From 6c627be4c18cc747df9040ed3bceb2bc14823f0b Mon Sep 17 00:00:00 2001 From: bubnikv Date: Wed, 25 Apr 2018 10:37:31 +0200 Subject: [PATCH 1/4] New cooling logic to equalize extrusion velocity. The old behavior caused bad outer surface print quality on Prusa i3 MK3 --- xs/src/libslic3r/GCode/CoolingBuffer.cpp | 479 +++++++++++++++-------- 1 file changed, 306 insertions(+), 173 deletions(-) diff --git a/xs/src/libslic3r/GCode/CoolingBuffer.cpp b/xs/src/libslic3r/GCode/CoolingBuffer.cpp index cd2baeffb..121cbb017 100644 --- a/xs/src/libslic3r/GCode/CoolingBuffer.cpp +++ b/xs/src/libslic3r/GCode/CoolingBuffer.cpp @@ -30,6 +30,174 @@ void CoolingBuffer::reset() m_current_pos[4] = float(m_gcodegen.config().travel_speed.value); } +struct CoolingLine +{ + enum Type { + TYPE_SET_TOOL = 1 << 0, + TYPE_EXTRUDE_END = 1 << 1, + TYPE_BRIDGE_FAN_START = 1 << 2, + TYPE_BRIDGE_FAN_END = 1 << 3, + TYPE_G0 = 1 << 4, + TYPE_G1 = 1 << 5, + TYPE_ADJUSTABLE = 1 << 6, + TYPE_EXTERNAL_PERIMETER = 1 << 7, + // The line sets a feedrate. + TYPE_HAS_F = 1 << 8, + TYPE_WIPE = 1 << 9, + TYPE_G4 = 1 << 10, + TYPE_G92 = 1 << 11, + }; + + CoolingLine(unsigned int type, size_t line_start, size_t line_end) : + type(type), line_start(line_start), line_end(line_end), + length(0.f), time(0.f), time_max(0.f), slowdown(false) {} + + bool adjustable(bool slowdown_external_perimeters) const { + return (this->type & TYPE_ADJUSTABLE) && + (! (this->type & TYPE_EXTERNAL_PERIMETER) || slowdown_external_perimeters) && + this->time < this->time_max; + } + + bool adjustable() const { + return (this->type & TYPE_ADJUSTABLE) && this->time < this->time_max; + } + + size_t type; + // Start of this line at the G-code snippet. + size_t line_start; + // End of this line at the G-code snippet. + size_t line_end; + // XY Euclidian length of this segment. + float length; + // Current feedrate, possibly adjusted. + float feedrate; + // Current duration of this segment. + float time; + // Maximum duration of this segment. + float time_max; + // If marked with the "slowdown" flag, the line has been slowed down. + bool slowdown; +}; + +// Calculate the required per extruder time stretches. +struct PerExtruderAdjustments +{ + // Calculate the total elapsed time per this extruder, adjusted for the slowdown. + float elapsed_time_total() { + float time_total = 0.f; + for (const CoolingLine &line : lines) + time_total += line.time; + return time_total; + } + // Calculate the maximum time when slowing down. + float maximum_time(bool slowdown_external_perimeters) { + float time_total = 0.f; + for (const CoolingLine &line : lines) + if (line.adjustable(slowdown_external_perimeters)) { + if (line.time_max == FLT_MAX) + return FLT_MAX; + else + time_total += line.time_max; + } else + time_total += line.time; + return time_total; + } + // Calculate the non-adjustable part of the total time. + float non_adjustable_time(bool slowdown_external_perimeters) { + float time_total = 0.f; + for (const CoolingLine &line : lines) + if (! line.adjustable(slowdown_external_perimeters)) + time_total += line.time; + return time_total; + } + float slow_down_maximum(bool slowdown_external_perimeters) { + float time_total = 0.f; + for (CoolingLine &line : lines) { + if (line.adjustable(slowdown_external_perimeters)) { + assert(line.time_max >= 0.f && line.time_max < FLT_MAX); + line.slowdown = true; + line.time = line.time_max; + line.feedrate = line.length / line.time; + } + time_total += line.time; + } + return time_total; + } + float slow_down_proportional(float factor, bool slowdown_external_perimeters) { + assert(factor >= 1.f); + float time_total = 0.f; + for (CoolingLine &line : lines) { + if (line.adjustable(slowdown_external_perimeters)) { + line.slowdown = true; + line.time = std::min(line.time_max, line.time * factor); + line.feedrate = line.length / line.time; + } + time_total += line.time; + } + return time_total; + } + + bool operator<(const PerExtruderAdjustments &rhs) const { return this->extruder_id < rhs.extruder_id; } + + // Sort the lines, adjustable first, higher feedrate first. + void sort_lines_by_decreasing_feedrate() { + std::sort(lines.begin(), lines.end(), [](const CoolingLine &l1, const CoolingLine &l2) { + bool adj1 = l1.adjustable(); + bool adj2 = l2.adjustable(); + return (adj1 == adj2) ? l1.feedrate > l2.feedrate : adj1; + }); + for (n_lines_adjustable = 0; n_lines_adjustable < lines.size(); ++ n_lines_adjustable) + if ((this->lines[n_lines_adjustable].type & CoolingLine::TYPE_ADJUSTABLE) == 0) + break; + time_non_adjustable = 0.f; + for (size_t i = n_lines_adjustable; i < lines.size(); ++ i) + time_non_adjustable += lines[i].time; + } + + // Calculate the maximum time when slowing down. + float time_stretch_when_slowing_down_to(float min_feedrate) { + float time_stretch = 0.f; + if (this->min_print_speed < min_feedrate + EPSILON) { + for (size_t i = 0; i < n_lines_adjustable; ++ i) { + const CoolingLine &line = lines[i]; + if (line.feedrate > min_feedrate) + time_stretch += line.time * (line.feedrate / min_feedrate - 1.f); + } + } + return time_stretch; + } + + void slow_down_to(float min_feedrate) { + if (this->min_print_speed < min_feedrate + EPSILON) { + for (size_t i = 0; i < n_lines_adjustable; ++ i) { + CoolingLine &line = lines[i]; + if (line.feedrate > min_feedrate) { + line.time *= std::max(1.f, line.feedrate / min_feedrate); + line.feedrate = min_feedrate; + line.slowdown = true; + } + } + } + } + + // Extruder, for which the G-code will be adjusted. + unsigned int extruder_id = 0; + // Minimum print speed allowed for this extruder. + float min_print_speed = 0.f; + + // Parsed lines. + std::vector lines; + // The following two values are set by sort_lines_by_decreasing_feedrate(): + // Number of adjustable lines, at the start of lines. + size_t n_lines_adjustable = 0; + // Non-adjustable time of lines starting with n_lines_adjustable. + float time_non_adjustable = 0; + + // Temporaries for processing the slow down. Both thresholds go from 0 to n_lines_adjustable. + size_t idx_line_begin = 0; + size_t idx_line_end = 0; +}; + #define EXTRUDER_CONFIG(OPT) config.OPT.get_at(m_current_extruder) std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_id) @@ -38,125 +206,23 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ const std::vector &extruders = m_gcodegen.writer().extruders(); const size_t num_extruders = extruders.size(); - // Calculate the required per extruder time stretches. - struct Adjustment { - Adjustment(unsigned int extruder_id = 0) : extruder_id(extruder_id) {} - // Calculate the total elapsed time per this extruder, adjusted for the slowdown. - float elapsed_time_total() { - float time_total = 0.f; - for (const Line &line : lines) - time_total += line.time; - return time_total; - } - // Calculate the maximum time when slowing down. - float maximum_time(bool slowdown_external_perimeters) { - float time_total = 0.f; - for (const Line &line : lines) - if (line.adjustable(slowdown_external_perimeters)) { - if (line.time_max == FLT_MAX) - return FLT_MAX; - else - time_total += line.time_max; - } else - time_total += line.time; - return time_total; - } - // Calculate the non-adjustable part of the total time. - float non_adjustable_time(bool slowdown_external_perimeters) { - float time_total = 0.f; - for (const Line &line : lines) - if (! line.adjustable(slowdown_external_perimeters)) - time_total += line.time; - return time_total; - } - float slow_down_maximum(bool slowdown_external_perimeters) { - float time_total = 0.f; - for (Line &line : lines) { - if (line.adjustable(slowdown_external_perimeters)) { - assert(line.time_max >= 0.f && line.time_max < FLT_MAX); - line.slowdown = true; - line.time = line.time_max; - } - time_total += line.time; - } - return time_total; - } - float slow_down_proportional(float factor, bool slowdown_external_perimeters) { - assert(factor >= 1.f); - float time_total = 0.f; - for (Line &line : lines) { - if (line.adjustable(slowdown_external_perimeters)) { - line.slowdown = true; - line.time = std::min(line.time_max, line.time * factor); - } - time_total += line.time; - } - return time_total; - } - - bool operator<(const Adjustment &rhs) const { return this->extruder_id < rhs.extruder_id; } - - struct Line - { - enum Type { - TYPE_SET_TOOL = 1 << 0, - TYPE_EXTRUDE_END = 1 << 1, - TYPE_BRIDGE_FAN_START = 1 << 2, - TYPE_BRIDGE_FAN_END = 1 << 3, - TYPE_G0 = 1 << 4, - TYPE_G1 = 1 << 5, - TYPE_ADJUSTABLE = 1 << 6, - TYPE_EXTERNAL_PERIMETER = 1 << 7, - // The line sets a feedrate. - TYPE_HAS_F = 1 << 8, - TYPE_WIPE = 1 << 9, - TYPE_G4 = 1 << 10, - TYPE_G92 = 1 << 11, - }; - - Line(unsigned int type, size_t line_start, size_t line_end) : - type(type), line_start(line_start), line_end(line_end), - length(0.f), time(0.f), time_max(0.f), slowdown(false) {} - - bool adjustable(bool slowdown_external_perimeters) const { - return (this->type & TYPE_ADJUSTABLE) && - (! (this->type & TYPE_EXTERNAL_PERIMETER) || slowdown_external_perimeters) && - this->time < this->time_max; - } - - size_t type; - // Start of this line at the G-code snippet. - size_t line_start; - // End of this line at the G-code snippet. - size_t line_end; - // XY Euclidian length of this segment. - float length; - // Current duration of this segment. - float time; - // Maximum duration of this segment. - float time_max; - // If marked with the "slowdown" flag, the line has been slowed down. - bool slowdown; - }; - - // Extruder, for which the G-code will be adjusted. - unsigned int extruder_id; - // Parsed lines. - std::vector lines; - }; - std::vector adjustments(num_extruders, Adjustment()); - for (size_t i = 0; i < num_extruders; ++ i) - adjustments[i].extruder_id = extruders[i].id(); - const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); + std::vector per_extruder_adjustments(num_extruders); + std::vector map_extruder_to_per_extruder_adjustment(num_extruders, 0); + for (size_t i = 0; i < num_extruders; ++ i) { + unsigned int extruder_id = extruders[i].id(); + per_extruder_adjustments[i].extruder_id = extruder_id; + per_extruder_adjustments[i].min_print_speed = config.min_print_speed.get_at(i); + map_extruder_to_per_extruder_adjustment[extruder_id] = i; + } + const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); // Parse the layer G-code for the moves, which could be adjusted. { - float min_print_speed = float(EXTRUDER_CONFIG(min_print_speed)); - auto adjustment = std::lower_bound(adjustments.begin(), adjustments.end(), Adjustment(m_current_extruder)); + PerExtruderAdjustments *adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[m_current_extruder]]; unsigned int initial_extruder = m_current_extruder; const char *line_start = gcode.c_str(); const char *line_end = line_start; const char extrusion_axis = config.get_extrusion_axis()[0]; - // Index of an existing Adjustment::Line of the current adjustment, which holds the feedrate setting command + // Index of an existing CoolingLine of the current adjustment, which holds the feedrate setting command // for a sequence of extrusion moves. size_t active_speed_modifier = size_t(-1); for (; *line_start != 0; line_start = line_end) { @@ -164,16 +230,16 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ ++ line_end; // sline will not contain the trailing '\n'. std::string sline(line_start, line_end); - // Adjustment::Line will contain the trailing '\n'. + // CoolingLine will contain the trailing '\n'. if (*line_end == '\n') ++ line_end; - Adjustment::Line line(0, line_start - gcode.c_str(), line_end - gcode.c_str()); + CoolingLine line(0, line_start - gcode.c_str(), line_end - gcode.c_str()); if (boost::starts_with(sline, "G0 ")) - line.type = Adjustment::Line::TYPE_G0; + line.type = CoolingLine::TYPE_G0; else if (boost::starts_with(sline, "G1 ")) - line.type = Adjustment::Line::TYPE_G1; + line.type = CoolingLine::TYPE_G1; else if (boost::starts_with(sline, "G92 ")) - line.type = Adjustment::Line::TYPE_G92; + line.type = CoolingLine::TYPE_G92; if (line.type) { // G0, G1 or G92 // Parse the G-code line. @@ -192,9 +258,9 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ if (axis == 4) { // Convert mm/min to mm/sec. new_pos[4] /= 60.f; - if ((line.type & Adjustment::Line::TYPE_G92) == 0) + if ((line.type & CoolingLine::TYPE_G92) == 0) // This is G0 or G1 line and it sets the feedrate. This mark is used for reducing the duplicate F calls. - line.type |= Adjustment::Line::TYPE_HAS_F; + line.type |= CoolingLine::TYPE_HAS_F; } } // Skip this word. @@ -203,14 +269,14 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ bool external_perimeter = boost::contains(sline, ";_EXTERNAL_PERIMETER"); bool wipe = boost::contains(sline, ";_WIPE"); if (external_perimeter) - line.type |= Adjustment::Line::TYPE_EXTERNAL_PERIMETER; + line.type |= CoolingLine::TYPE_EXTERNAL_PERIMETER; if (wipe) - line.type |= Adjustment::Line::TYPE_WIPE; + line.type |= CoolingLine::TYPE_WIPE; if (boost::contains(sline, ";_EXTRUDE_SET_SPEED") && ! wipe) { - line.type |= Adjustment::Line::TYPE_ADJUSTABLE; + line.type |= CoolingLine::TYPE_ADJUSTABLE; active_speed_modifier = adjustment->lines.size(); } - if ((line.type & Adjustment::Line::TYPE_G92) == 0) { + if ((line.type & CoolingLine::TYPE_G92) == 0) { // G0 or G1. Calculate the duration. if (config.use_relative_e_distances.value) // Reset extruder accumulator. @@ -227,15 +293,17 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ // Movement in the extruder axis. line.length = std::abs(dif[3]); } - if (line.length > 0) - line.time = line.length / new_pos[4]; // current F + if (line.length > 0) { + line.feedrate = new_pos[4]; // current F + line.time = line.length / line.feedrate; + } line.time_max = line.time; - if ((line.type & Adjustment::Line::TYPE_ADJUSTABLE) || active_speed_modifier != size_t(-1)) - line.time_max = (min_print_speed == 0.f) ? FLT_MAX : std::max(line.time, line.length / min_print_speed); - if (active_speed_modifier < adjustment->lines.size() && (line.type & Adjustment::Line::TYPE_G1)) { + if ((line.type & CoolingLine::TYPE_ADJUSTABLE) || active_speed_modifier != size_t(-1)) + line.time_max = (adjustment->min_print_speed == 0.f) ? FLT_MAX : std::max(line.time, line.length / adjustment->min_print_speed); + if (active_speed_modifier < adjustment->lines.size() && (line.type & CoolingLine::TYPE_G1)) { // Inside the ";_EXTRUDE_SET_SPEED" blocks, there must not be a G1 Fxx entry. - assert((line.type & Adjustment::Line::TYPE_HAS_F) == 0); - Adjustment::Line &sm = adjustment->lines[active_speed_modifier]; + assert((line.type & CoolingLine::TYPE_HAS_F) == 0); + CoolingLine &sm = adjustment->lines[active_speed_modifier]; sm.length += line.length; sm.time += line.time; if (sm.time_max != FLT_MAX) { @@ -250,24 +318,23 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ } m_current_pos = std::move(new_pos); } else if (boost::starts_with(sline, ";_EXTRUDE_END")) { - line.type = Adjustment::Line::TYPE_EXTRUDE_END; + line.type = CoolingLine::TYPE_EXTRUDE_END; active_speed_modifier = size_t(-1); } else if (boost::starts_with(sline, toolchange_prefix)) { // Switch the tool. - line.type = Adjustment::Line::TYPE_SET_TOOL; + line.type = CoolingLine::TYPE_SET_TOOL; unsigned int new_extruder = (unsigned int)atoi(sline.c_str() + toolchange_prefix.size()); if (new_extruder != m_current_extruder) { m_current_extruder = new_extruder; - min_print_speed = float(EXTRUDER_CONFIG(min_print_speed)); - adjustment = std::lower_bound(adjustments.begin(), adjustments.end(), Adjustment(m_current_extruder)); + adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[m_current_extruder]]; } } else if (boost::starts_with(sline, ";_BRIDGE_FAN_START")) { - line.type = Adjustment::Line::TYPE_BRIDGE_FAN_START; + line.type = CoolingLine::TYPE_BRIDGE_FAN_START; } else if (boost::starts_with(sline, ";_BRIDGE_FAN_END")) { - line.type = Adjustment::Line::TYPE_BRIDGE_FAN_END; + line.type = CoolingLine::TYPE_BRIDGE_FAN_END; } else if (boost::starts_with(sline, "G4 ")) { // Parse the wait time. - line.type = Adjustment::Line::TYPE_G4; + line.type = CoolingLine::TYPE_G4; size_t pos_S = sline.find('S', 3); size_t pos_P = sline.find('P', 3); line.time = line.time_max = float( @@ -281,18 +348,19 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ } // Sort the extruders by the increasing slowdown_below_layer_time. - std::vector by_slowdown_layer_time; - by_slowdown_layer_time.reserve(num_extruders); + std::vector extruder_by_slowdown_time; + extruder_by_slowdown_time.reserve(num_extruders); // Only insert entries, which are adjustable (have cooling enabled and non-zero stretchable time). // Collect total print time of non-adjustable extruders. float elapsed_time_total_non_adjustable = 0.f; for (size_t i = 0; i < num_extruders; ++ i) { - if (config.cooling.get_at(extruders[i].id())) - by_slowdown_layer_time.emplace_back(i); - else - elapsed_time_total_non_adjustable += adjustments[i].elapsed_time_total(); + if (config.cooling.get_at(extruders[i].id())) { + extruder_by_slowdown_time.emplace_back(i); + per_extruder_adjustments[i].sort_lines_by_decreasing_feedrate(); + } else + elapsed_time_total_non_adjustable += per_extruder_adjustments[i].elapsed_time_total(); } - std::sort(by_slowdown_layer_time.begin(), by_slowdown_layer_time.end(), + std::sort(extruder_by_slowdown_time.begin(), extruder_by_slowdown_time.end(), [&config, &extruders](const size_t idx1, const size_t idx2){ return config.slowdown_below_layer_time.get_at(extruders[idx1].id()) < config.slowdown_below_layer_time.get_at(extruders[idx2].id()); @@ -303,18 +371,18 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ { // Elapsed time for the already adjusted extruders. float elapsed_time_total0 = elapsed_time_total_non_adjustable; - for (size_t i_by_slowdown_layer_time = 0; i_by_slowdown_layer_time < by_slowdown_layer_time.size(); ++ i_by_slowdown_layer_time) { - // Idx in adjustments. - size_t idx = by_slowdown_layer_time[i_by_slowdown_layer_time]; - // Macro to sum or adjust all sections starting with i_by_slowdown_layer_time. + for (size_t i_extruder_by_slowdown_time = 0; i_extruder_by_slowdown_time < extruder_by_slowdown_time.size(); ++ i_extruder_by_slowdown_time) { + // Idx in per_extruder_adjustments. + size_t idx = extruder_by_slowdown_time[i_extruder_by_slowdown_time]; + // Macro to sum or adjust all sections starting with i_extruder_by_slowdown_time. #define FORALL_UNPROCESSED(ACCUMULATOR, ACTION) \ ACCUMULATOR = elapsed_time_total0;\ - for (size_t j = i_by_slowdown_layer_time; j < by_slowdown_layer_time.size(); ++ j) \ - ACCUMULATOR += adjustments[by_slowdown_layer_time[j]].ACTION + for (size_t j = i_extruder_by_slowdown_time; j < extruder_by_slowdown_time.size(); ++ j) \ + ACCUMULATOR += per_extruder_adjustments[extruder_by_slowdown_time[j]].ACTION // Calculate the current adjusted elapsed_time_total over the non-finalized extruders. float total; FORALL_UNPROCESSED(total, elapsed_time_total()); - float slowdown_below_layer_time = float(config.slowdown_below_layer_time.get_at(adjustments[idx].extruder_id)) * 1.001f; + float slowdown_below_layer_time = float(config.slowdown_below_layer_time.get_at(per_extruder_adjustments[idx].extruder_id)) * 1.001f; if (total > slowdown_below_layer_time) { // The current total time is above the minimum threshold of the rest of the extruders, don't adjust anything. } else { @@ -323,8 +391,9 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ float max_time; FORALL_UNPROCESSED(max_time, maximum_time(true)); if (max_time > slowdown_below_layer_time) { - // By slowing every possible movement, the layer time could be reached. Now decide - // whether the external perimeters shall be slowed down as well. + // By slowing every possible movement, the layer time could be reached. +#if 0 + // Now decide, whether the external perimeters shall be slowed down as well. float max_time_nep; FORALL_UNPROCESSED(max_time_nep, maximum_time(false)); if (max_time_nep > slowdown_below_layer_time) { @@ -355,34 +424,98 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ break; } } +#else + // Slow down. Try to equalize the feedrates. + std::vector by_min_print_speed; + by_min_print_speed.reserve(extruder_by_slowdown_time.size() - i_extruder_by_slowdown_time); + for (size_t j = i_extruder_by_slowdown_time; j < extruder_by_slowdown_time.size(); ++ j) + by_min_print_speed.emplace_back(&per_extruder_adjustments[extruder_by_slowdown_time[j]]); + // Find the next highest adjustable feedrate among the extruders. + float feedrate = 0; + for (PerExtruderAdjustments *adj : by_min_print_speed) + if (adj->idx_line_begin < adj->n_lines_adjustable && adj->lines[adj->idx_line_begin].feedrate > feedrate) + feedrate = adj->lines[adj->idx_line_begin].feedrate; + if (feedrate == 0) + // No adjustable line is left. + break; + // Sort by min_print_speed, maximum speed first. + std::sort(by_min_print_speed.begin(), by_min_print_speed.end(), + [](const PerExtruderAdjustments *p1, const PerExtruderAdjustments *p2){ return p1->min_print_speed > p2->min_print_speed; }); + // Slow down, fast moves first. + for (;;) { + // For each extruder, find the span of lines with a feedrate close to feedrate. + for (PerExtruderAdjustments *adj : by_min_print_speed) { + for (adj->idx_line_end = adj->idx_line_begin; + adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate - EPSILON; + ++ adj->idx_line_end) ; + } + // Find the next highest adjustable feedrate among the extruders. + float feedrate_next = 0.f; + for (PerExtruderAdjustments *adj : by_min_print_speed) + if (adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate_next) + feedrate_next = adj->lines[adj->idx_line_end].feedrate; + // Slow down, limited by max(feedrate_next, min_print_speed). + for (auto adj = by_min_print_speed.begin(); adj != by_min_print_speed.end();) { + float feedrate_limit = std::max(feedrate_next, (*adj)->min_print_speed); + float time_stretch = slowdown_below_layer_time - total; + float time_stretch_max = 0.f; + std::pair time_stretched(0.f, 0.f); + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + time_stretch_max += (*it)->time_stretch_when_slowing_down_to(feedrate_limit); + bool done = false; + if (time_stretch_max > time_stretch) { + feedrate_limit = feedrate - (feedrate - feedrate_limit) * time_stretch / time_stretch_max; + done = true; + } + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + (*it)->slow_down_to(feedrate_limit); + if (done) { + // Break from two levels of loops. + feedrate_next = 0.f; + break; + } + // Skip the other extruders with nearly the same min_print_speed, as they have been processed already. + auto next = adj; + for (++ next; next != by_min_print_speed.end() && (*next)->min_print_speed > (*adj)->min_print_speed - EPSILON; ++ next); + adj = next; + } + if (feedrate_next == 0.f) + // There are no other extrusions available for slow down. + break; + for (PerExtruderAdjustments *adj : by_min_print_speed) { + adj->idx_line_begin = adj->idx_line_end; + feedrate = feedrate_next; + } + } +#endif } else { // Slow down to maximum possible. FORALL_UNPROCESSED(total, slow_down_maximum(true)); } } #undef FORALL_UNPROCESSED - // Sum the final elapsed time for all extruders up to i_by_slowdown_layer_time. - if (i_by_slowdown_layer_time + 1 == by_slowdown_layer_time.size()) + // Sum the final elapsed time for all extruders up to i_extruder_by_slowdown_time. + if (i_extruder_by_slowdown_time + 1 == extruder_by_slowdown_time.size()) // Optimization for single extruder prints. elapsed_time_total0 = total; else - elapsed_time_total0 += adjustments[idx].elapsed_time_total(); + elapsed_time_total0 += per_extruder_adjustments[idx].elapsed_time_total(); } elapsed_time_total = elapsed_time_total0; } // Transform the G-code. // First sort the adjustment lines by their position in the source G-code. - std::vector lines; + std::vector lines; { size_t n_lines = 0; - for (const Adjustment &adj : adjustments) + for (const PerExtruderAdjustments &adj : per_extruder_adjustments) n_lines += adj.lines.size(); lines.reserve(n_lines); - for (const Adjustment &adj : adjustments) - for (const Adjustment::Line &line : adj.lines) + for (const PerExtruderAdjustments &adj : per_extruder_adjustments) + for (const CoolingLine &line : adj.lines) lines.emplace_back(&line); - std::sort(lines.begin(), lines.end(), [](const Adjustment::Line *ln1, const Adjustment::Line *ln2) { return ln1->line_start < ln2->line_start; } ); + std::sort(lines.begin(), lines.end(), [](const CoolingLine *ln1, const CoolingLine *ln2) { return ln1->line_start < ln2->line_start; } ); } // Second generate the adjusted G-code. std::string new_gcode; @@ -425,27 +558,27 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ const char *pos = gcode.c_str(); int current_feedrate = 0; - for (const Adjustment::Line *line : lines) { + for (const CoolingLine *line : lines) { const char *line_start = gcode.c_str() + line->line_start; const char *line_end = gcode.c_str() + line->line_end; if (line_start > pos) new_gcode.append(pos, line_start - pos); - if (line->type & Adjustment::Line::TYPE_SET_TOOL) { + if (line->type & CoolingLine::TYPE_SET_TOOL) { unsigned int new_extruder = (unsigned int)atoi(line_start + toolchange_prefix.size()); if (new_extruder != m_current_extruder) { m_current_extruder = new_extruder; change_extruder_set_fan(); } new_gcode.append(line_start, line_end - line_start); - } else if (line->type & Adjustment::Line::TYPE_BRIDGE_FAN_START) { + } else if (line->type & CoolingLine::TYPE_BRIDGE_FAN_START) { if (bridge_fan_control) new_gcode += m_gcodegen.writer().set_fan(bridge_fan_speed, true); - } else if (line->type & Adjustment::Line::TYPE_BRIDGE_FAN_END) { + } else if (line->type & CoolingLine::TYPE_BRIDGE_FAN_END) { if (bridge_fan_control) new_gcode += m_gcodegen.writer().set_fan(fan_speed, true); - } else if (line->type & Adjustment::Line::TYPE_EXTRUDE_END) { + } else if (line->type & CoolingLine::TYPE_EXTRUDE_END) { // Just remove this comment. - } else if (line->type & (Adjustment::Line::TYPE_ADJUSTABLE | Adjustment::Line::TYPE_EXTERNAL_PERIMETER | Adjustment::Line::TYPE_WIPE | Adjustment::Line::TYPE_HAS_F)) { + } else if (line->type & (CoolingLine::TYPE_ADJUSTABLE | CoolingLine::TYPE_EXTERNAL_PERIMETER | CoolingLine::TYPE_WIPE | CoolingLine::TYPE_HAS_F)) { // Find the start of a comment, or roll to the end of line. const char *end = line_start; for (; end < line_end && *end != ';'; ++ end); @@ -456,14 +589,14 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ assert(fpos != nullptr); if (line->slowdown) { modify = true; - new_feedrate = int(floor(60. * (line->length / line->time) + 0.5)); + new_feedrate = int(floor(60. * line->feedrate + 0.5)); } else { new_feedrate = atoi(fpos); if (new_feedrate != current_feedrate) { // Append the line without the comment. new_gcode.append(line_start, end - line_start); current_feedrate = new_feedrate; - } else if ((line->type & (Adjustment::Line::TYPE_ADJUSTABLE | Adjustment::Line::TYPE_EXTERNAL_PERIMETER | Adjustment::Line::TYPE_WIPE)) || line->length == 0.) { + } else if ((line->type & (CoolingLine::TYPE_ADJUSTABLE | CoolingLine::TYPE_EXTERNAL_PERIMETER | CoolingLine::TYPE_WIPE)) || line->length == 0.) { // Feedrate does not change and this line does not move the print head. Skip the complete G-code line including the G-code comment. end = line_end; } else { @@ -497,13 +630,13 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ } // Process the rest of the line. if (end < line_end) { - if (line->type & (Adjustment::Line::TYPE_ADJUSTABLE | Adjustment::Line::TYPE_EXTERNAL_PERIMETER | Adjustment::Line::TYPE_WIPE)) { + if (line->type & (CoolingLine::TYPE_ADJUSTABLE | CoolingLine::TYPE_EXTERNAL_PERIMETER | CoolingLine::TYPE_WIPE)) { // Process comments, remove ";_EXTRUDE_SET_SPEED", ";_EXTERNAL_PERIMETER", ";_WIPE" std::string comment(end, line_end); boost::replace_all(comment, ";_EXTRUDE_SET_SPEED", ""); - if (line->type & Adjustment::Line::TYPE_EXTERNAL_PERIMETER) + if (line->type & CoolingLine::TYPE_EXTERNAL_PERIMETER) boost::replace_all(comment, ";_EXTERNAL_PERIMETER", ""); - if (line->type & Adjustment::Line::TYPE_WIPE) + if (line->type & CoolingLine::TYPE_WIPE) boost::replace_all(comment, ";_WIPE", ""); new_gcode += comment; } else { From 269770bbbc373f1462631f918b0bb894db7422a1 Mon Sep 17 00:00:00 2001 From: bubnikv Date: Wed, 25 Apr 2018 22:06:44 +0200 Subject: [PATCH 2/4] Fix of a new cooling logic. --- t/cooling.t | 6 +-- xs/src/libslic3r/GCode/CoolingBuffer.cpp | 60 ++++++++++++++++-------- 2 files changed, 44 insertions(+), 22 deletions(-) diff --git a/t/cooling.t b/t/cooling.t index ee4f6abea..f69b7e8a8 100644 --- a/t/cooling.t +++ b/t/cooling.t @@ -2,7 +2,7 @@ use Test::More; use strict; use warnings; -plan tests => 15; +plan tests => 14; BEGIN { use FindBin; @@ -203,8 +203,8 @@ $config->set('disable_fan_first_layers', [ 0 ]); ok $all_below, 'slowdown_below_layer_time is honored'; # check that all layers have at least one unaltered external perimeter speed - my $external = all { $_ > 0 } values %layer_external; - ok $external, 'slowdown_below_layer_time does not alter external perimeters'; +# my $external = all { $_ > 0 } values %layer_external; +# ok $external, 'slowdown_below_layer_time does not alter external perimeters'; } __END__ diff --git a/xs/src/libslic3r/GCode/CoolingBuffer.cpp b/xs/src/libslic3r/GCode/CoolingBuffer.cpp index 121cbb017..ca9fc6555 100644 --- a/xs/src/libslic3r/GCode/CoolingBuffer.cpp +++ b/xs/src/libslic3r/GCode/CoolingBuffer.cpp @@ -102,6 +102,13 @@ struct PerExtruderAdjustments time_total += line.time; return time_total; } + float adjustable_time(bool slowdown_external_perimeters) { + float time_total = 0.f; + for (const CoolingLine &line : lines) + if (line.adjustable(slowdown_external_perimeters)) + time_total += line.time; + return time_total; + } // Calculate the non-adjustable part of the total time. float non_adjustable_time(bool slowdown_external_perimeters) { float time_total = 0.f; @@ -207,11 +214,14 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ const size_t num_extruders = extruders.size(); std::vector per_extruder_adjustments(num_extruders); - std::vector map_extruder_to_per_extruder_adjustment(num_extruders, 0); + unsigned int id_extruder_max = 0; + for (const Extruder &ex : extruders) + id_extruder_max = std::max(ex.id(), id_extruder_max); + std::vector map_extruder_to_per_extruder_adjustment(id_extruder_max + 1, 0); for (size_t i = 0; i < num_extruders; ++ i) { unsigned int extruder_id = extruders[i].id(); per_extruder_adjustments[i].extruder_id = extruder_id; - per_extruder_adjustments[i].min_print_speed = config.min_print_speed.get_at(i); + per_extruder_adjustments[i].min_print_speed = config.min_print_speed.get_at(extruder_id); map_extruder_to_per_extruder_adjustment[extruder_id] = i; } const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); @@ -442,6 +452,7 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ std::sort(by_min_print_speed.begin(), by_min_print_speed.end(), [](const PerExtruderAdjustments *p1, const PerExtruderAdjustments *p2){ return p1->min_print_speed > p2->min_print_speed; }); // Slow down, fast moves first. + float time_stretch = slowdown_below_layer_time - total; for (;;) { // For each extruder, find the span of lines with a feedrate close to feedrate. for (PerExtruderAdjustments *adj : by_min_print_speed) { @@ -457,23 +468,34 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ // Slow down, limited by max(feedrate_next, min_print_speed). for (auto adj = by_min_print_speed.begin(); adj != by_min_print_speed.end();) { float feedrate_limit = std::max(feedrate_next, (*adj)->min_print_speed); - float time_stretch = slowdown_below_layer_time - total; - float time_stretch_max = 0.f; - std::pair time_stretched(0.f, 0.f); - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - time_stretch_max += (*it)->time_stretch_when_slowing_down_to(feedrate_limit); - bool done = false; - if (time_stretch_max > time_stretch) { - feedrate_limit = feedrate - (feedrate - feedrate_limit) * time_stretch / time_stretch_max; - done = true; - } - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - (*it)->slow_down_to(feedrate_limit); - if (done) { - // Break from two levels of loops. - feedrate_next = 0.f; - break; - } + if (feedrate_limit == 0.f) { + float adjustable_time = 0.f; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + adjustable_time += (*it)->adjustable_time(true); + float ratio = (adjustable_time + time_stretch) / adjustable_time; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + (*it)->slow_down_proportional(ratio, true); + // Break from two levels of loops. + feedrate_next = 0.f; + break; + } else { + float time_stretch_max = 0.f; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + time_stretch_max += (*it)->time_stretch_when_slowing_down_to(feedrate_limit); + bool done = false; + if (time_stretch_max > time_stretch) { + feedrate_limit = feedrate - (feedrate - feedrate_limit) * time_stretch / time_stretch_max; + done = true; + } + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + (*it)->slow_down_to(feedrate_limit); + if (done) { + // Break from two levels of loops. + feedrate_next = 0.f; + break; + } + time_stretch -= time_stretch_max; + } // Skip the other extruders with nearly the same min_print_speed, as they have been processed already. auto next = adj; for (++ next; next != by_min_print_speed.end() && (*next)->min_print_speed > (*adj)->min_print_speed - EPSILON; ++ next); From cbaf0ccc51133db07b47e1de0177b5db4fae2a02 Mon Sep 17 00:00:00 2001 From: bubnikv Date: Wed, 25 Apr 2018 22:54:52 +0200 Subject: [PATCH 3/4] Refactored cooling logic for readibility and maintainability. --- t/cooling.t | 1 + xs/src/libslic3r/GCode/CoolingBuffer.cpp | 753 ++++++++++++----------- xs/src/libslic3r/GCode/CoolingBuffer.hpp | 26 +- 3 files changed, 430 insertions(+), 350 deletions(-) diff --git a/t/cooling.t b/t/cooling.t index f69b7e8a8..2f444cf9d 100644 --- a/t/cooling.t +++ b/t/cooling.t @@ -79,6 +79,7 @@ $config->set('disable_fan_first_layers', [ 0 ]); "G1 X50 F2500\n" . "G1 F3000;_EXTRUDE_SET_SPEED\n" . "G1 X100 E1\n" . + ";_EXTRUDE_END\n" . "G1 E4 F400", # Print time of $gcode. my $print_time = 50 / (2500 / 60) + 100 / (3000 / 60) + 4 / (400 / 60); diff --git a/xs/src/libslic3r/GCode/CoolingBuffer.cpp b/xs/src/libslic3r/GCode/CoolingBuffer.cpp index ca9fc6555..141d197ca 100644 --- a/xs/src/libslic3r/GCode/CoolingBuffer.cpp +++ b/xs/src/libslic3r/GCode/CoolingBuffer.cpp @@ -89,8 +89,9 @@ struct PerExtruderAdjustments time_total += line.time; return time_total; } - // Calculate the maximum time when slowing down. - float maximum_time(bool slowdown_external_perimeters) { + // Calculate the total elapsed time when slowing down + // to the minimum extrusion feed rate defined for the current material. + float maximum_time_after_slowdown(bool slowdown_external_perimeters) { float time_total = 0.f; for (const CoolingLine &line : lines) if (line.adjustable(slowdown_external_perimeters)) { @@ -102,6 +103,7 @@ struct PerExtruderAdjustments time_total += line.time; return time_total; } + // Calculate the adjustable part of the total time. float adjustable_time(bool slowdown_external_perimeters) { float time_total = 0.f; for (const CoolingLine &line : lines) @@ -117,7 +119,9 @@ struct PerExtruderAdjustments time_total += line.time; return time_total; } - float slow_down_maximum(bool slowdown_external_perimeters) { + // Slow down the adjustable extrusions to the minimum feedrate allowed for the current extruder material. + // Used by both proportional and non-proportional slow down. + float slowdown_to_minimum_feedrate(bool slowdown_external_perimeters) { float time_total = 0.f; for (CoolingLine &line : lines) { if (line.adjustable(slowdown_external_perimeters)) { @@ -130,6 +134,8 @@ struct PerExtruderAdjustments } return time_total; } + // Slow down each adjustable G-code line proportionally by a factor. + // Used by the proportional slow down. float slow_down_proportional(float factor, bool slowdown_external_perimeters) { assert(factor >= 1.f); float time_total = 0.f; @@ -144,9 +150,8 @@ struct PerExtruderAdjustments return time_total; } - bool operator<(const PerExtruderAdjustments &rhs) const { return this->extruder_id < rhs.extruder_id; } - // Sort the lines, adjustable first, higher feedrate first. + // Used by non-proportional slow down. void sort_lines_by_decreasing_feedrate() { std::sort(lines.begin(), lines.end(), [](const CoolingLine &l1, const CoolingLine &l2) { bool adj1 = l1.adjustable(); @@ -161,34 +166,41 @@ struct PerExtruderAdjustments time_non_adjustable += lines[i].time; } - // Calculate the maximum time when slowing down. - float time_stretch_when_slowing_down_to(float min_feedrate) { + // Calculate the maximum time stretch when slowing down to min_feedrate. + // Slowdown to min_feedrate shall be allowed for this extruder's material. + // Used by non-proportional slow down. + float time_stretch_when_slowing_down_to_feedrate(float min_feedrate) { float time_stretch = 0.f; - if (this->min_print_speed < min_feedrate + EPSILON) { - for (size_t i = 0; i < n_lines_adjustable; ++ i) { - const CoolingLine &line = lines[i]; - if (line.feedrate > min_feedrate) - time_stretch += line.time * (line.feedrate / min_feedrate - 1.f); - } + assert(this->min_print_speed < min_feedrate + EPSILON); + for (size_t i = 0; i < n_lines_adjustable; ++ i) { + const CoolingLine &line = lines[i]; + if (line.feedrate > min_feedrate) + time_stretch += line.time * (line.feedrate / min_feedrate - 1.f); } return time_stretch; } - void slow_down_to(float min_feedrate) { - if (this->min_print_speed < min_feedrate + EPSILON) { - for (size_t i = 0; i < n_lines_adjustable; ++ i) { - CoolingLine &line = lines[i]; - if (line.feedrate > min_feedrate) { - line.time *= std::max(1.f, line.feedrate / min_feedrate); - line.feedrate = min_feedrate; - line.slowdown = true; - } + // Slow down all adjustable lines down to min_feedrate. + // Slowdown to min_feedrate shall be allowed for this extruder's material. + // Used by non-proportional slow down. + void slow_down_to_feedrate(float min_feedrate) { + assert(this->min_print_speed < min_feedrate + EPSILON); + for (size_t i = 0; i < n_lines_adjustable; ++ i) { + CoolingLine &line = lines[i]; + if (line.feedrate > min_feedrate) { + line.time *= std::max(1.f, line.feedrate / min_feedrate); + line.feedrate = min_feedrate; + line.slowdown = true; } } } // Extruder, for which the G-code will be adjusted. unsigned int extruder_id = 0; + // Is the cooling slow down logic enabled for this extruder's material? + bool cooling_slow_down_enabled = false; + // Slow down the print down to min_print_speed if the total layer time is below slowdown_below_layer_time. + float slowdown_below_layer_time = 0.f; // Minimum print speed allowed for this extruder. float min_print_speed = 0.f; @@ -199,335 +211,387 @@ struct PerExtruderAdjustments size_t n_lines_adjustable = 0; // Non-adjustable time of lines starting with n_lines_adjustable. float time_non_adjustable = 0; + // Current total time for this extruder. + float time_total = 0; + // Maximum time for this extruder, when the maximum slow down is applied. + float time_maximum = 0; // Temporaries for processing the slow down. Both thresholds go from 0 to n_lines_adjustable. size_t idx_line_begin = 0; size_t idx_line_end = 0; }; -#define EXTRUDER_CONFIG(OPT) config.OPT.get_at(m_current_extruder) - std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_id) +{ + std::vector per_extruder_adjustments = this->parse_layer_gcode(gcode, m_current_pos); + float layer_time_stretched = this->calculate_layer_slowdown(per_extruder_adjustments); + return this->apply_layer_cooldown(gcode, layer_id, layer_time_stretched, per_extruder_adjustments); +} + +// Parse the layer G-code for the moves, which could be adjusted. +// Return the list of parsed lines, bucketed by an extruder. +std::vector CoolingBuffer::parse_layer_gcode(const std::string &gcode, std::vector ¤t_pos) const { const FullPrintConfig &config = m_gcodegen.config(); const std::vector &extruders = m_gcodegen.writer().extruders(); - const size_t num_extruders = extruders.size(); - - std::vector per_extruder_adjustments(num_extruders); - unsigned int id_extruder_max = 0; + unsigned int num_extruders = 0; for (const Extruder &ex : extruders) - id_extruder_max = std::max(ex.id(), id_extruder_max); - std::vector map_extruder_to_per_extruder_adjustment(id_extruder_max + 1, 0); - for (size_t i = 0; i < num_extruders; ++ i) { - unsigned int extruder_id = extruders[i].id(); - per_extruder_adjustments[i].extruder_id = extruder_id; - per_extruder_adjustments[i].min_print_speed = config.min_print_speed.get_at(extruder_id); + num_extruders = std::max(ex.id() + 1, num_extruders); + + std::vector per_extruder_adjustments(extruders.size()); + std::vector map_extruder_to_per_extruder_adjustment(num_extruders, 0); + for (size_t i = 0; i < extruders.size(); ++ i) { + PerExtruderAdjustments &adj = per_extruder_adjustments[i]; + unsigned int extruder_id = extruders[i].id(); + adj.extruder_id = extruder_id; + adj.cooling_slow_down_enabled = config.cooling.get_at(extruder_id); + adj.slowdown_below_layer_time = config.slowdown_below_layer_time.get_at(extruder_id); + adj.min_print_speed = config.min_print_speed.get_at(extruder_id); map_extruder_to_per_extruder_adjustment[extruder_id] = i; } - const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); - // Parse the layer G-code for the moves, which could be adjusted. + + const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); + unsigned int current_extruder = m_current_extruder; + PerExtruderAdjustments *adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[current_extruder]]; + const char *line_start = gcode.c_str(); + const char *line_end = line_start; + const char extrusion_axis = config.get_extrusion_axis()[0]; + // Index of an existing CoolingLine of the current adjustment, which holds the feedrate setting command + // for a sequence of extrusion moves. + size_t active_speed_modifier = size_t(-1); + + for (; *line_start != 0; line_start = line_end) { - PerExtruderAdjustments *adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[m_current_extruder]]; - unsigned int initial_extruder = m_current_extruder; - const char *line_start = gcode.c_str(); - const char *line_end = line_start; - const char extrusion_axis = config.get_extrusion_axis()[0]; - // Index of an existing CoolingLine of the current adjustment, which holds the feedrate setting command - // for a sequence of extrusion moves. - size_t active_speed_modifier = size_t(-1); - for (; *line_start != 0; line_start = line_end) { - while (*line_end != '\n' && *line_end != 0) - ++ line_end; - // sline will not contain the trailing '\n'. - std::string sline(line_start, line_end); - // CoolingLine will contain the trailing '\n'. - if (*line_end == '\n') - ++ line_end; - CoolingLine line(0, line_start - gcode.c_str(), line_end - gcode.c_str()); - if (boost::starts_with(sline, "G0 ")) - line.type = CoolingLine::TYPE_G0; - else if (boost::starts_with(sline, "G1 ")) - line.type = CoolingLine::TYPE_G1; - else if (boost::starts_with(sline, "G92 ")) - line.type = CoolingLine::TYPE_G92; - if (line.type) { - // G0, G1 or G92 - // Parse the G-code line. - std::vector new_pos(m_current_pos); - const char *c = sline.data() + 3; - for (;;) { - // Skip whitespaces. - for (; *c == ' ' || *c == '\t'; ++ c); - if (*c == 0 || *c == ';') - break; - // Parse the axis. - size_t axis = (*c >= 'X' && *c <= 'Z') ? (*c - 'X') : - (*c == extrusion_axis) ? 3 : (*c == 'F') ? 4 : size_t(-1); - if (axis != size_t(-1)) { - new_pos[axis] = float(atof(++c)); - if (axis == 4) { - // Convert mm/min to mm/sec. - new_pos[4] /= 60.f; - if ((line.type & CoolingLine::TYPE_G92) == 0) - // This is G0 or G1 line and it sets the feedrate. This mark is used for reducing the duplicate F calls. - line.type |= CoolingLine::TYPE_HAS_F; - } - } - // Skip this word. - for (; *c != ' ' && *c != '\t' && *c != 0; ++ c); - } - bool external_perimeter = boost::contains(sline, ";_EXTERNAL_PERIMETER"); - bool wipe = boost::contains(sline, ";_WIPE"); - if (external_perimeter) - line.type |= CoolingLine::TYPE_EXTERNAL_PERIMETER; - if (wipe) - line.type |= CoolingLine::TYPE_WIPE; - if (boost::contains(sline, ";_EXTRUDE_SET_SPEED") && ! wipe) { - line.type |= CoolingLine::TYPE_ADJUSTABLE; - active_speed_modifier = adjustment->lines.size(); - } - if ((line.type & CoolingLine::TYPE_G92) == 0) { - // G0 or G1. Calculate the duration. - if (config.use_relative_e_distances.value) - // Reset extruder accumulator. - m_current_pos[3] = 0.f; - float dif[4]; - for (size_t i = 0; i < 4; ++ i) - dif[i] = new_pos[i] - m_current_pos[i]; - float dxy2 = dif[0] * dif[0] + dif[1] * dif[1]; - float dxyz2 = dxy2 + dif[2] * dif[2]; - if (dxyz2 > 0.f) { - // Movement in xyz, calculate time from the xyz Euclidian distance. - line.length = sqrt(dxyz2); - } else if (std::abs(dif[3]) > 0.f) { - // Movement in the extruder axis. - line.length = std::abs(dif[3]); + while (*line_end != '\n' && *line_end != 0) + ++ line_end; + // sline will not contain the trailing '\n'. + std::string sline(line_start, line_end); + // CoolingLine will contain the trailing '\n'. + if (*line_end == '\n') + ++ line_end; + CoolingLine line(0, line_start - gcode.c_str(), line_end - gcode.c_str()); + if (boost::starts_with(sline, "G0 ")) + line.type = CoolingLine::TYPE_G0; + else if (boost::starts_with(sline, "G1 ")) + line.type = CoolingLine::TYPE_G1; + else if (boost::starts_with(sline, "G92 ")) + line.type = CoolingLine::TYPE_G92; + if (line.type) { + // G0, G1 or G92 + // Parse the G-code line. + std::vector new_pos(current_pos); + const char *c = sline.data() + 3; + for (;;) { + // Skip whitespaces. + for (; *c == ' ' || *c == '\t'; ++ c); + if (*c == 0 || *c == ';') + break; + // Parse the axis. + size_t axis = (*c >= 'X' && *c <= 'Z') ? (*c - 'X') : + (*c == extrusion_axis) ? 3 : (*c == 'F') ? 4 : size_t(-1); + if (axis != size_t(-1)) { + new_pos[axis] = float(atof(++c)); + if (axis == 4) { + // Convert mm/min to mm/sec. + new_pos[4] /= 60.f; + if ((line.type & CoolingLine::TYPE_G92) == 0) + // This is G0 or G1 line and it sets the feedrate. This mark is used for reducing the duplicate F calls. + line.type |= CoolingLine::TYPE_HAS_F; } - if (line.length > 0) { - line.feedrate = new_pos[4]; // current F - line.time = line.length / line.feedrate; - } - line.time_max = line.time; - if ((line.type & CoolingLine::TYPE_ADJUSTABLE) || active_speed_modifier != size_t(-1)) - line.time_max = (adjustment->min_print_speed == 0.f) ? FLT_MAX : std::max(line.time, line.length / adjustment->min_print_speed); - if (active_speed_modifier < adjustment->lines.size() && (line.type & CoolingLine::TYPE_G1)) { - // Inside the ";_EXTRUDE_SET_SPEED" blocks, there must not be a G1 Fxx entry. - assert((line.type & CoolingLine::TYPE_HAS_F) == 0); - CoolingLine &sm = adjustment->lines[active_speed_modifier]; - sm.length += line.length; - sm.time += line.time; - if (sm.time_max != FLT_MAX) { - if (line.time_max == FLT_MAX) - sm.time_max = FLT_MAX; - else - sm.time_max += line.time_max; - } - // Don't store this line. - line.type = 0; - } - } - m_current_pos = std::move(new_pos); - } else if (boost::starts_with(sline, ";_EXTRUDE_END")) { - line.type = CoolingLine::TYPE_EXTRUDE_END; - active_speed_modifier = size_t(-1); - } else if (boost::starts_with(sline, toolchange_prefix)) { - // Switch the tool. - line.type = CoolingLine::TYPE_SET_TOOL; - unsigned int new_extruder = (unsigned int)atoi(sline.c_str() + toolchange_prefix.size()); - if (new_extruder != m_current_extruder) { - m_current_extruder = new_extruder; - adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[m_current_extruder]]; } - } else if (boost::starts_with(sline, ";_BRIDGE_FAN_START")) { - line.type = CoolingLine::TYPE_BRIDGE_FAN_START; - } else if (boost::starts_with(sline, ";_BRIDGE_FAN_END")) { - line.type = CoolingLine::TYPE_BRIDGE_FAN_END; - } else if (boost::starts_with(sline, "G4 ")) { - // Parse the wait time. - line.type = CoolingLine::TYPE_G4; - size_t pos_S = sline.find('S', 3); - size_t pos_P = sline.find('P', 3); - line.time = line.time_max = float( - (pos_S > 0) ? atof(sline.c_str() + pos_S + 1) : - (pos_P > 0) ? atof(sline.c_str() + pos_P + 1) * 0.001 : 0.); + // Skip this word. + for (; *c != ' ' && *c != '\t' && *c != 0; ++ c); } - if (line.type != 0) - adjustment->lines.emplace_back(std::move(line)); - } - m_current_extruder = initial_extruder; + bool external_perimeter = boost::contains(sline, ";_EXTERNAL_PERIMETER"); + bool wipe = boost::contains(sline, ";_WIPE"); + if (external_perimeter) + line.type |= CoolingLine::TYPE_EXTERNAL_PERIMETER; + if (wipe) + line.type |= CoolingLine::TYPE_WIPE; + if (boost::contains(sline, ";_EXTRUDE_SET_SPEED") && ! wipe) { + line.type |= CoolingLine::TYPE_ADJUSTABLE; + active_speed_modifier = adjustment->lines.size(); + } + if ((line.type & CoolingLine::TYPE_G92) == 0) { + // G0 or G1. Calculate the duration. + if (config.use_relative_e_distances.value) + // Reset extruder accumulator. + current_pos[3] = 0.f; + float dif[4]; + for (size_t i = 0; i < 4; ++ i) + dif[i] = new_pos[i] - current_pos[i]; + float dxy2 = dif[0] * dif[0] + dif[1] * dif[1]; + float dxyz2 = dxy2 + dif[2] * dif[2]; + if (dxyz2 > 0.f) { + // Movement in xyz, calculate time from the xyz Euclidian distance. + line.length = sqrt(dxyz2); + } else if (std::abs(dif[3]) > 0.f) { + // Movement in the extruder axis. + line.length = std::abs(dif[3]); + } + if (line.length > 0) { + line.feedrate = new_pos[4]; // current F + line.time = line.length / line.feedrate; + } + line.time_max = line.time; + if ((line.type & CoolingLine::TYPE_ADJUSTABLE) || active_speed_modifier != size_t(-1)) + line.time_max = (adjustment->min_print_speed == 0.f) ? FLT_MAX : std::max(line.time, line.length / adjustment->min_print_speed); + if (active_speed_modifier < adjustment->lines.size() && (line.type & CoolingLine::TYPE_G1)) { + // Inside the ";_EXTRUDE_SET_SPEED" blocks, there must not be a G1 Fxx entry. + assert((line.type & CoolingLine::TYPE_HAS_F) == 0); + CoolingLine &sm = adjustment->lines[active_speed_modifier]; + sm.length += line.length; + sm.time += line.time; + if (sm.time_max != FLT_MAX) { + if (line.time_max == FLT_MAX) + sm.time_max = FLT_MAX; + else + sm.time_max += line.time_max; + } + // Don't store this line. + line.type = 0; + } + } + current_pos = std::move(new_pos); + } else if (boost::starts_with(sline, ";_EXTRUDE_END")) { + line.type = CoolingLine::TYPE_EXTRUDE_END; + active_speed_modifier = size_t(-1); + } else if (boost::starts_with(sline, toolchange_prefix)) { + // Switch the tool. + line.type = CoolingLine::TYPE_SET_TOOL; + unsigned int new_extruder = (unsigned int)atoi(sline.c_str() + toolchange_prefix.size()); + if (new_extruder != current_extruder) { + current_extruder = new_extruder; + adjustment = &per_extruder_adjustments[map_extruder_to_per_extruder_adjustment[current_extruder]]; + } + } else if (boost::starts_with(sline, ";_BRIDGE_FAN_START")) { + line.type = CoolingLine::TYPE_BRIDGE_FAN_START; + } else if (boost::starts_with(sline, ";_BRIDGE_FAN_END")) { + line.type = CoolingLine::TYPE_BRIDGE_FAN_END; + } else if (boost::starts_with(sline, "G4 ")) { + // Parse the wait time. + line.type = CoolingLine::TYPE_G4; + size_t pos_S = sline.find('S', 3); + size_t pos_P = sline.find('P', 3); + line.time = line.time_max = float( + (pos_S > 0) ? atof(sline.c_str() + pos_S + 1) : + (pos_P > 0) ? atof(sline.c_str() + pos_P + 1) * 0.001 : 0.); + } + if (line.type != 0) + adjustment->lines.emplace_back(std::move(line)); } - // Sort the extruders by the increasing slowdown_below_layer_time. - std::vector extruder_by_slowdown_time; - extruder_by_slowdown_time.reserve(num_extruders); + return per_extruder_adjustments; +} + +// Slow down an extruder range proportionally down to slowdown_below_layer_time. +// Return the total time for the complete layer. +static inline float extruder_range_slow_down_proportional( + std::vector::iterator it_begin, + std::vector::iterator it_end, + // Elapsed time for the extruders already processed. + float elapsed_time_total0, + // Initial total elapsed time before slow down. + float elapsed_time_before_slowdown, + // Target time for the complete layer (all extruders applied). + float slowdown_below_layer_time) +{ + // Total layer time after the slow down has been applied. + float total_after_slowdown = elapsed_time_before_slowdown; + // Now decide, whether the external perimeters shall be slowed down as well. + float max_time_nep = elapsed_time_total0; + for (auto it = it_begin; it != it_end; ++ it) + max_time_nep += (*it)->maximum_time_after_slowdown(false); + if (max_time_nep > slowdown_below_layer_time) { + // It is sufficient to slow down the non-external perimeter moves to reach the target layer time. + // Slow down the non-external perimeters proportionally. + float non_adjustable_time = elapsed_time_total0; + for (auto it = it_begin; it != it_end; ++ it) + non_adjustable_time += (*it)->non_adjustable_time(false); + // The following step is a linear programming task due to the minimum movement speeds of the print moves. + // Run maximum 5 iterations until a good enough approximation is reached. + for (size_t iter = 0; iter < 5; ++ iter) { + float factor = (slowdown_below_layer_time - non_adjustable_time) / (total_after_slowdown - non_adjustable_time); + assert(factor > 1.f); + total_after_slowdown = elapsed_time_total0; + for (auto it = it_begin; it != it_end; ++ it) + total_after_slowdown += (*it)->slow_down_proportional(factor, false); + if (total_after_slowdown > 0.95f * slowdown_below_layer_time) + break; + } + } else { + // Slow down everything. First slow down the non-external perimeters to maximum. + for (auto it = it_begin; it != it_end; ++ it) + (*it)->slowdown_to_minimum_feedrate(false); + // Slow down the external perimeters proportionally. + float non_adjustable_time = elapsed_time_total0; + for (auto it = it_begin; it != it_end; ++ it) + non_adjustable_time += (*it)->non_adjustable_time(true); + for (size_t iter = 0; iter < 5; ++ iter) { + float factor = (slowdown_below_layer_time - non_adjustable_time) / (total_after_slowdown - non_adjustable_time); + assert(factor > 1.f); + total_after_slowdown = elapsed_time_total0; + for (auto it = it_begin; it != it_end; ++ it) + total_after_slowdown += (*it)->slow_down_proportional(factor, true); + if (total_after_slowdown > 0.95f * slowdown_below_layer_time) + break; + } + } + return total_after_slowdown; +} + +// Slow down an extruder range to slowdown_below_layer_time. +// Return the total time for the complete layer. +static inline void extruder_range_slow_down_non_proportional( + std::vector::iterator it_begin, + std::vector::iterator it_end, + float time_stretch) +{ + // Slow down. Try to equalize the feedrates. + std::vector by_min_print_speed(it_begin, it_end); + // Find the next highest adjustable feedrate among the extruders. + float feedrate = 0; + for (PerExtruderAdjustments *adj : by_min_print_speed) { + adj->idx_line_begin = 0; + adj->idx_line_end = 0; + assert(adj->idx_line_begin < adj->n_lines_adjustable); + if (adj->lines[adj->idx_line_begin].feedrate > feedrate) + feedrate = adj->lines[adj->idx_line_begin].feedrate; + } + assert(feedrate > 0.f); + // Sort by min_print_speed, maximum speed first. + std::sort(by_min_print_speed.begin(), by_min_print_speed.end(), + [](const PerExtruderAdjustments *p1, const PerExtruderAdjustments *p2){ return p1->min_print_speed > p2->min_print_speed; }); + // Slow down, fast moves first. + for (;;) { + // For each extruder, find the span of lines with a feedrate close to feedrate. + for (PerExtruderAdjustments *adj : by_min_print_speed) { + for (adj->idx_line_end = adj->idx_line_begin; + adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate - EPSILON; + ++ adj->idx_line_end) ; + } + // Find the next highest adjustable feedrate among the extruders. + float feedrate_next = 0.f; + for (PerExtruderAdjustments *adj : by_min_print_speed) + if (adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate_next) + feedrate_next = adj->lines[adj->idx_line_end].feedrate; + // Slow down, limited by max(feedrate_next, min_print_speed). + for (auto adj = by_min_print_speed.begin(); adj != by_min_print_speed.end();) { + // Slow down at most by time_stretch. + if ((*adj)->min_print_speed == 0.f) { + // All the adjustable speeds are now lowered to the same speed, + // and the minimum speed is set to zero. + float time_adjustable = 0.f; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + time_adjustable += (*it)->adjustable_time(true); + float rate = (time_adjustable + time_stretch) / time_adjustable; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + (*it)->slow_down_proportional(rate, true); + return; + } else { + float feedrate_limit = std::max(feedrate_next, (*adj)->min_print_speed); + bool done = false; + float time_stretch_max = 0.f; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + time_stretch_max += (*it)->time_stretch_when_slowing_down_to_feedrate(feedrate_limit); + if (time_stretch_max >= time_stretch) { + feedrate_limit = feedrate - (feedrate - feedrate_limit) * time_stretch / time_stretch_max; + done = true; + } else + time_stretch -= time_stretch_max; + for (auto it = adj; it != by_min_print_speed.end(); ++ it) + (*it)->slow_down_to_feedrate(feedrate_limit); + if (done) + return; + } + // Skip the other extruders with nearly the same min_print_speed, as they have been processed already. + auto next = adj; + for (++ next; next != by_min_print_speed.end() && (*next)->min_print_speed > (*adj)->min_print_speed - EPSILON; ++ next); + adj = next; + } + if (feedrate_next == 0.f) + // There are no other extrusions available for slow down. + break; + for (PerExtruderAdjustments *adj : by_min_print_speed) { + adj->idx_line_begin = adj->idx_line_end; + feedrate = feedrate_next; + } + } +} + +// Calculate slow down for all the extruders. +float CoolingBuffer::calculate_layer_slowdown(std::vector &per_extruder_adjustments) +{ + // Sort the extruders by an increasing slowdown_below_layer_time. + // The layers with a lower slowdown_below_layer_time are slowed down + // together with all the other layers with slowdown_below_layer_time above. + std::vector by_slowdown_time; + by_slowdown_time.reserve(per_extruder_adjustments.size()); // Only insert entries, which are adjustable (have cooling enabled and non-zero stretchable time). // Collect total print time of non-adjustable extruders. - float elapsed_time_total_non_adjustable = 0.f; - for (size_t i = 0; i < num_extruders; ++ i) { - if (config.cooling.get_at(extruders[i].id())) { - extruder_by_slowdown_time.emplace_back(i); - per_extruder_adjustments[i].sort_lines_by_decreasing_feedrate(); + float elapsed_time_total0 = 0.f; + for (PerExtruderAdjustments &adj : per_extruder_adjustments) { + // Curren total time for this extruder. + adj.time_total = adj.elapsed_time_total(); + // Maximum time for this extruder, when all extrusion moves are slowed down to min_extrusion_speed. + adj.time_maximum = adj.maximum_time_after_slowdown(true); + if (adj.cooling_slow_down_enabled) { + by_slowdown_time.emplace_back(&adj); + if (! m_cooling_logic_proportional) + // sorts the lines, also sets adj.time_non_adjustable + adj.sort_lines_by_decreasing_feedrate(); } else - elapsed_time_total_non_adjustable += per_extruder_adjustments[i].elapsed_time_total(); + elapsed_time_total0 += adj.elapsed_time_total(); } - std::sort(extruder_by_slowdown_time.begin(), extruder_by_slowdown_time.end(), - [&config, &extruders](const size_t idx1, const size_t idx2){ - return config.slowdown_below_layer_time.get_at(extruders[idx1].id()) < - config.slowdown_below_layer_time.get_at(extruders[idx2].id()); - }); + std::sort(by_slowdown_time.begin(), by_slowdown_time.end(), + [](const PerExtruderAdjustments *adj1, const PerExtruderAdjustments *adj2) + { return adj1->slowdown_below_layer_time < adj2->slowdown_below_layer_time; }); - // Elapsed time after adjustment. - float elapsed_time_total = 0.f; - { - // Elapsed time for the already adjusted extruders. - float elapsed_time_total0 = elapsed_time_total_non_adjustable; - for (size_t i_extruder_by_slowdown_time = 0; i_extruder_by_slowdown_time < extruder_by_slowdown_time.size(); ++ i_extruder_by_slowdown_time) { - // Idx in per_extruder_adjustments. - size_t idx = extruder_by_slowdown_time[i_extruder_by_slowdown_time]; - // Macro to sum or adjust all sections starting with i_extruder_by_slowdown_time. - #define FORALL_UNPROCESSED(ACCUMULATOR, ACTION) \ - ACCUMULATOR = elapsed_time_total0;\ - for (size_t j = i_extruder_by_slowdown_time; j < extruder_by_slowdown_time.size(); ++ j) \ - ACCUMULATOR += per_extruder_adjustments[extruder_by_slowdown_time[j]].ACTION - // Calculate the current adjusted elapsed_time_total over the non-finalized extruders. - float total; - FORALL_UNPROCESSED(total, elapsed_time_total()); - float slowdown_below_layer_time = float(config.slowdown_below_layer_time.get_at(per_extruder_adjustments[idx].extruder_id)) * 1.001f; - if (total > slowdown_below_layer_time) { - // The current total time is above the minimum threshold of the rest of the extruders, don't adjust anything. + for (auto cur_begin = by_slowdown_time.begin(); cur_begin != by_slowdown_time.end(); ++ cur_begin) { + PerExtruderAdjustments &adj = *(*cur_begin); + // Calculate the current adjusted elapsed_time_total over the non-finalized extruders. + float total = elapsed_time_total0; + for (auto it = cur_begin; it != by_slowdown_time.end(); ++ it) + total += (*it)->time_total; + float slowdown_below_layer_time = adj.slowdown_below_layer_time * 1.001f; + if (total > slowdown_below_layer_time) { + // The current total time is above the minimum threshold of the rest of the extruders, don't adjust anything. + } else { + // Adjust this and all the following (higher config.slowdown_below_layer_time) extruders. + // Sum maximum slow down time as if everything was slowed down including the external perimeters. + float max_time = elapsed_time_total0; + for (auto it = cur_begin; it != by_slowdown_time.end(); ++ it) + max_time += (*it)->time_maximum; + if (max_time > slowdown_below_layer_time) { + if (m_cooling_logic_proportional) + extruder_range_slow_down_proportional(cur_begin, by_slowdown_time.end(), elapsed_time_total0, total, slowdown_below_layer_time); + else + extruder_range_slow_down_non_proportional(cur_begin, by_slowdown_time.end(), slowdown_below_layer_time - total); } else { - // Adjust this and all the following (higher config.slowdown_below_layer_time) extruders. - // Sum maximum slow down time as if everything was slowed down including the external perimeters. - float max_time; - FORALL_UNPROCESSED(max_time, maximum_time(true)); - if (max_time > slowdown_below_layer_time) { - // By slowing every possible movement, the layer time could be reached. -#if 0 - // Now decide, whether the external perimeters shall be slowed down as well. - float max_time_nep; - FORALL_UNPROCESSED(max_time_nep, maximum_time(false)); - if (max_time_nep > slowdown_below_layer_time) { - // It is sufficient to slow down the non-external perimeter moves to reach the target layer time. - // Slow down the non-external perimeters proportionally. - float non_adjustable_time; - FORALL_UNPROCESSED(non_adjustable_time, non_adjustable_time(false)); - // The following step is a linear programming task due to the minimum movement speeds of the print moves. - // Run maximum 5 iterations until a good enough approximation is reached. - for (size_t iter = 0; iter < 5; ++ iter) { - float factor = (slowdown_below_layer_time - non_adjustable_time) / (total - non_adjustable_time); - assert(factor > 1.f); - FORALL_UNPROCESSED(total, slow_down_proportional(factor, false)); - if (total > 0.95f * slowdown_below_layer_time) - break; - } - } else { - // Slow down everything. First slow down the non-external perimeters to maximum. - FORALL_UNPROCESSED(total, slow_down_maximum(false)); - // Slow down the external perimeters proportionally. - float non_adjustable_time; - FORALL_UNPROCESSED(non_adjustable_time, non_adjustable_time(true)); - for (size_t iter = 0; iter < 5; ++ iter) { - float factor = (slowdown_below_layer_time - non_adjustable_time) / (total - non_adjustable_time); - assert(factor > 1.f); - FORALL_UNPROCESSED(total, slow_down_proportional(factor, true)); - if (total > 0.95f * slowdown_below_layer_time) - break; - } - } -#else - // Slow down. Try to equalize the feedrates. - std::vector by_min_print_speed; - by_min_print_speed.reserve(extruder_by_slowdown_time.size() - i_extruder_by_slowdown_time); - for (size_t j = i_extruder_by_slowdown_time; j < extruder_by_slowdown_time.size(); ++ j) - by_min_print_speed.emplace_back(&per_extruder_adjustments[extruder_by_slowdown_time[j]]); - // Find the next highest adjustable feedrate among the extruders. - float feedrate = 0; - for (PerExtruderAdjustments *adj : by_min_print_speed) - if (adj->idx_line_begin < adj->n_lines_adjustable && adj->lines[adj->idx_line_begin].feedrate > feedrate) - feedrate = adj->lines[adj->idx_line_begin].feedrate; - if (feedrate == 0) - // No adjustable line is left. - break; - // Sort by min_print_speed, maximum speed first. - std::sort(by_min_print_speed.begin(), by_min_print_speed.end(), - [](const PerExtruderAdjustments *p1, const PerExtruderAdjustments *p2){ return p1->min_print_speed > p2->min_print_speed; }); - // Slow down, fast moves first. - float time_stretch = slowdown_below_layer_time - total; - for (;;) { - // For each extruder, find the span of lines with a feedrate close to feedrate. - for (PerExtruderAdjustments *adj : by_min_print_speed) { - for (adj->idx_line_end = adj->idx_line_begin; - adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate - EPSILON; - ++ adj->idx_line_end) ; - } - // Find the next highest adjustable feedrate among the extruders. - float feedrate_next = 0.f; - for (PerExtruderAdjustments *adj : by_min_print_speed) - if (adj->idx_line_end < adj->n_lines_adjustable && adj->lines[adj->idx_line_end].feedrate > feedrate_next) - feedrate_next = adj->lines[adj->idx_line_end].feedrate; - // Slow down, limited by max(feedrate_next, min_print_speed). - for (auto adj = by_min_print_speed.begin(); adj != by_min_print_speed.end();) { - float feedrate_limit = std::max(feedrate_next, (*adj)->min_print_speed); - if (feedrate_limit == 0.f) { - float adjustable_time = 0.f; - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - adjustable_time += (*it)->adjustable_time(true); - float ratio = (adjustable_time + time_stretch) / adjustable_time; - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - (*it)->slow_down_proportional(ratio, true); - // Break from two levels of loops. - feedrate_next = 0.f; - break; - } else { - float time_stretch_max = 0.f; - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - time_stretch_max += (*it)->time_stretch_when_slowing_down_to(feedrate_limit); - bool done = false; - if (time_stretch_max > time_stretch) { - feedrate_limit = feedrate - (feedrate - feedrate_limit) * time_stretch / time_stretch_max; - done = true; - } - for (auto it = adj; it != by_min_print_speed.end(); ++ it) - (*it)->slow_down_to(feedrate_limit); - if (done) { - // Break from two levels of loops. - feedrate_next = 0.f; - break; - } - time_stretch -= time_stretch_max; - } - // Skip the other extruders with nearly the same min_print_speed, as they have been processed already. - auto next = adj; - for (++ next; next != by_min_print_speed.end() && (*next)->min_print_speed > (*adj)->min_print_speed - EPSILON; ++ next); - adj = next; - } - if (feedrate_next == 0.f) - // There are no other extrusions available for slow down. - break; - for (PerExtruderAdjustments *adj : by_min_print_speed) { - adj->idx_line_begin = adj->idx_line_end; - feedrate = feedrate_next; - } - } -#endif - } else { - // Slow down to maximum possible. - FORALL_UNPROCESSED(total, slow_down_maximum(true)); - } + // Slow down to maximum possible. + for (auto it = cur_begin; it != by_slowdown_time.end(); ++ it) + (*it)->slowdown_to_minimum_feedrate(true); } - #undef FORALL_UNPROCESSED - // Sum the final elapsed time for all extruders up to i_extruder_by_slowdown_time. - if (i_extruder_by_slowdown_time + 1 == extruder_by_slowdown_time.size()) - // Optimization for single extruder prints. - elapsed_time_total0 = total; - else - elapsed_time_total0 += per_extruder_adjustments[idx].elapsed_time_total(); } - elapsed_time_total = elapsed_time_total0; + elapsed_time_total0 += adj.elapsed_time_total(); } - // Transform the G-code. - // First sort the adjustment lines by their position in the source G-code. + return elapsed_time_total0; +} + +// Apply slow down over G-code lines stored in per_extruder_adjustments, enable fan if needed. +// Returns the adjusted G-code. +std::string CoolingBuffer::apply_layer_cooldown( + // Source G-code for the current layer. + const std::string &gcode, + // ID of the current layer, used to disable fan for the first n layers. + size_t layer_id, + // Total time of this layer after slow down, used to control the fan. + float layer_time, + // Per extruder list of G-code lines and their cool down attributes. + std::vector &per_extruder_adjustments) +{ + // First sort the adjustment lines by of multiple extruders by their position in the source G-code. std::vector lines; { size_t n_lines = 0; @@ -545,8 +609,9 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ int fan_speed = -1; bool bridge_fan_control = false; int bridge_fan_speed = 0; - auto change_extruder_set_fan = [ this, layer_id, elapsed_time_total, &new_gcode, &fan_speed, &bridge_fan_control, &bridge_fan_speed ]() { + auto change_extruder_set_fan = [ this, layer_id, layer_time, &new_gcode, &fan_speed, &bridge_fan_control, &bridge_fan_speed ]() { const FullPrintConfig &config = m_gcodegen.config(); +#define EXTRUDER_CONFIG(OPT) config.OPT.get_at(m_current_extruder) int min_fan_speed = EXTRUDER_CONFIG(min_fan_speed); int fan_speed_new = EXTRUDER_CONFIG(fan_always_on) ? min_fan_speed : 0; if (layer_id >= EXTRUDER_CONFIG(disable_fan_first_layers)) { @@ -554,17 +619,18 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ float slowdown_below_layer_time = float(EXTRUDER_CONFIG(slowdown_below_layer_time)); float fan_below_layer_time = float(EXTRUDER_CONFIG(fan_below_layer_time)); if (EXTRUDER_CONFIG(cooling)) { - if (elapsed_time_total < slowdown_below_layer_time) { + if (layer_time < slowdown_below_layer_time) { // Layer time very short. Enable the fan to a full throttle. fan_speed_new = max_fan_speed; - } else if (elapsed_time_total < fan_below_layer_time) { + } else if (layer_time < fan_below_layer_time) { // Layer time quite short. Enable the fan proportionally according to the current layer time. - assert(elapsed_time_total >= slowdown_below_layer_time); - double t = (elapsed_time_total - slowdown_below_layer_time) / (fan_below_layer_time - slowdown_below_layer_time); + assert(layer_time >= slowdown_below_layer_time); + double t = (layer_time - slowdown_below_layer_time) / (fan_below_layer_time - slowdown_below_layer_time); fan_speed_new = int(floor(t * min_fan_speed + (1. - t) * max_fan_speed) + 0.5); } } bridge_fan_speed = EXTRUDER_CONFIG(bridge_fan_speed); +#undef EXTRUDER_CONFIG bridge_fan_control = bridge_fan_speed > fan_speed_new; } else { bridge_fan_control = false; @@ -576,10 +642,11 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ new_gcode += m_gcodegen.writer().set_fan(fan_speed); } }; - change_extruder_set_fan(); - const char *pos = gcode.c_str(); - int current_feedrate = 0; + const char *pos = gcode.c_str(); + int current_feedrate = 0; + const std::string toolchange_prefix = m_gcodegen.writer().toolchange_prefix(); + change_extruder_set_fan(); for (const CoolingLine *line : lines) { const char *line_start = gcode.c_str() + line->line_start; const char *line_end = gcode.c_str() + line->line_end; @@ -602,9 +669,9 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ // Just remove this comment. } else if (line->type & (CoolingLine::TYPE_ADJUSTABLE | CoolingLine::TYPE_EXTERNAL_PERIMETER | CoolingLine::TYPE_WIPE | CoolingLine::TYPE_HAS_F)) { // Find the start of a comment, or roll to the end of line. - const char *end = line_start; - for (; end < line_end && *end != ';'; ++ end); - // Find the 'F' word. + const char *end = line_start; + for (; end < line_end && *end != ';'; ++ end); + // Find the 'F' word. const char *fpos = strstr(line_start + 2, " F") + 2; int new_feedrate = current_feedrate; bool modify = false; @@ -643,7 +710,7 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ new_gcode.append(line_start, f - line_start + 1); } // Skip the non-whitespaces of the F parameter up the comment or end of line. - for (; fpos != end && *fpos != ' ' && *fpos != ';' && *fpos != '\n'; ++fpos); + for (; fpos != end && *fpos != ' ' && *fpos != ';' && *fpos != '\n'; ++fpos); // Append the rest of the line without the comment. if (fpos < end) new_gcode.append(fpos, end - fpos); @@ -653,21 +720,21 @@ std::string CoolingBuffer::process_layer(const std::string &gcode, size_t layer_ // Process the rest of the line. if (end < line_end) { if (line->type & (CoolingLine::TYPE_ADJUSTABLE | CoolingLine::TYPE_EXTERNAL_PERIMETER | CoolingLine::TYPE_WIPE)) { - // Process comments, remove ";_EXTRUDE_SET_SPEED", ";_EXTERNAL_PERIMETER", ";_WIPE" - std::string comment(end, line_end); - boost::replace_all(comment, ";_EXTRUDE_SET_SPEED", ""); + // Process comments, remove ";_EXTRUDE_SET_SPEED", ";_EXTERNAL_PERIMETER", ";_WIPE" + std::string comment(end, line_end); + boost::replace_all(comment, ";_EXTRUDE_SET_SPEED", ""); if (line->type & CoolingLine::TYPE_EXTERNAL_PERIMETER) boost::replace_all(comment, ";_EXTERNAL_PERIMETER", ""); if (line->type & CoolingLine::TYPE_WIPE) boost::replace_all(comment, ";_WIPE", ""); - new_gcode += comment; - } else { - // Just attach the rest of the source line. - new_gcode.append(end, line_end - end); - } + new_gcode += comment; + } else { + // Just attach the rest of the source line. + new_gcode.append(end, line_end - end); + } } } else { - new_gcode.append(line_start, line_end - line_start); + new_gcode.append(line_start, line_end - line_start); } pos = line_end; } diff --git a/xs/src/libslic3r/GCode/CoolingBuffer.hpp b/xs/src/libslic3r/GCode/CoolingBuffer.hpp index f85c470b3..bf4b082e2 100644 --- a/xs/src/libslic3r/GCode/CoolingBuffer.hpp +++ b/xs/src/libslic3r/GCode/CoolingBuffer.hpp @@ -9,13 +9,17 @@ namespace Slic3r { class GCode; class Layer; +class PerExtruderAdjustments; -/* -A standalone G-code filter, to control cooling of the print. -The G-code is processed per layer. Once a layer is collected, fan start / stop commands are edited -and the print is modified to stretch over a minimum layer time. -*/ - +// A standalone G-code filter, to control cooling of the print. +// The G-code is processed per layer. Once a layer is collected, fan start / stop commands are edited +// and the print is modified to stretch over a minimum layer time. +// +// The simple it sounds, the actual implementation is significantly more complex. +// Namely, for a multi-extruder print, each material may require a different cooling logic. +// For example, some materials may not like to print too slowly, while with some materials +// we may slow down significantly. +// class CoolingBuffer { public: CoolingBuffer(GCode &gcodegen); @@ -25,7 +29,12 @@ public: GCode* gcodegen() { return &m_gcodegen; } private: - CoolingBuffer& operator=(const CoolingBuffer&); + CoolingBuffer& operator=(const CoolingBuffer&) = delete; + std::vector parse_layer_gcode(const std::string &gcode, std::vector ¤t_pos) const; + float calculate_layer_slowdown(std::vector &per_extruder_adjustments); + // Apply slow down over G-code lines stored in per_extruder_adjustments, enable fan if needed. + // Returns the adjusted G-code. + std::string apply_layer_cooldown(const std::string &gcode, size_t layer_id, float layer_time, std::vector &per_extruder_adjustments); GCode& m_gcodegen; std::string m_gcode; @@ -34,6 +43,9 @@ private: std::vector m_axis; std::vector m_current_pos; unsigned int m_current_extruder; + + // Old logic: proportional. + bool m_cooling_logic_proportional = false; }; } From 25d47c1da8bac02d5b1408d9a39ba7356b14fc56 Mon Sep 17 00:00:00 2001 From: bubnikv Date: Thu, 26 Apr 2018 18:56:16 +0200 Subject: [PATCH 4/4] Fix of the new cooling logic. --- xs/src/libslic3r/GCode/CoolingBuffer.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/xs/src/libslic3r/GCode/CoolingBuffer.cpp b/xs/src/libslic3r/GCode/CoolingBuffer.cpp index 141d197ca..b786f9bce 100644 --- a/xs/src/libslic3r/GCode/CoolingBuffer.cpp +++ b/xs/src/libslic3r/GCode/CoolingBuffer.cpp @@ -50,7 +50,7 @@ struct CoolingLine CoolingLine(unsigned int type, size_t line_start, size_t line_end) : type(type), line_start(line_start), line_end(line_end), - length(0.f), time(0.f), time_max(0.f), slowdown(false) {} + length(0.f), feedrate(0.f), time(0.f), time_max(0.f), slowdown(false) {} bool adjustable(bool slowdown_external_perimeters) const { return (this->type & TYPE_ADJUSTABLE) && @@ -158,9 +158,9 @@ struct PerExtruderAdjustments bool adj2 = l2.adjustable(); return (adj1 == adj2) ? l1.feedrate > l2.feedrate : adj1; }); - for (n_lines_adjustable = 0; n_lines_adjustable < lines.size(); ++ n_lines_adjustable) - if ((this->lines[n_lines_adjustable].type & CoolingLine::TYPE_ADJUSTABLE) == 0) - break; + for (n_lines_adjustable = 0; + n_lines_adjustable < lines.size() && this->lines[n_lines_adjustable].adjustable(); + ++ n_lines_adjustable); time_non_adjustable = 0.f; for (size_t i = n_lines_adjustable; i < lines.size(); ++ i) time_non_adjustable += lines[i].time; @@ -329,10 +329,10 @@ std::vector CoolingBuffer::parse_layer_gcode(const std:: // Movement in the extruder axis. line.length = std::abs(dif[3]); } - if (line.length > 0) { - line.feedrate = new_pos[4]; // current F - line.time = line.length / line.feedrate; - } + line.feedrate = new_pos[4]; + assert((line.type & CoolingLine::TYPE_ADJUSTABLE) == 0 || line.feedrate > 0.f); + if (line.length > 0) + line.time = line.length / line.feedrate; line.time_max = line.time; if ((line.type & CoolingLine::TYPE_ADJUSTABLE) || active_speed_modifier != size_t(-1)) line.time_max = (adjustment->min_print_speed == 0.f) ? FLT_MAX : std::max(line.time, line.length / adjustment->min_print_speed); @@ -340,6 +340,7 @@ std::vector CoolingBuffer::parse_layer_gcode(const std:: // Inside the ";_EXTRUDE_SET_SPEED" blocks, there must not be a G1 Fxx entry. assert((line.type & CoolingLine::TYPE_HAS_F) == 0); CoolingLine &sm = adjustment->lines[active_speed_modifier]; + assert(sm.feedrate > 0.f); sm.length += line.length; sm.time += line.time; if (sm.time_max != FLT_MAX) {