Separated travel and print acceleration control

src/libslic3r/GCode.cpp

@@ -2547,7 +2547,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, const std::string_view descr
     }
 
     // reset acceleration
-    gcode += m_writer.set_acceleration((unsigned int)(m_config.default_acceleration.value + 0.5));
+    gcode += m_writer.set_print_acceleration((unsigned int)(m_config.default_acceleration.value + 0.5));
 
     if (m_wipe.enable) {
         m_wipe.path = paths.front().polyline;
@@ -2633,7 +2633,7 @@ std::string GCode::extrude_multi_path(ExtrusionMultiPath multipath, const std::s
         }
     }
     // reset acceleration
-    gcode += m_writer.set_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+    gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
     return gcode;
 }
 
@@ -2659,7 +2659,7 @@ std::string GCode::extrude_path(ExtrusionPath path, std::string_view description
         m_wipe.path.reverse();
     }
     // reset acceleration
-    gcode += m_writer.set_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+    gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
     return gcode;
 }
 
@@ -2802,7 +2802,7 @@ std::string GCode::_extrude(const ExtrusionPath &path, const std::string_view de
         } else {
             acceleration = m_config.default_acceleration.value;
         }
-        gcode += m_writer.set_acceleration((unsigned int)floor(acceleration + 0.5));
+        gcode += m_writer.set_print_acceleration((unsigned int)floor(acceleration + 0.5));
     }
 
     // calculate extrusion length per distance unit
@@ -3071,8 +3071,18 @@ std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string
 
     // use G1 because we rely on paths being straight (G0 may make round paths)
     if (travel.size() >= 2) {
+
+        gcode += m_writer.set_travel_acceleration((unsigned int)(m_config.travel_acceleration.value + 0.5));
+
         for (size_t i = 1; i < travel.size(); ++ i)
             gcode += m_writer.travel_to_xy(this->point_to_gcode(travel.points[i]), comment);
+
+        if (! m_writer.supports_PT()) {
+            // In case that this flavor does not support separate print and travel acceleration,
+            // reset acceleration to default.
+            gcode += m_writer.set_travel_acceleration((unsigned int)(m_config.travel_acceleration.value + 0.5));
+        }
+
         this->set_last_pos(travel.points.back());
     }
     return gcode;

src/libslic3r/GCodeWriter.cpp

@@ -15,6 +15,11 @@
 
 namespace Slic3r {
 
+bool GCodeWriter::supports_PT() const
+{
+    return (FLAVOR_IS(gcfRepetier) || FLAVOR_IS(gcfMarlinFirmware) ||  FLAVOR_IS(gcfRepRapFirmware));
+}
+
 void GCodeWriter::apply_print_config(const PrintConfig &print_config)
 {
     this->config.apply(print_config, true);
@@ -154,36 +159,30 @@ std::string GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait
     return gcode.str();
 }
 
-std::string GCodeWriter::set_acceleration(unsigned int acceleration)
+std::string GCodeWriter::set_acceleration_internal(Acceleration type, unsigned int acceleration)
 {
     // Clamp the acceleration to the allowed maximum.
+    // TODO: What about max travel acceleration ? Currently it is clamped by the extruding acceleration !!!
     if (m_max_acceleration > 0 && acceleration > m_max_acceleration)
         acceleration = m_max_acceleration;
 
-    if (acceleration == 0 || acceleration == m_last_acceleration)
+    // Are we setting travel acceleration for a flavour that supports separate travel and print acc?
+    bool separate_travel = (type == Acceleration::Travel && supports_PT());
+
+    auto& last_value = separate_travel ? m_last_travel_acceleration : m_last_acceleration ;
+    if (acceleration == 0 || acceleration == last_value)
         return std::string();
     
-    m_last_acceleration = acceleration;
+    last_value = acceleration;
     
     std::ostringstream gcode;
-    if (FLAVOR_IS(gcfRepetier)) {
+    if (FLAVOR_IS(gcfRepetier))
-        // M201: Set max printing acceleration
+        gcode << (separate_travel ? "M202 X" : "M201 X") << acceleration << " Y" << acceleration;
-        gcode << "M201 X" << acceleration << " Y" << acceleration;
+    else if (FLAVOR_IS(gcfRepRapFirmware) || FLAVOR_IS(gcfMarlinFirmware))
-        if (this->config.gcode_comments) gcode << " ; adjust acceleration";
+        gcode << (separate_travel ? "M204 T" : "M204 P") << acceleration;
-        gcode << "\n";
+    else
-        // M202: Set max travel acceleration
-        gcode << "M202 X" << acceleration << " Y" << acceleration;
-    } else if (FLAVOR_IS(gcfRepRapFirmware)) {
-        // M204: Set default acceleration
-        gcode << "M204 P" << acceleration;
-    } else if (FLAVOR_IS(gcfMarlinFirmware)) {
-        // This is new MarlinFirmware with separated print/retraction/travel acceleration.
-        // Use M204 P, we don't want to override travel acc by M204 S (which is deprecated anyway).
-        gcode << "M204 P" << acceleration;
-    } else {
-        // M204: Set default acceleration
         gcode << "M204 S" << acceleration;
-    }
+
     if (this->config.gcode_comments) gcode << " ; adjust acceleration";
     gcode << "\n";
     

src/libslic3r/GCodeWriter.hpp

@@ -43,7 +43,8 @@ public:
     std::string postamble() const;
     std::string set_temperature(unsigned int temperature, bool wait = false, int tool = -1) const;
     std::string set_bed_temperature(unsigned int temperature, bool wait = false);
-    std::string set_acceleration(unsigned int acceleration);
+    std::string set_print_acceleration(unsigned int acceleration)   { return set_acceleration_internal(Acceleration::Print, acceleration); }
+    std::string set_travel_acceleration(unsigned int acceleration)  { return set_acceleration_internal(Acceleration::Travel, acceleration); }
     std::string reset_e(bool force = false);
     std::string update_progress(unsigned int num, unsigned int tot, bool allow_100 = false) const;
     // return false if this extruder was already selected
@@ -69,6 +70,9 @@ public:
     std::string unlift();
     Vec3d       get_position() const { return m_pos; }
 
+    // Returns whether this flavor supports separate print and travel acceleration.
+    bool supports_PT() const;
+
     // To be called by the CoolingBuffer from another thread.
     static std::string set_fan(const GCodeFlavor gcode_flavor, bool gcode_comments, unsigned int speed);
     // To be called by the main thread. It always emits the G-code, it does not remember the previous state.
@@ -81,7 +85,8 @@ private:
     std::string     m_extrusion_axis;
     bool            m_single_extruder_multi_material;
     Extruder*       m_extruder;
-    unsigned int    m_last_acceleration;
+    unsigned int    m_last_acceleration = (unsigned int)(-1);
+    unsigned int    m_last_travel_acceleration = (unsigned int)(-1); // only used for flavors supporting separate print/travel acc
     // Limit for setting the acceleration, to respect the machine limits set for the Marlin firmware.
     // If set to zero, the limit is not in action.
     unsigned int    m_max_acceleration;
@@ -90,8 +95,14 @@ private:
     double          m_lifted;
     Vec3d           m_pos = Vec3d::Zero();
 
+    enum class Acceleration {
+        Travel,
+        Print
+    };
+
     std::string _travel_to_z(double z, const std::string &comment);
     std::string _retract(double length, double restart_extra, const std::string &comment);
+    std::string set_acceleration_internal(Acceleration type, unsigned int acceleration);
 };
 
 class GCodeFormatter {