797 lines
30 KiB
Perl
797 lines
30 KiB
Perl
package Slic3r::GCode;
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use Moo;
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use List::Util qw(min max first);
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use Slic3r::ExtrusionPath ':roles';
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use Slic3r::Geometry qw(epsilon scale unscale scaled_epsilon points_coincide PI X Y B);
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use Slic3r::Geometry::Clipper qw(union_ex);
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use Slic3r::Surface ':types';
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has 'config' => (is => 'ro', required => 1);
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has 'extruders' => (is => 'ro', default => sub {0}, required => 1);
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has 'multiple_extruders' => (is => 'lazy');
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has 'enable_loop_clipping' => (is => 'rw', default => sub {1});
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has 'enable_wipe' => (is => 'lazy'); # at least one extruder has wipe enabled
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has 'layer_count' => (is => 'ro', required => 1 );
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has 'layer' => (is => 'rw');
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has '_layer_overhangs' => (is => 'rw');
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has 'move_z_callback' => (is => 'rw');
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has 'shift_x' => (is => 'rw', default => sub {0} );
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has 'shift_y' => (is => 'rw', default => sub {0} );
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has 'z' => (is => 'rw');
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has 'speed' => (is => 'rw');
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has 'speeds' => (is => 'lazy'); # mm/min
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has 'external_mp' => (is => 'rw');
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has 'layer_mp' => (is => 'rw');
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has 'new_object' => (is => 'rw', default => sub {0});
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has 'straight_once' => (is => 'rw', default => sub {1});
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has 'extruder' => (is => 'rw');
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has 'elapsed_time' => (is => 'rw', default => sub {0} ); # seconds
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has 'total_extrusion_length' => (is => 'rw', default => sub {0} );
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has 'lifted' => (is => 'rw', default => sub {0} );
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has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
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has 'last_speed' => (is => 'rw', default => sub {""});
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has 'last_f' => (is => 'rw', default => sub {""});
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has 'last_fan_speed' => (is => 'rw', default => sub {0});
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has 'wipe_path' => (is => 'rw');
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has 'dec' => (is => 'ro', default => sub { 3 } );
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# used for vibration limit:
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has 'last_dir' => (is => 'ro', default => sub { [0,0] });
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has 'dir_time' => (is => 'ro', default => sub { [0,0] });
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sub _build_speeds {
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my $self = shift;
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return {
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map { $_ => 60 * $self->config->get_value("${_}_speed") }
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qw(travel perimeter small_perimeter external_perimeter infill
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solid_infill top_solid_infill support_material bridge gap_fill retract),
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};
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}
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# assign speeds to roles
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my %role_speeds = (
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&EXTR_ROLE_PERIMETER => 'perimeter',
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&EXTR_ROLE_EXTERNAL_PERIMETER => 'external_perimeter',
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&EXTR_ROLE_OVERHANG_PERIMETER => 'bridge',
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&EXTR_ROLE_CONTOUR_INTERNAL_PERIMETER => 'perimeter',
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&EXTR_ROLE_FILL => 'infill',
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&EXTR_ROLE_SOLIDFILL => 'solid_infill',
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&EXTR_ROLE_TOPSOLIDFILL => 'top_solid_infill',
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&EXTR_ROLE_BRIDGE => 'bridge',
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&EXTR_ROLE_INTERNALBRIDGE => 'solid_infill',
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&EXTR_ROLE_SKIRT => 'perimeter',
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&EXTR_ROLE_SUPPORTMATERIAL => 'support_material',
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&EXTR_ROLE_GAPFILL => 'gap_fill',
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);
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sub _build_multiple_extruders {
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my $self = shift;
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return @{$self->extruders} > 1;
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}
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sub _build_enable_wipe {
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my $self = shift;
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return (first { $_->wipe } @{$self->extruders}) ? 1 : 0;
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}
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sub set_shift {
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my $self = shift;
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my @shift = @_;
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# if shift increases (goes towards right), last_pos decreases because it goes towards left
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my @translate = (
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scale ($self->shift_x - $shift[X]),
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scale ($self->shift_y - $shift[Y]),
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);
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$self->last_pos->translate(@translate);
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$self->wipe_path->translate(@translate) if $self->wipe_path;
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$self->shift_x($shift[X]);
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$self->shift_y($shift[Y]);
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}
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sub change_layer {
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my $self = shift;
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my ($layer) = @_;
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$self->layer($layer);
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# avoid computing overhangs if they're not needed
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$self->_layer_overhangs(
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$layer->id > 0 && ($Slic3r::Config->overhangs || $Slic3r::Config->start_perimeters_at_non_overhang)
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? [ map $_->expolygon, grep $_->surface_type == S_TYPE_BOTTOM, map @{$_->slices}, @{$layer->regions} ]
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: []
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);
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if ($self->config->avoid_crossing_perimeters) {
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$self->layer_mp(Slic3r::GCode::MotionPlanner->new(
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islands => union_ex([ map @$_, @{$layer->slices} ], undef, 1),
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));
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}
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my $gcode = "";
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if ($self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/) {
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$gcode .= sprintf "M73 P%s%s\n",
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int(99 * ($layer->id / ($self->layer_count - 1))),
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($self->config->gcode_comments ? ' ; update progress' : '');
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}
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return $gcode;
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}
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# this method accepts Z in unscaled coordinates
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sub move_z {
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my $self = shift;
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my ($z, $comment) = @_;
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$z += $self->config->z_offset;
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my $gcode = "";
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my $current_z = $self->z;
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if (!defined $self->z || $z > $self->z) {
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# if we're going over the current Z we won't be lifted anymore
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$self->lifted(0);
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# this retraction may alter $self->z
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$gcode .= $self->retract(move_z => $z) if $self->extruder->retract_layer_change;
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$self->speed('travel');
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$gcode .= $self->G0(undef, $z, 0, $comment || ('move to next layer (' . $self->layer->id . ')'))
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unless !defined $current_z || $self->z != $current_z;
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$gcode .= $self->move_z_callback->() if defined $self->move_z_callback;
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} elsif ($z < $self->z && $z > ($self->z - $self->lifted + epsilon)) {
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# we're moving to a layer height which is greater than the nominal current one
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# (nominal = actual - lifted) and less than the actual one. we're basically
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# advancing to next layer, whose nominal Z is still lower than the previous
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# layer Z with lift.
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$self->lifted($self->z - $z);
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}
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return $gcode;
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}
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sub extrude {
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my $self = shift;
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($_[0]->isa('Slic3r::ExtrusionLoop') || $_[0]->isa('Slic3r::ExtrusionLoop::Packed'))
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? $self->extrude_loop(@_)
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: $self->extrude_path(@_);
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}
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sub extrude_loop {
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my $self = shift;
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my ($loop, $description) = @_;
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# extrude all loops ccw
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$loop = $loop->unpack if $loop->isa('Slic3r::ExtrusionLoop::Packed');
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my $was_clockwise = $loop->polygon->make_counter_clockwise;
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# find candidate starting points
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# start looking for concave vertices not being overhangs
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my @concave = ();
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if ($Slic3r::Config->start_perimeters_at_concave_points) {
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@concave = $loop->polygon->concave_points;
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}
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my @candidates = ();
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if ($Slic3r::Config->start_perimeters_at_non_overhang) {
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@candidates = grep !Boost::Geometry::Utils::point_covered_by_multi_polygon($_, $self->_layer_overhangs), @concave;
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}
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if (!@candidates) {
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# if none, look for any concave vertex
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@candidates = @concave;
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if (!@candidates) {
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# if none, look for any non-overhang vertex
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if ($Slic3r::Config->start_perimeters_at_non_overhang) {
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@candidates = grep !Boost::Geometry::Utils::point_covered_by_multi_polygon($_, $self->_layer_overhangs), @{$loop->polygon};
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}
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if (!@candidates) {
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# if none, all points are valid candidates
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@candidates = @{$loop->polygon};
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}
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}
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}
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# find the point of the loop that is closest to the current extruder position
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# or randomize if requested
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my $last_pos = $self->last_pos;
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if ($self->config->randomize_start && $loop->role == EXTR_ROLE_CONTOUR_INTERNAL_PERIMETER) {
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$last_pos = Slic3r::Point->new(scale $self->config->print_center->[X], scale $self->config->bed_size->[Y]);
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$last_pos->rotate(rand(2*PI), $self->config->print_center);
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}
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# split the loop at the starting point and make a path
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my $start_at = Slic3r::Geometry::nearest_point($last_pos, \@candidates);
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my $extrusion_path = $loop->split_at($start_at);
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# clip the path to avoid the extruder to get exactly on the first point of the loop;
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# if polyline was shorter than the clipping distance we'd get a null polyline, so
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# we discard it in that case
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$extrusion_path->clip_end(scale $extrusion_path->flow_spacing * &Slic3r::LOOP_CLIPPING_LENGTH_OVER_SPACING)
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if $self->enable_loop_clipping;
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return '' if !@{$extrusion_path->polyline};
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my @paths = ();
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# detect overhanging/bridging perimeters
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if ($Slic3r::Config->overhangs && $extrusion_path->is_perimeter && @{$self->_layer_overhangs}) {
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# get non-overhang paths by subtracting overhangs from the loop
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push @paths,
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$extrusion_path->subtract_expolygons($self->_layer_overhangs);
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# get overhang paths by intersecting overhangs with the loop
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push @paths,
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map { $_->role(EXTR_ROLE_OVERHANG_PERIMETER); $_ }
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$extrusion_path->intersect_expolygons($self->_layer_overhangs);
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# reapply the nearest point search for starting point
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@paths = Slic3r::ExtrusionPath::Collection
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->new(paths => [@paths])
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->chained_path($start_at, 1);
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} else {
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push @paths, $extrusion_path;
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}
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# apply the small perimeter speed
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my %params = ();
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if ($extrusion_path->is_perimeter && abs($extrusion_path->length) <= &Slic3r::SMALL_PERIMETER_LENGTH) {
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$params{speed} = 'small_perimeter';
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}
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# extrude along the path
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my $gcode = join '', map $self->extrude_path($_, $description, %params), @paths;
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$self->wipe_path($extrusion_path->polyline) if $self->enable_wipe;
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# make a little move inwards before leaving loop
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if ($loop->role == EXTR_ROLE_EXTERNAL_PERIMETER && $self->config->perimeters > 1) {
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# detect angle between last and first segment
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# the side depends on the original winding order of the polygon (left for contours, right for holes)
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my @points = $was_clockwise ? (-2, 1) : (1, -2);
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my $angle = Slic3r::Geometry::angle3points(@{$extrusion_path->polyline}[0, @points]) / 3;
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$angle *= -1 if $was_clockwise;
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# create the destination point along the first segment and rotate it
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# we make sure we don't exceed the segment length because we don't know
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# the rotation of the second segment so we might cross the object boundary
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my $first_segment = Slic3r::Line->new(@{$extrusion_path->polyline}[0,1]);
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my $distance = min(scale $extrusion_path->flow_spacing, $first_segment->length);
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my $point = Slic3r::Geometry::point_along_segment(@$first_segment, $distance);
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bless $point, 'Slic3r::Point';
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$point->rotate($angle, $extrusion_path->polyline->[0]);
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# generate the travel move
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$gcode .= $self->travel_to($point, $loop->role, "move inwards before travel");
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}
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return $gcode;
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}
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sub extrude_path {
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my $self = shift;
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my ($path, $description, %params) = @_;
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$path = $path->unpack if $path->isa('Slic3r::ExtrusionPath::Packed');
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$path->simplify(&Slic3r::SCALED_RESOLUTION);
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# detect arcs
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if ($self->config->gcode_arcs && !$params{dont_detect_arcs}) {
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my $gcode = "";
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foreach my $arc_path ($path->detect_arcs) {
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$gcode .= $self->extrude_path($arc_path, $description, %params, dont_detect_arcs => 1);
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}
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return $gcode;
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}
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# go to first point of extrusion path
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my $gcode = "";
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$gcode .= $self->travel_to($path->points->[0], $path->role, "move to first $description point")
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if !$self->last_pos || !$self->last_pos->coincides_with($path->points->[0]);
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# compensate retraction
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$gcode .= $self->unretract;
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# adjust acceleration
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my $acceleration;
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if ($self->config->perimeter_acceleration && $path->is_perimeter) {
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$acceleration = $self->config->perimeter_acceleration;
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} elsif ($self->config->infill_acceleration && $path->is_fill) {
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$acceleration = $self->config->infill_acceleration;
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} elsif ($self->config->infill_acceleration && $path->is_bridge) {
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$acceleration = $self->config->bridge_acceleration;
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}
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$gcode .= $self->set_acceleration($acceleration) if $acceleration;
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my $area; # mm^3 of extrudate per mm of tool movement
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if ($path->is_bridge) {
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my $s = $path->flow_spacing;
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$area = ($s**2) * PI/4;
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} else {
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my $s = $path->flow_spacing;
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my $h = $path->height // $self->layer->height;
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$area = $self->extruder->mm3_per_mm($s, $h);
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}
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# calculate extrusion length per distance unit
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my $e = $self->extruder->e_per_mm3 * $area;
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# set speed
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$self->speed( $params{speed} || $role_speeds{$path->role} || die "Unknown role: " . $path->role );
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# extrude arc or line
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my $path_length = 0;
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if ($path->isa('Slic3r::ExtrusionPath::Arc')) {
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$path_length = unscale $path->length;
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$gcode .= $self->G2_G3($path->points->[-1], $path->orientation,
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$path->center, $e * unscale $path_length, $description);
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$self->wipe_path(undef);
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} else {
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foreach my $line ($path->lines) {
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my $line_length = unscale $line->length;
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$path_length += $line_length;
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$gcode .= $self->G1($line->[B], undef, $e * $line_length, $description);
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}
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$self->wipe_path(Slic3r::Polyline->new(reverse @{$path->points}))
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if $self->enable_wipe;
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}
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if ($self->config->cooling) {
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my $path_time = $path_length / $self->speeds->{$self->last_speed} * 60;
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if ($self->layer->id == 0) {
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$path_time = $self->config->first_layer_speed =~ /^(\d+(?:\.\d+)?)%$/
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? $path_time / ($1/100)
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: $path_length / $self->config->first_layer_speed * 60;
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}
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$self->elapsed_time($self->elapsed_time + $path_time);
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}
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# reset acceleration
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$gcode .= $self->set_acceleration($self->config->default_acceleration)
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if $acceleration && $self->config->default_acceleration;
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return $gcode;
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}
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sub travel_to {
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my $self = shift;
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my ($point, $role, $comment) = @_;
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my $gcode = "";
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my $travel = Slic3r::Line->new($self->last_pos->clone, $point->clone);
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# move travel back to original layer coordinates for the island check.
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# note that we're only considering the current object's islands, while we should
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# build a more complete configuration space
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$travel->translate(-$self->shift_x, -$self->shift_y);
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# skip retraction if the travel move is contained in an island in the current layer
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# *and* in an island in the upper layer (so that the ooze will not be visible)
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if ($travel->length < scale $self->extruder->retract_before_travel
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|| ($self->config->only_retract_when_crossing_perimeters
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&& (first { $_->encloses_line($travel, scaled_epsilon) } @{$self->layer->upper_layer_slices})
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&& (first { $_->encloses_line($travel, scaled_epsilon) } @{$self->layer->slices}))
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|| ($role == EXTR_ROLE_SUPPORTMATERIAL && $self->layer->support_islands_enclose_line($travel))
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) {
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$self->straight_once(0);
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$self->speed('travel');
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$gcode .= $self->G0($point, undef, 0, $comment || "");
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} elsif (!$self->config->avoid_crossing_perimeters || $self->straight_once) {
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$self->straight_once(0);
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$gcode .= $self->retract(travel_to => $point);
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$self->speed('travel');
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$gcode .= $self->G0($point, undef, 0, $comment || "");
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} else {
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if ($self->new_object) {
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$self->new_object(0);
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# represent $point in G-code coordinates
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$point = $point->clone;
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my @shift = ($self->shift_x, $self->shift_y);
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$point->translate(map scale $_, @shift);
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# calculate path (external_mp uses G-code coordinates so we temporary need a null shift)
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$self->set_shift(0,0);
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$gcode .= $self->_plan($self->external_mp, $point, $comment);
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$self->set_shift(@shift);
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} else {
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$gcode .= $self->_plan($self->layer_mp, $point, $comment);
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}
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}
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return $gcode;
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}
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sub _plan {
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my $self = shift;
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my ($mp, $point, $comment) = @_;
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my $gcode = "";
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my @travel = $mp->shortest_path($self->last_pos, $point)->lines;
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# if the path is not contained in a single island we need to retract
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my $need_retract = !$self->config->only_retract_when_crossing_perimeters;
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if (!$need_retract) {
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$need_retract = 1;
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foreach my $slice (@{$self->layer->upper_layer_slices}) {
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# discard the island if at any line is not enclosed in it
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next if first { !$slice->encloses_line($_, scaled_epsilon) } @travel;
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# okay, this island encloses the full travel path
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$need_retract = 0;
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last;
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}
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}
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# do the retract (the travel_to argument is broken)
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$gcode .= $self->retract(travel_to => $point) if $need_retract;
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# append the actual path and return
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$self->speed('travel');
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# use G1 because we rely on paths being straight (G0 may make round paths)
|
|
$gcode .= join '', map $self->G1($_->[B], undef, 0, $comment || ""), @travel;
|
|
return $gcode;
|
|
}
|
|
|
|
sub retract {
|
|
my $self = shift;
|
|
my %params = @_;
|
|
|
|
# get the retraction length and abort if none
|
|
my ($length, $restart_extra, $comment) = $params{toolchange}
|
|
? ($self->extruder->retract_length_toolchange, $self->extruder->retract_restart_extra_toolchange, "retract for tool change")
|
|
: ($self->extruder->retract_length, $self->extruder->retract_restart_extra, "retract");
|
|
|
|
# if we already retracted, reduce the required amount of retraction
|
|
$length -= $self->extruder->retracted;
|
|
return "" unless $length > 0;
|
|
my $gcode = "";
|
|
|
|
# wipe
|
|
my $wipe_path;
|
|
if ($self->extruder->wipe && $self->wipe_path) {
|
|
$wipe_path = Slic3r::Polyline->new($self->last_pos, @{$self->wipe_path}[1..$#{$self->wipe_path}])
|
|
->clip_start($self->extruder->scaled_wipe_distance);
|
|
}
|
|
|
|
# prepare moves
|
|
my $retract = [undef, undef, -$length, $comment];
|
|
my $lift = ($self->extruder->retract_lift == 0 || defined $params{move_z}) && !$self->lifted
|
|
? undef
|
|
: [undef, $self->z + $self->extruder->retract_lift, 0, 'lift plate during travel'];
|
|
|
|
if (($self->config->g0 || $self->config->gcode_flavor eq 'mach3') && $params{travel_to}) {
|
|
$self->speed('travel');
|
|
if ($lift) {
|
|
# combine lift and retract
|
|
$lift->[2] = $retract->[2];
|
|
$gcode .= $self->G0(@$lift);
|
|
} else {
|
|
# combine travel and retract
|
|
my $travel = [$params{travel_to}, undef, $retract->[2], "travel and $comment"];
|
|
$gcode .= $self->G0(@$travel);
|
|
}
|
|
} elsif (($self->config->g0 || $self->config->gcode_flavor eq 'mach3') && defined $params{move_z}) {
|
|
# combine Z change and retraction
|
|
$self->speed('travel');
|
|
my $travel = [undef, $params{move_z}, $retract->[2], "change layer and $comment"];
|
|
$gcode .= $self->G0(@$travel);
|
|
} else {
|
|
# check that we have a positive wipe length
|
|
if ($wipe_path && (my $total_wipe_length = $wipe_path->length)) {
|
|
$self->speed('travel');
|
|
|
|
# subdivide the retraction
|
|
my $retracted = 0;
|
|
for (1 .. $#$wipe_path) {
|
|
my $segment_length = $wipe_path->[$_-1]->distance_to($wipe_path->[$_]);
|
|
$retracted += my $e = $retract->[2] * ($segment_length / $total_wipe_length);
|
|
$gcode .= $self->G1($wipe_path->[$_], undef, $e, $retract->[3] . ";_WIPE");
|
|
}
|
|
if ($retracted > $retract->[2]) {
|
|
# if we retracted less than we had to, retract the remainder
|
|
# TODO: add regression test
|
|
$gcode .= $self->G1(undef, undef, $retract->[2] - $retracted, $comment);
|
|
}
|
|
} else {
|
|
$self->speed('retract');
|
|
$gcode .= $self->G1(@$retract);
|
|
}
|
|
if (!$self->lifted) {
|
|
$self->speed('travel');
|
|
if (defined $params{move_z} && $self->extruder->retract_lift > 0) {
|
|
my $travel = [undef, $params{move_z} + $self->extruder->retract_lift, 0, 'move to next layer (' . $self->layer->id . ') and lift'];
|
|
$gcode .= $self->G0(@$travel);
|
|
$self->lifted($self->extruder->retract_lift);
|
|
} elsif ($lift) {
|
|
$gcode .= $self->G1(@$lift);
|
|
}
|
|
}
|
|
}
|
|
$self->extruder->retracted($self->extruder->retracted + $length);
|
|
$self->extruder->restart_extra($restart_extra);
|
|
$self->lifted($self->extruder->retract_lift) if $lift;
|
|
|
|
# reset extrusion distance during retracts
|
|
# this makes sure we leave sufficient precision in the firmware
|
|
$gcode .= $self->reset_e;
|
|
|
|
$gcode .= "M103 ; extruder off\n" if $self->config->gcode_flavor eq 'makerware';
|
|
|
|
return $gcode;
|
|
}
|
|
|
|
sub unretract {
|
|
my $self = shift;
|
|
|
|
my $gcode = "";
|
|
$gcode .= "M101 ; extruder on\n" if $self->config->gcode_flavor eq 'makerware';
|
|
|
|
if ($self->lifted) {
|
|
$self->speed('travel');
|
|
$gcode .= $self->G0(undef, $self->z - $self->lifted, 0, 'restore layer Z');
|
|
$self->lifted(0);
|
|
}
|
|
|
|
my $to_unretract = $self->extruder->retracted + $self->extruder->restart_extra;
|
|
if ($to_unretract) {
|
|
$self->speed('retract');
|
|
# use G1 instead of G0 because G0 will blend the restart with the previous travel move
|
|
$gcode .= $self->G1(undef, undef, $to_unretract, "compensate retraction");
|
|
$self->extruder->retracted(0);
|
|
$self->extruder->restart_extra(0);
|
|
}
|
|
|
|
return $gcode;
|
|
}
|
|
|
|
sub reset_e {
|
|
my $self = shift;
|
|
return "" if $self->config->gcode_flavor =~ /^(?:mach3|makerware|sailfish)$/;
|
|
|
|
$self->extruder->e(0) if $self->extruder;
|
|
return sprintf "G92 %s0%s\n", $self->config->extrusion_axis, ($self->config->gcode_comments ? ' ; reset extrusion distance' : '')
|
|
if $self->config->extrusion_axis && !$self->config->use_relative_e_distances;
|
|
}
|
|
|
|
sub set_acceleration {
|
|
my $self = shift;
|
|
my ($acceleration) = @_;
|
|
return "" if !$acceleration;
|
|
|
|
return sprintf "M204 S%s%s\n",
|
|
$acceleration, ($self->config->gcode_comments ? ' ; adjust acceleration' : '');
|
|
}
|
|
|
|
sub G0 {
|
|
my $self = shift;
|
|
return $self->G1(@_) if !($self->config->g0 || $self->config->gcode_flavor eq 'mach3');
|
|
return $self->_G0_G1("G0", @_);
|
|
}
|
|
|
|
sub G1 {
|
|
my $self = shift;
|
|
return $self->_G0_G1("G1", @_);
|
|
}
|
|
|
|
sub _G0_G1 {
|
|
my $self = shift;
|
|
my ($gcode, $point, $z, $e, $comment) = @_;
|
|
my $dec = $self->dec;
|
|
|
|
if ($point) {
|
|
$gcode .= sprintf " X%.${dec}f Y%.${dec}f",
|
|
($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->extruder->extruder_offset->[X],
|
|
($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->extruder->extruder_offset->[Y]; #**
|
|
$gcode = $self->_limit_frequency($point) . $gcode;
|
|
$self->last_pos($point->clone);
|
|
}
|
|
if (defined $z && (!defined $self->z || $z != $self->z)) {
|
|
$self->z($z);
|
|
$gcode .= sprintf " Z%.${dec}f", $z;
|
|
}
|
|
|
|
return $self->_Gx($gcode, $e, $comment);
|
|
}
|
|
|
|
sub G2_G3 {
|
|
my $self = shift;
|
|
my ($point, $orientation, $center, $e, $comment) = @_;
|
|
my $dec = $self->dec;
|
|
|
|
my $gcode = $orientation eq 'cw' ? "G2" : "G3";
|
|
|
|
$gcode .= sprintf " X%.${dec}f Y%.${dec}f",
|
|
($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->extruder->extruder_offset->[X],
|
|
($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->extruder->extruder_offset->[Y]; #**
|
|
|
|
# XY distance of the center from the start position
|
|
$gcode .= sprintf " I%.${dec}f J%.${dec}f",
|
|
($center->[X] - $self->last_pos->[X]) * &Slic3r::SCALING_FACTOR,
|
|
($center->[Y] - $self->last_pos->[Y]) * &Slic3r::SCALING_FACTOR;
|
|
|
|
$self->last_pos($point);
|
|
return $self->_Gx($gcode, $e, $comment);
|
|
}
|
|
|
|
sub _Gx {
|
|
my $self = shift;
|
|
my ($gcode, $e, $comment) = @_;
|
|
my $dec = $self->dec;
|
|
|
|
# output speed if it's different from last one used
|
|
# (goal: reduce gcode size)
|
|
my $append_bridge_off = 0;
|
|
my $F;
|
|
if ($self->speed ne $self->last_speed) {
|
|
if ($self->speed eq 'bridge') {
|
|
$gcode = ";_BRIDGE_FAN_START\n$gcode";
|
|
} elsif ($self->last_speed eq 'bridge') {
|
|
$append_bridge_off = 1;
|
|
}
|
|
|
|
# apply the speed reduction for print moves on bottom layer
|
|
$F = $self->speed eq 'retract'
|
|
? ($self->extruder->retract_speed_mm_min)
|
|
: $self->speeds->{$self->speed} // $self->speed;
|
|
if ($e && $self->layer && $self->layer->id == 0 && $comment !~ /retract/) {
|
|
$F = $self->config->first_layer_speed =~ /^(\d+(?:\.\d+)?)%$/
|
|
? ($F * $1/100)
|
|
: $self->config->first_layer_speed * 60;
|
|
}
|
|
$self->last_speed($self->speed);
|
|
$self->last_f($F);
|
|
}
|
|
$gcode .= sprintf " F%.${dec}f", $F if defined $F;
|
|
|
|
# output extrusion distance
|
|
if ($e && $self->config->extrusion_axis) {
|
|
$self->extruder->e(0) if $self->config->use_relative_e_distances;
|
|
$self->extruder->e($self->extruder->e + $e);
|
|
$self->total_extrusion_length($self->total_extrusion_length + $e);
|
|
$gcode .= sprintf " %s%.5f", $self->config->extrusion_axis, $self->extruder->e;
|
|
}
|
|
|
|
$gcode .= sprintf " ; %s", $comment if $comment && $self->config->gcode_comments;
|
|
if ($append_bridge_off) {
|
|
$gcode = ";_BRIDGE_FAN_END\n$gcode";
|
|
}
|
|
return "$gcode\n";
|
|
}
|
|
|
|
sub set_extruder {
|
|
my $self = shift;
|
|
my ($extruder) = @_;
|
|
|
|
# return nothing if this extruder was already selected
|
|
return "" if (defined $self->extruder) && ($self->extruder->id == $extruder->id);
|
|
|
|
# if we are running a single-extruder setup, just set the extruder and return nothing
|
|
if (!$self->multiple_extruders) {
|
|
$self->extruder($extruder);
|
|
return "";
|
|
}
|
|
|
|
# trigger retraction on the current extruder (if any)
|
|
my $gcode = "";
|
|
$gcode .= $self->retract(toolchange => 1) if defined $self->extruder;
|
|
|
|
# append custom toolchange G-code
|
|
if (defined $self->extruder && $self->config->toolchange_gcode) {
|
|
$gcode .= sprintf "%s\n", $self->config->replace_options($self->config->toolchange_gcode, {
|
|
previous_extruder => $self->extruder->id,
|
|
next_extruder => $extruder->id,
|
|
});
|
|
}
|
|
|
|
# set the new extruder
|
|
$self->extruder($extruder);
|
|
$gcode .= sprintf "%s%d%s\n",
|
|
($self->config->gcode_flavor eq 'makerware'
|
|
? 'M135 T'
|
|
: $self->config->gcode_flavor eq 'sailfish'
|
|
? 'M108 T'
|
|
: 'T'),
|
|
$extruder->id,
|
|
($self->config->gcode_comments ? ' ; change extruder' : '');
|
|
|
|
$gcode .= $self->reset_e;
|
|
|
|
return $gcode;
|
|
}
|
|
|
|
sub set_fan {
|
|
my $self = shift;
|
|
my ($speed, $dont_save) = @_;
|
|
|
|
if ($self->last_fan_speed != $speed || $dont_save) {
|
|
$self->last_fan_speed($speed) if !$dont_save;
|
|
if ($speed == 0) {
|
|
my $code = $self->config->gcode_flavor eq 'teacup'
|
|
? 'M106 S0'
|
|
: $self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/
|
|
? 'M127'
|
|
: 'M107';
|
|
return sprintf "$code%s\n", ($self->config->gcode_comments ? ' ; disable fan' : '');
|
|
} else {
|
|
if ($self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/) {
|
|
return sprintf "M126%s\n", ($self->config->gcode_comments ? ' ; enable fan' : '');
|
|
} else {
|
|
return sprintf "M106 %s%d%s\n", ($self->config->gcode_flavor eq 'mach3' ? 'P' : 'S'),
|
|
(255 * $speed / 100), ($self->config->gcode_comments ? ' ; enable fan' : '');
|
|
}
|
|
}
|
|
}
|
|
return "";
|
|
}
|
|
|
|
sub set_temperature {
|
|
my $self = shift;
|
|
my ($temperature, $wait, $tool) = @_;
|
|
|
|
return "" if $wait && $self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/;
|
|
|
|
my ($code, $comment) = ($wait && $self->config->gcode_flavor ne 'teacup')
|
|
? ('M109', 'wait for temperature to be reached')
|
|
: ('M104', 'set temperature');
|
|
my $gcode = sprintf "$code %s%d %s; $comment\n",
|
|
($self->config->gcode_flavor eq 'mach3' ? 'P' : 'S'), $temperature,
|
|
(defined $tool && ($self->multiple_extruders || $self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/)) ? "T$tool " : "";
|
|
|
|
$gcode .= "M116 ; wait for temperature to be reached\n"
|
|
if $self->config->gcode_flavor eq 'teacup' && $wait;
|
|
|
|
return $gcode;
|
|
}
|
|
|
|
sub set_bed_temperature {
|
|
my $self = shift;
|
|
my ($temperature, $wait) = @_;
|
|
|
|
my ($code, $comment) = ($wait && $self->config->gcode_flavor ne 'teacup')
|
|
? (($self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/ ? 'M109' : 'M190'), 'wait for bed temperature to be reached')
|
|
: ('M140', 'set bed temperature');
|
|
my $gcode = sprintf "$code %s%d ; $comment\n",
|
|
($self->config->gcode_flavor eq 'mach3' ? 'P' : 'S'), $temperature;
|
|
|
|
$gcode .= "M116 ; wait for bed temperature to be reached\n"
|
|
if $self->config->gcode_flavor eq 'teacup' && $wait;
|
|
|
|
return $gcode;
|
|
}
|
|
|
|
# http://hydraraptor.blogspot.it/2010/12/frequency-limit.html
|
|
sub _limit_frequency {
|
|
my $self = shift;
|
|
my ($point) = @_;
|
|
|
|
return '' if $self->config->vibration_limit == 0;
|
|
my $min_time = 1 / ($self->config->vibration_limit * 60); # in minutes
|
|
|
|
# calculate the move vector and move direction
|
|
my $vector = Slic3r::Line->new($self->last_pos, $point)->vector;
|
|
my @dir = map { $vector->[B][$_] <=> 0 } X,Y;
|
|
|
|
my $time = (unscale $vector->length) / $self->speeds->{$self->speed}; # in minutes
|
|
if ($time > 0) {
|
|
my @pause = ();
|
|
foreach my $axis (X,Y) {
|
|
if ($dir[$axis] != 0 && $self->last_dir->[$axis] != $dir[$axis]) {
|
|
if ($self->last_dir->[$axis] != 0) {
|
|
# this axis is changing direction: check whether we need to pause
|
|
if ($self->dir_time->[$axis] < $min_time) {
|
|
push @pause, ($min_time - $self->dir_time->[$axis]);
|
|
}
|
|
}
|
|
$self->last_dir->[$axis] = $dir[$axis];
|
|
$self->dir_time->[$axis] = 0;
|
|
}
|
|
$self->dir_time->[$axis] += $time;
|
|
}
|
|
|
|
if (@pause) {
|
|
return sprintf "G4 P%d\n", max(@pause) * 60 * 1000;
|
|
}
|
|
}
|
|
|
|
return '';
|
|
}
|
|
|
|
1;
|