Wipe tower accounts for extruder offsets

Also, in case of non-single-extruder printer with the wipe tower, first wiping line was printed where the border should have been - fixed

src/libslic3r/GCode.cpp

@@ -169,6 +169,9 @@ static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const Vec2
 
 std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const
 {
+    if (new_extruder_id != -1 && new_extruder_id != tcr.new_tool)
+        throw std::invalid_argument("Error: WipeTowerIntegration::append_tcr was asked to do a toolchange it didn't expect.");
+
     std::string gcode;
 
     // Toolchangeresult.gcode assumes the wipe tower corner is at the origin
@@ -182,8 +185,11 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T
         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);
+
-    
+    Vec2f wipe_tower_offset = tcr.priming ? Vec2f::Zero() : m_wipe_tower_pos;
+    float wipe_tower_rotation = tcr.priming ? 0.f : alpha;
+
+    std::string tcr_rotated_gcode = post_process_wipe_tower_moves(tcr, wipe_tower_offset, wipe_tower_rotation);
 
     // 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"));
@@ -285,17 +291,21 @@ 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 Vec2f& start_pos, const Vec2f& translation, float angle) const
+std::string WipeTowerIntegration::post_process_wipe_tower_moves(const WipeTower::ToolChangeResult& tcr, const Vec2f& translation, float angle) const
 {
-    std::istringstream gcode_str(gcode_original);
+    Vec2f extruder_offset = m_extruder_offsets[tcr.initial_tool].cast<float>();
+
+    std::istringstream gcode_str(tcr.gcode);
     std::string gcode_out;
     std::string line;
-    Vec2f pos = start_pos;
+    Vec2f pos = tcr.start_pos;
-    Vec2f transformed_pos;
+    Vec2f transformed_pos = pos;
     Vec2f old_pos(-1000.1f, -1000.1f);
 
     while (gcode_str) {
         std::getline(gcode_str, line);  // we read the gcode line by line
+
+        // All G1 commands should be translated and rotated
         if (line.find("G1 ") == 0) {
             std::ostringstream line_out;
             std::istringstream line_str(line);
@@ -317,17 +327,34 @@ std::string WipeTowerIntegration::rotate_wipe_tower_moves(const std::string& gco
 
             if (transformed_pos != old_pos) {
                 line = line_out.str();
-                char buf[2048] = "G1";
+                std::ostringstream oss;
+                oss << std::fixed << std::setprecision(3) << "G1 ";
                 if (transformed_pos.x() != old_pos.x())
-                    sprintf(buf + strlen(buf), " X%.3f", transformed_pos.x());
+                    oss << " X" << transformed_pos.x() - extruder_offset.x();
                 if (transformed_pos.y() != old_pos.y())
-                    sprintf(buf + strlen(buf), " Y%.3f", transformed_pos.y());
+                    oss << " Y" << transformed_pos.y() - extruder_offset.y();
 
-                line.replace(line.find("G1 "), 3, buf);
+                line.replace(line.find("G1 "), 3, oss.str());
                 old_pos = transformed_pos;
             }
         }
+
         gcode_out += line + "\n";
+
+        // If this was a toolchange command, we should change current extruder offset
+        if (line == "[toolchange_gcode]") {
+            extruder_offset = m_extruder_offsets[tcr.new_tool].cast<float>();
+
+            // If the extruder offset changed, add an extra move so everything is continuous
+            if (extruder_offset != m_extruder_offsets[tcr.initial_tool].cast<float>()) {
+                std::ostringstream oss;
+                oss << std::fixed << std::setprecision(3)
+                    << "G1 X" << transformed_pos.x() - extruder_offset.x()
+                    << " Y"   << transformed_pos.y() - extruder_offset.y()
+                    << "\n";
+                gcode_out += oss.str();
+            }
+        }
     }
     return gcode_out;
 }

src/libslic3r/GCode.hpp

@@ -90,6 +90,7 @@ public:
         m_right(float(/*print_config.wipe_tower_x.value +*/ print_config.wipe_tower_width.value)),
         m_wipe_tower_pos(float(print_config.wipe_tower_x.value), float(print_config.wipe_tower_y.value)),
         m_wipe_tower_rotation(float(print_config.wipe_tower_rotation_angle)),
+        m_extruder_offsets(print_config.extruder_offset.values),
         m_priming(priming),
         m_tool_changes(tool_changes),
         m_final_purge(final_purge),
@@ -107,14 +108,16 @@ private:
     WipeTowerIntegration& operator=(const WipeTowerIntegration&);
     std::string append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const;
 
-    // Postprocesses gcode: rotates and moves all G1 extrusions and returns result
+    // Postprocesses gcode: rotates and moves G1 extrusions and returns result
-    std::string rotate_wipe_tower_moves(const std::string& gcode_original, const Vec2f& start_pos, const Vec2f& translation, float angle) const;
+    std::string post_process_wipe_tower_moves(const WipeTower::ToolChangeResult& tcr, const Vec2f& translation, float angle) const;
 
     // Left / right edges of the wipe tower, for the planning of wipe moves.
     const float                                                  m_left;
     const float                                                  m_right;
     const Vec2f                                                  m_wipe_tower_pos;
     const float                                                  m_wipe_tower_rotation;
+    const std::vector<Vec2d>                                     m_extruder_offsets;
+
     // Reference to cached values at the Printer class.
     const std::vector<WipeTower::ToolChangeResult>              &m_priming;
     const std::vector<std::vector<WipeTower::ToolChangeResult>> &m_tool_changes;

src/libslic3r/GCode/WipeTower.cpp

@@ -553,7 +553,7 @@ std::vector<WipeTower::ToolChangeResult> WipeTower::prime(
         result.elapsed_time = writer.elapsed_time();
         result.extrusions 	= writer.extrusions();
         result.start_pos  	= writer.start_pos_rotated();
-        result.end_pos 	  	= writer.pos_rotated();
+        result.end_pos 	  	= writer.pos();
 
         results.push_back(std::move(result));
 
@@ -643,7 +643,7 @@ WipeTower::ToolChangeResult WipeTower::tool_change(unsigned int tool, bool last_
                           m_is_first_layer ? m_filpar[tool].first_layer_temperature : m_filpar[tool].temperature);
         toolchange_Change(writer, tool, m_filpar[tool].material); // Change the tool, set a speed override for soluble and flex materials.
         toolchange_Load(writer, cleaning_box);
-        writer.travel(writer.x(),writer.y()-m_perimeter_width); // cooling and loading were done a bit down the road
+        writer.travel(writer.x(), writer.y()-m_perimeter_width); // cooling and loading were done a bit down the road
         toolchange_Wipe(writer, cleaning_box, wipe_volume);     // Wipe the newly loaded filament until the end of the assigned wipe area.
         ++ m_num_tool_changes;
     } else

src/libslic3r/GCode/WipeTower.hpp

@@ -139,13 +139,15 @@ public:
 
         m_perimeter_width = nozzle_diameter * Width_To_Nozzle_Ratio; // all extruders are now assumed to have the same diameter
 
-        std::stringstream stream{m_semm ? ramming_parameters : std::string()};
+        if (m_semm) {
-        float speed = 0.f;
+            std::stringstream stream{ramming_parameters};
-        stream >> m_filpar[idx].ramming_line_width_multiplicator >> m_filpar[idx].ramming_step_multiplicator;
+            float speed = 0.f;
-        m_filpar[idx].ramming_line_width_multiplicator /= 100;
+            stream >> m_filpar[idx].ramming_line_width_multiplicator >> m_filpar[idx].ramming_step_multiplicator;
-        m_filpar[idx].ramming_step_multiplicator /= 100;
+            m_filpar[idx].ramming_line_width_multiplicator /= 100;
-        while (stream >> speed)
+            m_filpar[idx].ramming_step_multiplicator /= 100;
-            m_filpar[idx].ramming_speed.push_back(speed);
+            while (stream >> speed)
+                m_filpar[idx].ramming_speed.push_back(speed);
+        }
 
         m_used_filament_length.resize(std::max(m_used_filament_length.size(), idx + 1)); // makes sure that the vector is big enough so we don't have to check later
 	}
@@ -241,8 +243,8 @@ public:
         int                 cooling_moves = 0;
         float               cooling_initial_speed = 0.f;
         float               cooling_final_speed = 0.f;
-        float               ramming_line_width_multiplicator = 0.f;
+        float               ramming_line_width_multiplicator = 1.f;
-        float               ramming_step_multiplicator = 0.f;
+        float               ramming_step_multiplicator = 1.f;
         float               max_e_speed = std::numeric_limits<float>::max();
         std::vector<float>  ramming_speed;
         float               nozzle_diameter;