + Vec2f pos; + // Width of a squished extrusion, corrected for the roundings of the squished extrusions. + // This is left zero if it is a travel move. + float width; + // Current extruder index. + unsigned int tool; + }; + + struct ToolChangeResult + { + // Print heigh of this tool change. + float print_z; + float layer_height; + // G-code section to be directly included into the output G-code. + std::string gcode; + // For path preview. + std::vector extrusions; + // Initial position, at which the wipe tower starts its action. + // At this position the extruder is loaded and there is no Z-hop applied. + Vec2f start_pos; + // Last point, at which the normal G-code generator of Slic3r shall continue. + // At this position the extruder is loaded and there is no Z-hop applied. + Vec2f end_pos; + // Time elapsed over this tool change. + // This is useful not only for the print time estimation, but also for the control of layer cooling. + float elapsed_time; + + // Is this a priming extrusion? (If so, the wipe tower rotation & translation will not be applied later) + bool priming; + + // Initial tool + int initial_tool; + + // New tool + int new_tool; + + // Sum the total length of the extrusion. + float total_extrusion_length_in_plane() { + float e_length = 0.f; + for (size_t i = 1; i < this->extrusions.size(); ++ i) { + const Extrusion &e = this->extrusions[i]; + if (e.width > 0) { + Vec2f v = e.pos - (&e - 1)->pos; + e_length += v.norm(); + } + } + return e_length; + } + }; + // x -- x coordinates of wipe tower in mm ( left bottom corner ) // y -- y coordinates of wipe tower in mm ( left bottom corner ) // width -- width of wipe tower in mm ( default 60 mm - leave as it is ) // wipe_area -- space available for one toolchange in mm - WipeTowerPrusaMM(bool semm, float x, float y, float width, float rotation_angle, float cooling_tube_retraction, - float cooling_tube_length, float parking_pos_retraction, float extra_loading_move, - float bridging, bool set_extruder_trimpot, GCodeFlavor flavor, - const std::vector>& wiping_matrix, unsigned int initial_tool) : + WipeTower(bool semm, float x, float y, float width, float rotation_angle, float cooling_tube_retraction, + float cooling_tube_length, float parking_pos_retraction, float extra_loading_move, + float bridging, bool set_extruder_trimpot, GCodeFlavor flavor, + const std::vector>& wiping_matrix, unsigned int initial_tool) : m_semm(semm), m_wipe_tower_pos(x, y), m_wipe_tower_width(width), @@ -54,7 +105,7 @@ public: } } - virtual ~WipeTowerPrusaMM() {} + virtual ~WipeTower() {} // Set the extruder properties. @@ -105,14 +156,14 @@ public: void plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume = 0.f); // Iterates through prepared m_plan, generates ToolChangeResults and appends them to "result" - void generate(std::vector> &result); + void generate(std::vector> &result); float get_depth() const { return m_wipe_tower_depth; } // Switch to a next layer. - virtual void set_layer( + void set_layer( // Print height of this layer. float print_z, // Layer height, used to calculate extrusion the rate. @@ -146,14 +197,14 @@ public: } // Return the wipe tower position. - virtual const xy& position() const { return m_wipe_tower_pos; } + const Vec2f& position() const { return m_wipe_tower_pos; } // Return the wipe tower width. - virtual float width() const { return m_wipe_tower_width; } + float width() const { return m_wipe_tower_width; } // The wipe tower is finished, there should be no more tool changes or wipe tower prints. - virtual bool finished() const { return m_max_color_changes == 0; } + bool finished() const { return m_max_color_changes == 0; } // Returns gcode to prime the nozzles at the front edge of the print bed. - virtual std::vector prime( + std::vector prime( // print_z of the first layer. float first_layer_height, // Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object. @@ -164,19 +215,19 @@ public: // Returns gcode for a toolchange and a final print head position. // On the first layer, extrude a brim around the future wipe tower first. - virtual ToolChangeResult tool_change(unsigned int new_tool, bool last_in_layer); + ToolChangeResult tool_change(unsigned int new_tool, bool last_in_layer); // Fill the unfilled space with a sparse infill. // Call this method only if layer_finished() is false. - virtual ToolChangeResult finish_layer(); + ToolChangeResult finish_layer(); // Is the current layer finished? - virtual bool layer_finished() const { + bool layer_finished() const { return ( (m_is_first_layer ? m_wipe_tower_depth - m_perimeter_width : m_layer_info->depth) - WT_EPSILON < m_depth_traversed); } - virtual std::vector get_used_filament() const override { return m_used_filament_length; } - virtual int get_number_of_toolchanges() const override { return m_num_tool_changes; } + std::vector get_used_filament() const { return m_used_filament_length; } + int get_number_of_toolchanges() const { return m_num_tool_changes; } struct FilamentParameters { std::string material = "PLA"; @@ -198,7 +249,7 @@ public: }; private: - WipeTowerPrusaMM(); + WipeTower(); enum wipe_shape // A fill-in direction { @@ -214,7 +265,7 @@ private: bool m_semm = true; // Are we using a single extruder multimaterial printer? - xy m_wipe_tower_pos; // Left front corner of the wipe tower in mm. + Vec2f m_wipe_tower_pos; // Left front corner of the wipe tower in mm. float m_wipe_tower_width; // Width of the wipe tower. float m_wipe_tower_depth = 0.f; // Depth of the wipe tower float m_wipe_tower_rotation_angle = 0.f; // Wipe tower rotation angle in degrees (with respect to x axis) @@ -287,28 +338,28 @@ private: lu(left , bottom + height), rd(left + width, bottom ), ru(left + width, bottom + height) {} - box_coordinates(const xy &pos, float width, float height) : box_coordinates(pos.x, pos.y, width, height) {} - void translate(const xy &shift) { + box_coordinates(const Vec2f &pos, float width, float height) : box_coordinates(pos(0), pos(1), width, height) {} + void translate(const Vec2f &shift) { ld += shift; lu += shift; rd += shift; ru += shift; } - void translate(const float dx, const float dy) { translate(xy(dx, dy)); } + void translate(const float dx, const float dy) { translate(Vec2f(dx, dy)); } void expand(const float offset) { - ld += xy(- offset, - offset); - lu += xy(- offset, offset); - rd += xy( offset, - offset); - ru += xy( offset, offset); + ld += Vec2f(- offset, - offset); + lu += Vec2f(- offset, offset); + rd += Vec2f( offset, - offset); + ru += Vec2f( offset, offset); } void expand(const float offset_x, const float offset_y) { - ld += xy(- offset_x, - offset_y); - lu += xy(- offset_x, offset_y); - rd += xy( offset_x, - offset_y); - ru += xy( offset_x, offset_y); + ld += Vec2f(- offset_x, - offset_y); + lu += Vec2f(- offset_x, offset_y); + rd += Vec2f( offset_x, - offset_y); + ru += Vec2f( offset_x, offset_y); } - xy ld; // left down - xy lu; // left upper - xy rd; // right lower - xy ru; // right upper + Vec2f ld; // left down + Vec2f lu; // left upper + Vec2f rd; // right lower + Vec2f ru; // right upper }; @@ -349,22 +400,22 @@ private: ToolChangeResult toolchange_Brim(bool sideOnly = false, float y_offset = 0.f); void toolchange_Unload( - PrusaMultiMaterial::Writer &writer, + WipeTowerWriter &writer, const box_coordinates &cleaning_box, const std::string& current_material, const int new_temperature); void toolchange_Change( - PrusaMultiMaterial::Writer &writer, + WipeTowerWriter &writer, const unsigned int new_tool, const std::string& new_material); void toolchange_Load( - PrusaMultiMaterial::Writer &writer, + WipeTowerWriter &writer, const box_coordinates &cleaning_box); void toolchange_Wipe( - PrusaMultiMaterial::Writer &writer, + WipeTowerWriter &writer, const box_coordinates &cleaning_box, float wipe_volume); }; @@ -374,4 +425,4 @@ private: }; // namespace Slic3r -#endif /* WipeTowerPrusaMM_hpp_ */ +#endif // WipeTowerPrusaMM_hpp_ diff --git a/src/libslic3r/Print.cpp b/src/libslic3r/Print.cpp index 7a9bb785f..6615bff72 100644 --- a/src/libslic3r/Print.cpp +++ b/src/libslic3r/Print.cpp @@ -7,7 +7,7 @@ #include "I18N.hpp" #include "SupportMaterial.hpp" #include "GCode.hpp" -#include "GCode/WipeTowerPrusaMM.hpp" +#include "GCode/WipeTower.hpp" #include "Utils.hpp" //#include "PrintExport.hpp" @@ -1791,7 +1791,7 @@ void Print::_make_wipe_tower() this->throw_if_canceled(); // Initialize the wipe tower. - WipeTowerPrusaMM wipe_tower( + WipeTower wipe_tower( m_config.single_extruder_multi_material.value, float(m_config.wipe_tower_x.value), float(m_config.wipe_tower_y.value), float(m_config.wipe_tower_width.value), diff --git a/src/slic3r/GUI/GLCanvas3D.cpp b/src/slic3r/GUI/GLCanvas3D.cpp index 65e06e432..6b55bd751 100644 --- a/src/slic3r/GUI/GLCanvas3D.cpp +++ b/src/slic3r/GUI/GLCanvas3D.cpp @@ -4773,7 +4773,7 @@ void GLCanvas3D::_load_wipe_tower_toolpaths(const std::vector& str_ { const Print *print; const std::vector *tool_colors; - WipeTower::xy wipe_tower_pos; + Vec2f wipe_tower_pos; float wipe_tower_angle; // Number of vertices (each vertex is 6x4=24 bytes long) @@ -4810,7 +4810,7 @@ void GLCanvas3D::_load_wipe_tower_toolpaths(const std::vector& str_ ctxt.final.emplace_back(*print->wipe_tower_data().final_purge.get()); ctxt.wipe_tower_angle = ctxt.print->config().wipe_tower_rotation_angle.value/180.f * PI; - ctxt.wipe_tower_pos = WipeTower::xy(ctxt.print->config().wipe_tower_x.value, ctxt.print->config().wipe_tower_y.value); + ctxt.wipe_tower_pos = Vec2f(ctxt.print->config().wipe_tower_x.value, ctxt.print->config().wipe_tower_y.value); BOOST_LOG_TRIVIAL(debug) << "Loading wipe tower toolpaths in parallel - start"; @@ -4872,19 +4872,19 @@ void GLCanvas3D::_load_wipe_tower_toolpaths(const std::vector& str_ WipeTower::Extrusion e_prev = extrusions.extrusions[i-1]; if (!extrusions.priming) { // wipe tower extrusions describe the wipe tower at the origin with no rotation - e_prev.pos.rotate(ctxt.wipe_tower_angle); - e_prev.pos.translate(ctxt.wipe_tower_pos); + e_prev.pos = Eigen::Rotation2Df(ctxt.wipe_tower_angle) * e_prev.pos; + e_prev.pos += ctxt.wipe_tower_pos; } for (; i < j; ++i) { WipeTower::Extrusion e = extrusions.extrusions[i]; assert(e.width > 0.f); if (!extrusions.priming) { - e.pos.rotate(ctxt.wipe_tower_angle); - e.pos.translate(ctxt.wipe_tower_pos); + e.pos = Eigen::Rotation2Df(ctxt.wipe_tower_angle) * e.pos; + e.pos += ctxt.wipe_tower_pos; } - lines.emplace_back(Point::new_scale(e_prev.pos.x, e_prev.pos.y), Point::new_scale(e.pos.x, e.pos.y)); + lines.emplace_back(Point::new_scale(e_prev.pos.x(), e_prev.pos.y()), Point::new_scale(e.pos.x(), e.pos.y())); widths.emplace_back(e.width); e_prev = e;