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Merge branch 'lm_improving_wipe_tower'. Summary of changes:

Browse source 
- wipe tower respects max volumetric flow, slowing down with PVA etc is not hardcoded anymore
- wipe tower is now allowed for multiple-extruder printers. single extruder stuff is not used in that case (ramming, cooling, etc.)
- start/end filament and toolchange custom gcodes are now inserted differently than before - see 41164a9
- some refactoring, e.g. the abstract WipeTower class was eradicated
This commit is contained in:
Lukas Matena 2019-07-15 10:25:38 +02:00
commit e674c586b0
12 changed files with 897 additions and 942 deletions
src/libslic3r
GCode.cpp

259
src/libslic3r/GCode.cpp
View file

@ -4,7 +4,7 @@
#include "EdgeGrid.hpp"
#include "Geometry.hpp"
#include "GCode/PrintExtents.hpp"
#include "GCode/WipeTowerPrusaMM.hpp"
#include "GCode/WipeTower.hpp"
#include "Utils.hpp"
#include <algorithm>
@ -162,9 +162,9 @@ std::string Wipe::wipe(GCode &gcodegen, bool toolchange)
return gcode;
}
static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const WipeTower::xy &wipe_tower_pt)
static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const Vec2f &wipe_tower_pt)
{
return Point(scale_(wipe_tower_pt.x - gcodegen.origin()(0)), scale_(wipe_tower_pt.y - gcodegen.origin()(1)));
return Point(scale_(wipe_tower_pt.x() - gcodegen.origin()(0)), scale_(wipe_tower_pt.y() - gcodegen.origin()(1)));
}
std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const
@ -174,47 +174,97 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T
// Toolchangeresult.gcode assumes the wipe tower corner is at the origin
// We want to rotate and shift all extrusions (gcode postprocessing) and starting and ending position
float alpha = m_wipe_tower_rotation/180.f * float(M_PI);
WipeTower::xy start_pos = tcr.start_pos;
WipeTower::xy end_pos = tcr.end_pos;
start_pos.rotate(alpha);
start_pos.translate(m_wipe_tower_pos);
end_pos.rotate(alpha);
end_pos.translate(m_wipe_tower_pos);
std::string tcr_rotated_gcode = rotate_wipe_tower_moves(tcr.gcode, tcr.start_pos, m_wipe_tower_pos, alpha);
Vec2f start_pos = tcr.start_pos;
Vec2f end_pos = tcr.end_pos;
if (!tcr.priming) {
start_pos = Eigen::Rotation2Df(alpha) * start_pos;
start_pos += m_wipe_tower_pos;
end_pos = Eigen::Rotation2Df(alpha) * end_pos;
end_pos += m_wipe_tower_pos;
}
std::string tcr_rotated_gcode = tcr.priming ? tcr.gcode : rotate_wipe_tower_moves(tcr.gcode, tcr.start_pos, m_wipe_tower_pos, alpha);
// Disable linear advance for the wipe tower operations.
gcode += (gcodegen.config().gcode_flavor == gcfRepRap ? std::string("M572 D0 S0\n") : std::string("M900 K0\n"));
// Move over the wipe tower.
// Retract for a tool change, using the toolchange retract value and setting the priming extra length.
gcode += gcodegen.retract(true);
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once = true;
gcode += gcodegen.travel_to(
wipe_tower_point_to_object_point(gcodegen, start_pos),
erMixed,
"Travel to a Wipe Tower");
gcode += gcodegen.unretract();
// Let the tool change be executed by the wipe tower class.
// Inform the G-code writer about the changes done behind its back.
gcode += tcr_rotated_gcode;
// Let the m_writer know the current extruder_id, but ignore the generated G-code.
if (new_extruder_id >= 0 && gcodegen.writer().need_toolchange(new_extruder_id))
gcodegen.writer().toolchange(new_extruder_id);
if (!tcr.priming) {
// Move over the wipe tower.
// Retract for a tool change, using the toolchange retract value and setting the priming extra length.
gcode += gcodegen.retract(true);
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once = true;
gcode += gcodegen.travel_to(
wipe_tower_point_to_object_point(gcodegen, start_pos),
erMixed,
"Travel to a Wipe Tower");
gcode += gcodegen.unretract();
}
// Process the end filament gcode.
std::string end_filament_gcode_str;
if (gcodegen.writer().extruder() != nullptr) {
// Process the custom end_filament_gcode in case of single_extruder_multi_material.
unsigned int old_extruder_id = gcodegen.writer().extruder()->id();
const std::string &end_filament_gcode = gcodegen.config().end_filament_gcode.get_at(old_extruder_id);
if (gcodegen.writer().extruder() != nullptr && ! end_filament_gcode.empty()) {
end_filament_gcode_str = gcodegen.placeholder_parser_process("end_filament_gcode", end_filament_gcode, old_extruder_id);
check_add_eol(end_filament_gcode_str);
}
}
// Process the custom toolchange_gcode. If it is empty, provide a simple Tn command to change the filament.
// Otherwise, leave control to the user completely.
std::string toolchange_gcode_str;
if (true /*gcodegen.writer().extruder() != nullptr*/) {
const std::string& toolchange_gcode = gcodegen.config().toolchange_gcode.value;
if (!toolchange_gcode.empty()) {
DynamicConfig config;
int previous_extruder_id = gcodegen.writer().extruder() ? (int)gcodegen.writer().extruder()->id() : -1;
config.set_key_value("previous_extruder", new ConfigOptionInt(previous_extruder_id));
config.set_key_value("next_extruder", new ConfigOptionInt((int)new_extruder_id));
config.set_key_value("layer_num", new ConfigOptionInt(gcodegen.m_layer_index));
config.set_key_value("layer_z", new ConfigOptionFloat(tcr.print_z));
toolchange_gcode_str = gcodegen.placeholder_parser_process("toolchange_gcode", toolchange_gcode, new_extruder_id, &config);
check_add_eol(toolchange_gcode_str);
}
std::string toolchange_command;
if (tcr.priming || (new_extruder_id >= 0 && gcodegen.writer().need_toolchange(new_extruder_id)))
toolchange_command = gcodegen.writer().toolchange(new_extruder_id);
if (toolchange_gcode.empty())
toolchange_gcode_str = toolchange_command;
else {
// We have informed the m_writer about the current extruder_id, we can ignore the generated G-code.
}
}
gcodegen.placeholder_parser().set("current_extruder", new_extruder_id);
// Always append the filament start G-code even if the extruder did not switch,
// because the wipe tower resets the linear advance and we want it to be re-enabled.
// Process the start filament gcode.
std::string start_filament_gcode_str;
const std::string &start_filament_gcode = gcodegen.config().start_filament_gcode.get_at(new_extruder_id);
if (! start_filament_gcode.empty()) {
// Process the start_filament_gcode for the active filament only.
DynamicConfig config;
config.set_key_value("filament_extruder_id", new ConfigOptionInt(new_extruder_id));
gcode += gcodegen.placeholder_parser_process("start_filament_gcode", start_filament_gcode, new_extruder_id, &config);
check_add_eol(gcode);
start_filament_gcode_str = gcodegen.placeholder_parser_process("start_filament_gcode", start_filament_gcode, new_extruder_id, &config);
check_add_eol(start_filament_gcode_str);
}
// Insert the end filament, toolchange, and start filament gcode into the generated gcode.
DynamicConfig config;
config.set_key_value("end_filament_gcode", new ConfigOptionString(end_filament_gcode_str));
config.set_key_value("toolchange_gcode", new ConfigOptionString(toolchange_gcode_str));
config.set_key_value("start_filament_gcode", new ConfigOptionString(start_filament_gcode_str));
std::string tcr_gcode, tcr_escaped_gcode = gcodegen.placeholder_parser_process("tcr_rotated_gcode", tcr_rotated_gcode, new_extruder_id, &config);
unescape_string_cstyle(tcr_escaped_gcode, tcr_gcode);
gcode += tcr_gcode;
check_add_eol(toolchange_gcode_str);
// A phony move to the end position at the wipe tower.
gcodegen.writer().travel_to_xy(Vec2d(end_pos.x, end_pos.y));
gcodegen.writer().travel_to_xy(end_pos.cast<double>());
gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, end_pos));
// Prepare a future wipe.
@ -224,8 +274,8 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen, end_pos));
// Wipe end point: Wipe direction away from the closer tower edge to the further tower edge.
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen,
WipeTower::xy((std::abs(m_left - end_pos.x) < std::abs(m_right - end_pos.x)) ? m_right : m_left,
end_pos.y)));
Vec2f((std::abs(m_left - end_pos.x()) < std::abs(m_right - end_pos.x())) ? m_right : m_left,
end_pos.y())));
}
// Let the planner know we are traveling between objects.
@ -235,14 +285,14 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T
// This function postprocesses gcode_original, rotates and moves all G1 extrusions and returns resulting gcode
// Starting position has to be supplied explicitely (otherwise it would fail in case first G1 command only contained one coordinate)
std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gcode_original, const WipeTower::xy& start_pos, const WipeTower::xy& translation, float angle) const
std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gcode_original, const Vec2f& start_pos, const Vec2f& translation, float angle) const
{
std::istringstream gcode_str(gcode_original);
std::string gcode_out;
std::string line;
WipeTower::xy pos = start_pos;
WipeTower::xy transformed_pos;
WipeTower::xy old_pos(-1000.1f, -1000.1f);
Vec2f pos = start_pos;
Vec2f transformed_pos;
Vec2f old_pos(-1000.1f, -1000.1f);
while (gcode_str) {
std::getline(gcode_str, line); // we read the gcode line by line
@ -253,25 +303,25 @@ std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gco
char ch = 0;
while (line_str >> ch) {
if (ch == 'X')
line_str >> pos.x;
line_str >> pos.x();
else
if (ch == 'Y')
line_str >> pos.y;
line_str >> pos.y();
else
line_out << ch;
}
transformed_pos = pos;
transformed_pos.rotate(angle);
transformed_pos.translate(translation);
transformed_pos = Eigen::Rotation2Df(angle) * transformed_pos;
transformed_pos += translation;
if (transformed_pos != old_pos) {
line = line_out.str();
char buf[2048] = "G1";
if (transformed_pos.x != old_pos.x)
sprintf(buf + strlen(buf), " X%.3f", transformed_pos.x);
if (transformed_pos.y != old_pos.y)
sprintf(buf + strlen(buf), " Y%.3f", transformed_pos.y);
if (transformed_pos.x() != old_pos.x())
sprintf(buf + strlen(buf), " X%.3f", transformed_pos.x());
if (transformed_pos.y() != old_pos.y())
sprintf(buf + strlen(buf), " Y%.3f", transformed_pos.y());
line.replace(line.find("G1 "), 3, buf);
old_pos = transformed_pos;
@ -288,27 +338,36 @@ std::string WipeTowerIntegration::prime(GCode &gcodegen)
assert(m_layer_idx == 0);
std::string gcode;
if (&m_priming != nullptr && ! m_priming.extrusions.empty()) {
if (&m_priming != nullptr) {
// Disable linear advance for the wipe tower operations.
gcode += (gcodegen.config().gcode_flavor == gcfRepRap ? std::string("M572 D0 S0\n") : std::string("M900 K0\n"));
// Let the tool change be executed by the wipe tower class.
// Inform the G-code writer about the changes done behind its back.
gcode += m_priming.gcode;
// Let the m_writer know the current extruder_id, but ignore the generated G-code.
unsigned int current_extruder_id = m_priming.extrusions.back().tool;
gcodegen.writer().toolchange(current_extruder_id);
gcodegen.placeholder_parser().set("current_extruder", current_extruder_id);
//gcode += (gcodegen.config().gcode_flavor == gcfRepRap ? std::string("M572 D0 S0\n") : std::string("M900 K0\n"));
for (const WipeTower::ToolChangeResult& tcr : m_priming) {
if (!tcr.extrusions.empty())
gcode += append_tcr(gcodegen, tcr, tcr.new_tool);
// Let the tool change be executed by the wipe tower class.
// Inform the G-code writer about the changes done behind its back.
//gcode += tcr.gcode;
// Let the m_writer know the current extruder_id, but ignore the generated G-code.
// unsigned int current_extruder_id = tcr.extrusions.back().tool;
// gcodegen.writer().toolchange(current_extruder_id);
// gcodegen.placeholder_parser().set("current_extruder", current_extruder_id);
}
// A phony move to the end position at the wipe tower.
gcodegen.writer().travel_to_xy(Vec2d(m_priming.end_pos.x, m_priming.end_pos.y));
gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, m_priming.end_pos));
/* gcodegen.writer().travel_to_xy(Vec2d(m_priming.back().end_pos.x, m_priming.back().end_pos.y));
gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, m_priming.back().end_pos));
// Prepare a future wipe.
gcodegen.m_wipe.path.points.clear();
// Start the wipe at the current position.
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen, m_priming.end_pos));
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen, m_priming.back().end_pos));
// Wipe end point: Wipe direction away from the closer tower edge to the further tower edge.
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen,
WipeTower::xy((std::abs(m_left - m_priming.end_pos.x) < std::abs(m_right - m_priming.end_pos.x)) ? m_right : m_left,
m_priming.end_pos.y)));
gcodegen.m_wipe.path.points.emplace_back(wipe_tower_point_to_object_point(gcodegen,
WipeTower::xy((std::abs(m_left - m_priming.back().end_pos.x) < std::abs(m_right - m_priming.back().end_pos.x)) ? m_right : m_left,
m_priming.back().end_pos.y)));*/
}
return gcode;
}
@ -807,24 +866,16 @@ void GCode::_do_export(Print &print, FILE *file)
// Write the custom start G-code
_writeln(file, start_gcode);
// Process filament-specific gcode in extruder order.
if (print.config().single_extruder_multi_material) {
if (has_wipe_tower) {
// Wipe tower will control the extruder switching, it will call the start_filament_gcode.
} else {
// Only initialize the initial extruder.
// Process filament-specific gcode.
/* if (has_wipe_tower) {
// Wipe tower will control the extruder switching, it will call the start_filament_gcode.
} else {
DynamicConfig config;
config.set_key_value("filament_extruder_id", new ConfigOptionInt(int(initial_extruder_id)));
_writeln(file, this->placeholder_parser_process("start_filament_gcode", print.config().start_filament_gcode.values[initial_extruder_id], initial_extruder_id, &config));
}
} else {
DynamicConfig config;
for (const std::string &start_gcode : print.config().start_filament_gcode.values) {
int extruder_id = (unsigned int)(&start_gcode - &print.config().start_filament_gcode.values.front());
config.set_key_value("filament_extruder_id", new ConfigOptionInt(extruder_id));
_writeln(file, this->placeholder_parser_process("start_filament_gcode", start_gcode, extruder_id, &config));
}
_writeln(file, this->placeholder_parser_process("start_filament_gcode", print.config().start_filament_gcode.values[initial_extruder_id], initial_extruder_id, &config));
}
*/
this->_print_first_layer_extruder_temperatures(file, print, start_gcode, initial_extruder_id, true);
print.throw_if_canceled();
@ -2563,7 +2614,7 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
gcode += buf;
}
if (m_last_mm3_per_mm != path.mm3_per_mm)
if (last_was_wipe_tower || (m_last_mm3_per_mm != path.mm3_per_mm))
{
m_last_mm3_per_mm = path.mm3_per_mm;
@ -2741,38 +2792,58 @@ std::string GCode::set_extruder(unsigned int extruder_id, double print_z)
m_wipe.reset_path();
if (m_writer.extruder() != nullptr) {
// Process the custom end_filament_gcode in case of single_extruder_multi_material.
// Process the custom end_filament_gcode. set_extruder() is only called if there is no wipe tower
// so it should not be injected twice.
unsigned int old_extruder_id = m_writer.extruder()->id();
const std::string &end_filament_gcode = m_config.end_filament_gcode.get_at(old_extruder_id);
if (m_config.single_extruder_multi_material && ! end_filament_gcode.empty()) {
if (! end_filament_gcode.empty()) {
gcode += placeholder_parser_process("end_filament_gcode", end_filament_gcode, old_extruder_id);
check_add_eol(gcode);
}
}
m_placeholder_parser.set("current_extruder", extruder_id);
if (m_writer.extruder() != nullptr && ! m_config.toolchange_gcode.value.empty()) {
// Process the custom toolchange_gcode.
DynamicConfig config;
config.set_key_value("previous_extruder", new ConfigOptionInt((int)m_writer.extruder()->id()));
config.set_key_value("next_extruder", new ConfigOptionInt((int)extruder_id));
config.set_key_value("layer_num", new ConfigOptionInt(m_layer_index));
config.set_key_value("layer_z", new ConfigOptionFloat(print_z));
gcode += placeholder_parser_process("toolchange_gcode", m_config.toolchange_gcode.value, extruder_id, &config);
check_add_eol(gcode);
}
// If ooze prevention is enabled, park current extruder in the nearest
// standby point and set it to the standby temperature.
if (m_ooze_prevention.enable && m_writer.extruder() != nullptr)
gcode += m_ooze_prevention.pre_toolchange(*this);
// Append the toolchange command.
gcode += m_writer.toolchange(extruder_id);
// Append the filament start G-code for single_extruder_multi_material.
const std::string& toolchange_gcode = m_config.toolchange_gcode.value;
if (m_writer.extruder() != nullptr) {
// Process the custom toolchange_gcode. If it is empty, insert just a Tn command.
if (!toolchange_gcode.empty()) {
DynamicConfig config;
config.set_key_value("previous_extruder", new ConfigOptionInt((int)m_writer.extruder()->id()));
config.set_key_value("next_extruder", new ConfigOptionInt((int)extruder_id));
config.set_key_value("layer_num", new ConfigOptionInt(m_layer_index));
config.set_key_value("layer_z", new ConfigOptionFloat(print_z));
gcode += placeholder_parser_process("toolchange_gcode", toolchange_gcode, extruder_id, &config);
check_add_eol(gcode);
}
}
// We inform the writer about what is happening, but we may not use the resulting gcode.
std::string toolchange_command = m_writer.toolchange(extruder_id);
if (toolchange_gcode.empty())
gcode += toolchange_command;
else {
// user provided his own toolchange gcode, no need to do anything
}
// Set the temperature if the wipe tower didn't (not needed for non-single extruder MM)
if (m_config.single_extruder_multi_material && !m_config.wipe_tower) {
int temp = (m_layer_index == 0 ? m_config.first_layer_temperature.get_at(extruder_id) :
m_config.temperature.get_at(extruder_id));
gcode += m_writer.set_temperature(temp, false);
}
m_placeholder_parser.set("current_extruder", extruder_id);
// Append the filament start G-code.
const std::string &start_filament_gcode = m_config.start_filament_gcode.get_at(extruder_id);
if (m_config.single_extruder_multi_material && ! start_filament_gcode.empty()) {
// Process the start_filament_gcode for the active filament only.
if (! start_filament_gcode.empty()) {
// Process the start_filament_gcode for the new filament.
gcode += this->placeholder_parser_process("start_filament_gcode", start_filament_gcode, extruder_id);
check_add_eol(gcode);
}