Add tests for vibration limiting and fix implementation. Also includes a fix in set_shift()
This commit is contained in:
Alessandro Ranellucci
parent
c82be18d6d
commit
1a3497b71d
4 changed files with 136 additions and 42 deletions
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@ -1,7 +1,7 @@
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package Slic3r::GCode;
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use Moo;
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use List::Util qw(min max first);
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use List::Util qw(max first);
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use Slic3r::ExtrusionPath ':roles';
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use Slic3r::Geometry qw(scale unscale scaled_epsilon points_coincide PI X Y B);
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@ -20,14 +20,12 @@ has 'lifted' => (is => 'rw', default => sub {0} );
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has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
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has 'last_speed' => (is => 'rw', default => sub {""});
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has 'last_f' => (is => 'rw', default => sub {""});
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has 'force_f' => (is => 'rw', default => sub {0});
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has 'last_fan_speed' => (is => 'rw', default => sub {0});
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has 'dec' => (is => 'ro', default => sub { 3 } );
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# used for vibration limit:
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has 'limit_frequency' => (is => 'rw', default => sub { 0 });
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has 'last_dir' => (is => 'ro', default => sub { [0,0] });
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has 'segment_time' => (is => 'ro', default => sub { [ [0,0,0], [0,0,0] ] });
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has 'dir_time' => (is => 'ro', default => sub { [0,0] });
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# calculate speeds (mm/min)
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has 'speeds' => (
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@ -57,10 +55,13 @@ sub set_shift {
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my $self = shift;
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my @shift = @_;
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$self->last_pos->translate(
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scale ($shift[X] - $self->shift_x),
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scale ($shift[Y] - $self->shift_y),
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);
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$self->shift_x($shift[X]);
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$self->shift_y($shift[Y]);
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$self->last_pos->translate(map -(scale $_), @shift);
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}
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# this method accepts Z in scaled coordinates
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@ -174,8 +175,6 @@ sub extrude_path {
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}
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}
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$self->limit_frequency($path->role != EXTR_ROLE_PERIMETER && $path->role != EXTR_ROLE_EXTERNAL_PERIMETER && $path->role != EXTR_ROLE_CONTOUR_INTERNAL_PERIMETER);
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# go to first point of extrusion path
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$self->speed('travel');
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$gcode .= $self->G0($path->points->[0], undef, 0, "move to first $description point")
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@ -338,14 +337,11 @@ sub _G0_G1 {
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my ($gcode, $point, $z, $e, $comment) = @_;
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my $dec = $self->dec;
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my $speed_factor;
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if ($point) {
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$gcode .= sprintf " X%.${dec}f Y%.${dec}f",
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($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->extruder->extruder_offset->[X],
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($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->extruder->extruder_offset->[Y]; #**
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if ($self->limit_frequency) {
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$gcode = $self->_limit_frequency($point) . $gcode;
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}
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$gcode = $self->_limit_frequency($point) . $gcode;
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$self->last_pos($point->clone);
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}
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if (defined $z && (!defined $self->z || $z != $self->z)) {
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@ -353,7 +349,7 @@ sub _G0_G1 {
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$gcode .= sprintf " Z%.${dec}f", $z;
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}
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return $self->_Gx($gcode, $e, $speed_factor, $comment);
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return $self->_Gx($gcode, $e, $comment);
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}
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sub G2_G3 {
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@ -373,12 +369,12 @@ sub G2_G3 {
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($center->[Y] - $self->last_pos->[Y]) * &Slic3r::SCALING_FACTOR;
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$self->last_pos($point);
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return $self->_Gx($gcode, $e, undef, $comment);
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return $self->_Gx($gcode, $e, $comment);
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}
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sub _Gx {
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my $self = shift;
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my ($gcode, $e, $speed_factor, $comment) = @_;
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my ($gcode, $e, $comment) = @_;
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my $dec = $self->dec;
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# output speed if it's different from last one used
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@ -403,13 +399,6 @@ sub _Gx {
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}
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$self->last_speed($self->speed);
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$self->last_f($F);
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$F *= $speed_factor // 1;
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} elsif (defined $speed_factor && $speed_factor != 1) {
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$gcode .= sprintf " F%.${dec}f", ($self->last_f * $speed_factor);
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$self->force_f(1); # next move will need explicit F
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} elsif ($self->force_f) {
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$gcode .= sprintf " F%.${dec}f", $self->last_f;
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$self->force_f(0);
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}
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$gcode .= sprintf " F%.${dec}f", $F if defined $F;
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@ -509,7 +498,6 @@ sub set_bed_temperature {
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}
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# http://hydraraptor.blogspot.it/2010/12/frequency-limit.html
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# the following implementation is inspired by Marlin code
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sub _limit_frequency {
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my $self = shift;
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my ($point) = @_;
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@ -518,25 +506,28 @@ sub _limit_frequency {
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my $min_time = 1 / ($Slic3r::Config->vibration_limit * 60); # in minutes
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# calculate the move vector and move direction
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my @move = map unscale $_, @{ Slic3r::Line->new($self->last_pos, $point)->vector->[B] };
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my @dir = map { $move[$_] ? (($move[$_] > 0) ? 1 : -1) : 0 } X,Y;
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my $vector = Slic3r::Line->new($self->last_pos, $point)->vector;
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my @dir = map { $vector->[B][$_] <=> 0 } X,Y;
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my $segment_time = abs(max(@move)) / $self->speeds->{$self->speed}; # in minutes
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if ($segment_time > 0) {
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my @max_segment_time = ();
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my $time = (unscale $vector->length) / $self->speeds->{$self->speed}; # in minutes
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if ($time > 0) {
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my @pause = ();
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foreach my $axis (X,Y) {
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if ($self->last_dir->[$axis] == $dir[$axis]) {
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$self->segment_time->[$axis][0] += $segment_time;
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} else {
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@{ $self->segment_time->[$axis] } = ($segment_time, @{ $self->segment_time->[$axis] }[0,1]);
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if ($dir[$axis] != 0 && $self->last_dir->[$axis] != $dir[$axis]) {
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if ($self->last_dir->[$axis] != 0) {
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# this axis is changing direction: check whether we need to pause
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if ($self->dir_time->[$axis] < $min_time) {
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push @pause, ($min_time - $self->dir_time->[$axis]);
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}
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}
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$self->last_dir->[$axis] = $dir[$axis];
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$self->dir_time->[$axis] = 0;
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}
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$max_segment_time[$axis] = max($self->segment_time->[$axis][0], max($self->segment_time->[$axis][1], $self->segment_time->[$axis][2]));
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$self->last_dir->[$axis] = $dir[$axis] if $dir[$axis];
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$self->dir_time->[$axis] += $time;
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}
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my $min_segment_time = min(@max_segment_time);
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if ($min_segment_time < $min_time) {
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return sprintf "G4 P%d\n", ($min_time - $min_segment_time) * 60 * 1000;
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if (@pause) {
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return sprintf "G4 P%d\n", max(@pause) * 60 * 1000;
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}
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}
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@ -5,15 +5,21 @@ use warnings;
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use IO::Scalar;
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use Slic3r::Geometry qw(epsilon);
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my %cuboids = (
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'20mm_cube' => [20,20,20],
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'2x20x10' => [2, 20,10],
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);
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sub init_print {
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my ($model_name, %params) = @_;
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my $model = Slic3r::Model->new;
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{
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my ($vertices, $facets);
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if ($model_name eq '20mm_cube') {
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if ($cuboids{$model_name}) {
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my ($x, $y, $z) = @{ $cuboids{$model_name} };
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$vertices = [
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[10,10,-10], [10,-10,-10], [-10,-10,-10], [-10,10,-10], [10,10,10], [-10,10,10], [-10,-10,10], [10,-10,10],
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[$x,$y,0], [$x,0,0], [0,0,0], [0,$y,0], [$x,$y,$z], [0,$y,$z], [0,0,$z], [$x,0,$z],
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];
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$facets = [
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[0,1,2], [0,2,3], [4,5,6], [4,6,7], [0,4,7], [0,7,1], [1,7,6], [1,6,2], [2,6,5], [2,5,3], [4,0,3], [4,3,5],
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@ -65,6 +71,7 @@ sub parse {
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my ($cb) = @_;
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foreach my $line (split /\n/, $self->gcode) {
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print "$line\n" if $Verbose || $ENV{SLIC3R_TESTS_GCODE};
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$line =~ s/\s*;(.*)//; # strip comment
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next if $line eq '';
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my $comment = $1;
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@ -95,7 +102,6 @@ sub parse {
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}
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# run callback
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printf "$line\n" if $Verbose;
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$cb->($self, $command, \%args, \%info);
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# update coordinates
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@ -1,4 +1,4 @@
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use Test::More tests => 6;
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use Test::More tests => 9;
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use strict;
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use warnings;
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@ -77,7 +77,9 @@ my $retract_tests = sub {
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};
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$retract_tests->('');
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$config->set('duplicate', 2);
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$retract_tests->(' (duplicate)');
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$config->set('g0', 1);
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$retract_tests->(' (G0)');
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$retract_tests->(' (G0 and duplicate)');
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__END__
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95
t/vibrationlimit.t
Normal file
95
t/vibrationlimit.t
Normal file
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@ -0,0 +1,95 @@
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use Test::More tests => 9;
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use strict;
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use warnings;
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BEGIN {
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use FindBin;
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use lib "$FindBin::Bin/../lib";
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}
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use Slic3r;
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use Slic3r::Geometry qw(epsilon);
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use Slic3r::Test;
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my $config = Slic3r::Config->new_from_defaults;
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# tolerance, in minutes
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# (our time estimation differs from the internal one because of decimals truncation)
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my $epsilon = 0.002;
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my $test = sub {
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my ($conf) = @_;
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$conf ||= $config;
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my $print = Slic3r::Test::init_print('2x20x10', config => $conf);
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my $min_time = 1 / ($conf->vibration_limit * 60); # minimum time between direction changes in minutes
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my %dir = (X => 0, Y => 0);
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my %dir_time = (X => 0, Y => 0);
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my %dir_sleep_time = (X => 0, Y => 0);
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my $last_cmd_pause = 0;
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Slic3r::Test::GCodeReader->new(gcode => Slic3r::Test::gcode($print))->parse(sub {
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my ($self, $cmd, $args, $info) = @_;
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if ($cmd !~ /^G[01]$/) {
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if ($cmd eq 'G4') {
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$last_cmd_pause = (($args->{P} // 0) / 1000 + ($args->{S} // 0)) / 60; # in minutes
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$dir_sleep_time{$_} += $last_cmd_pause for qw(X Y);
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$last_cmd_pause -= $epsilon; # error builds up
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}
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return;
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}
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# Z moves are slow enough that we can consider any vibration interrupted
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if ($info->{dist_Z}) {
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$dir_time{$_} += 99999 for qw(X Y);
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$last_cmd_pause = 0;
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return;
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} elsif ($info->{dist_E} != 0 && $info->{dist_XY} == 0) {
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my $time = abs($info->{dist_E}) / ($args->{F} // $self->F); # in minutes
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$dir_time{$_} += $time for qw(X Y);
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$last_cmd_pause = 0;
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return;
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}
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# compute move time (this assumes that the speed is XY-bound, which happens very likely)
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my $time = abs($info->{dist_XY}) / ($args->{F} // $self->F); # in minutes
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my $one_axis_would_trigger_limit_without_pause = 0;
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foreach my $axis (qw(X Y)) {
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# are we changing direction on this axis?
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my $dir = $info->{"dist_$axis"} <=> 0;
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if ($dir != 0 && $dir{$axis} != $dir) {
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# this move changes direction on this axis
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if ($dir{$axis} != 0) {
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if (($dir_time{$axis} + $dir_sleep_time{$axis}) < ($min_time - $epsilon)) {
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fail 'vibration limit exceeded';
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}
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$one_axis_would_trigger_limit_without_pause = 1
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if ($dir_time{$axis} - $last_cmd_pause) < $min_time;
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}
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$dir{$axis} = $dir;
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$dir_time{$axis} = 0;
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$dir_sleep_time{$axis} = 0;
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}
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$dir_time{$axis} += $time;
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}
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fail 'no unnecessary pauses are added'
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if $last_cmd_pause > $epsilon && !$one_axis_would_trigger_limit_without_pause;
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$last_cmd_pause = 0;
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});
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1;
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};
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$config->set('gcode_comments', 1);
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$config->set('perimeters', 1);
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foreach my $frequency (5, 10, 15) {
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foreach my $gapfillspeed (20, 50, 100) {
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$config->set('vibration_limit', $frequency);
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ok $test->(), "vibrations limited to ${frequency}Hz (gap fill speed = ${gapfillspeed} mm/s)";
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}
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}
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__END__
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