423 lines
17 KiB
Perl
423 lines
17 KiB
Perl
package Slic3r::GCode;
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use strict;
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use warnings;
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use List::Util qw(min max first);
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use Slic3r::ExtrusionLoop ':roles';
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use Slic3r::ExtrusionPath ':roles';
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use Slic3r::Geometry qw(epsilon scale unscale PI X Y B);
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use Slic3r::Geometry::Clipper qw(union_ex);
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sub set_extruders {
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my ($self, $extruder_ids) = @_;
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$self->writer->set_extruders($extruder_ids);
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# enable wipe path generation if any extruder has wipe enabled
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$self->wipe->set_enable(defined first { $self->config->get_at('wipe', $_) } @$extruder_ids);
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}
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sub change_layer {
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my ($self, $layer) = @_;
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{
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my $l = $layer->isa('Slic3r::Layer::Support')
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? $layer->as_layer
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: $layer;
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$self->set_layer($l);
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}
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$self->set_layer_index($self->layer_index + 1);
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$self->set_first_layer($layer->id == 0);
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# avoid computing islands and overhangs if they're not needed
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if ($self->config->avoid_crossing_perimeters) {
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$self->avoid_crossing_perimeters->init_layer_mp(
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union_ex([ map @$_, @{$layer->slices} ], 1),
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);
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}
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my $gcode = "";
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if ($self->layer_count > 0) {
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$gcode .= $self->writer->update_progress($self->layer_index, $self->layer_count);
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}
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my $z = $layer->print_z + $self->config->z_offset; # in unscaled coordinates
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if ($self->config->get_at('retract_layer_change', $self->writer->extruder->id) && $self->writer->will_move_z($z)) {
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$gcode .= $self->retract;
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}
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$gcode .= $self->writer->travel_to_z($z, 'move to next layer (' . $self->layer_index . ')');
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# forget last wiping path as wiping after raising Z is pointless
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$self->wipe->reset_path;
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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')
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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, $loop, $description, $speed) = @_;
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# make a copy; don't modify the orientation of the original loop object otherwise
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# next copies (if any) would not detect the correct orientation
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$loop = $loop->clone;
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# extrude all loops ccw
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my $was_clockwise = $loop->make_counter_clockwise;
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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->spiral_vase) {
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$loop->split_at($last_pos);
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} elsif ($self->config->seam_position eq 'nearest' || $self->config->seam_position eq 'aligned') {
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# simplify polygon in order to skip false positives in concave/convex detection
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# ($loop is always ccw as $polygon->simplify only works on ccw polygons)
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my $polygon = $loop->polygon;
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my @simplified = @{$polygon->simplify(scale $self->config->get_at('nozzle_diameter', $self->writer->extruder->id)/2)};
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# restore original winding order so that concave and convex detection always happens
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# on the right/outer side of the polygon
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if ($was_clockwise) {
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$_->reverse for @simplified;
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}
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# concave vertices have priority
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my @candidates = map @{$_->concave_points(PI*4/3)}, @simplified;
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# if no concave points were found, look for convex vertices
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@candidates = map @{$_->convex_points(PI*2/3)}, @simplified if !@candidates;
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# retrieve the last start position for this object
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if ($self->has_layer) {
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if ($self->_has_seam_position($self->layer->object)) {
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$last_pos = $self->_seam_position($self->layer->object);
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}
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}
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my $point;
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if ($self->config->seam_position eq 'nearest') {
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@candidates = @$polygon if !@candidates;
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$point = $last_pos->nearest_point(\@candidates);
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if (!$loop->split_at_vertex($point)) {
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# On 32-bit Linux, Clipper will change some point coordinates by 1 unit
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# while performing simplify_polygons(), thus split_at_vertex() won't
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# find them anymore.
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$loop->split_at($point);
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}
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} elsif (@candidates) {
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my @non_overhang = grep !$loop->has_overhang_point($_), @candidates;
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@candidates = @non_overhang if @non_overhang;
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$point = $last_pos->nearest_point(\@candidates);
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if (!$loop->split_at_vertex($point)) {
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$loop->split_at($point);
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}
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} else {
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$point = $last_pos->projection_onto_polygon($polygon);
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$loop->split_at($point);
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}
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$self->_set_seam_position($self->layer->object, $point)
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if $self->has_layer;
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} elsif ($self->config->seam_position eq 'random') {
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if ($loop->role == EXTRL_ROLE_CONTOUR_INTERNAL_PERIMETER) {
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my $polygon = $loop->polygon;
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my $centroid = $polygon->centroid;
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$last_pos = Slic3r::Point->new($polygon->bounding_box->x_max, $centroid->y); #))
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$last_pos->rotate(rand(2*PI), $centroid);
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}
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$loop->split_at($last_pos);
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}
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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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my $clip_length = $self->enable_loop_clipping
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? scale($self->config->get_at('nozzle_diameter', $self->writer->extruder->id)) * &Slic3r::LOOP_CLIPPING_LENGTH_OVER_NOZZLE_DIAMETER
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: 0;
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# get paths
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my @paths = @{$loop->clip_end($clip_length)};
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return '' if !@paths;
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# apply the small perimeter speed
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if ($paths[0]->is_perimeter && $loop->length <= &Slic3r::SMALL_PERIMETER_LENGTH) {
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$speed //= $self->config->get_abs_value('small_perimeter_speed');
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}
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# extrude along the path
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my $gcode = join '', map $self->_extrude_path($_, $description, $speed), @paths;
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# reset acceleration
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$gcode .= $self->writer->set_acceleration($self->config->default_acceleration);
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$self->wipe->set_path($paths[0]->polyline->clone) if $self->wipe->enable; # TODO: don't limit wipe to last path
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# make a little move inwards before leaving loop
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if ($paths[-1]->role == EXTR_ROLE_EXTERNAL_PERIMETER && $self->has_layer && $self->config->perimeters > 1) {
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my $last_path_polyline = $paths[-1]->polyline;
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# detect angle between last and first segment
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# the side depends on the original winding order of the polygon (left for contours, right for holes)
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my @points = ($paths[0][1], $paths[-1][-2]);
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@points = reverse @points if $was_clockwise;
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my $angle = $paths[0]->first_point->ccw_angle(@points) / 3;
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# turn left if contour, turn right if hole
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$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 $first_segment = Slic3r::Line->new(@{$paths[0]->polyline}[0,1]);
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my $distance = min(scale($self->config->get_at('nozzle_diameter', $self->writer->extruder->id)), $first_segment->length);
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my $point = $first_segment->point_at($distance);
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$point->rotate($angle, $first_segment->a);
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# generate the travel move
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$gcode .= $self->writer->travel_to_xy($self->point_to_gcode($point), "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, $path, $description, $speed) = @_;
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my $gcode = $self->_extrude_path($path, $description, $speed);
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# reset acceleration
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$gcode .= $self->writer->set_acceleration($self->config->default_acceleration);
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return $gcode;
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}
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sub _extrude_path {
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my ($self, $path, $description, $speed) = @_;
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$path->simplify(&Slic3r::SCALED_RESOLUTION);
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# go to first point of extrusion path
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my $gcode = "";
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{
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my $first_point = $path->first_point;
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$gcode .= $self->travel_to($first_point, $path->role, "move to first $description point")
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if !$self->last_pos_defined || !$self->last_pos->coincides_with($first_point);
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}
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# compensate retraction
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$gcode .= $self->unretract;
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# adjust acceleration
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{
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my $acceleration;
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if ($self->config->first_layer_acceleration && $self->first_layer) {
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$acceleration = $self->config->first_layer_acceleration;
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} elsif ($self->config->perimeter_acceleration && $path->is_perimeter) {
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$acceleration = $self->config->perimeter_acceleration;
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} elsif ($self->config->bridge_acceleration && $path->is_bridge) {
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$acceleration = $self->config->bridge_acceleration;
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} elsif ($self->config->infill_acceleration && $path->is_infill) {
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$acceleration = $self->config->infill_acceleration;
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} else {
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$acceleration = $self->config->default_acceleration;
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}
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$gcode .= $self->writer->set_acceleration($acceleration);
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}
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# calculate extrusion length per distance unit
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my $e_per_mm = $self->writer->extruder->e_per_mm3 * $path->mm3_per_mm;
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$e_per_mm = 0 if !$self->writer->extrusion_axis;
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# set speed
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$speed //= -1;
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if ($speed == -1) {
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if ($path->role == EXTR_ROLE_PERIMETER) {
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$speed = $self->config->get_abs_value('perimeter_speed');
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} elsif ($path->role == EXTR_ROLE_EXTERNAL_PERIMETER) {
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$speed = $self->config->get_abs_value('external_perimeter_speed');
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} elsif ($path->role == EXTR_ROLE_OVERHANG_PERIMETER || $path->role == EXTR_ROLE_BRIDGE) {
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$speed = $self->config->get_abs_value('bridge_speed');
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} elsif ($path->role == EXTR_ROLE_FILL) {
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$speed = $self->config->get_abs_value('infill_speed');
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} elsif ($path->role == EXTR_ROLE_SOLIDFILL) {
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$speed = $self->config->get_abs_value('solid_infill_speed');
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} elsif ($path->role == EXTR_ROLE_TOPSOLIDFILL) {
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$speed = $self->config->get_abs_value('top_solid_infill_speed');
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} elsif ($path->role == EXTR_ROLE_GAPFILL) {
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$speed = $self->config->get_abs_value('gap_fill_speed');
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} else {
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die "Invalid speed";
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}
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}
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if ($self->first_layer) {
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$speed = $self->config->get_abs_value_over('first_layer_speed', $speed);
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}
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if ($self->volumetric_speed != 0) {
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$speed ||= $self->volumetric_speed / $path->mm3_per_mm;
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}
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if ($self->config->max_volumetric_speed > 0) {
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# Cap speed with max_volumetric_speed anyway (even if user is not using autospeed)
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$speed = min(
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$speed,
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$self->config->max_volumetric_speed / $path->mm3_per_mm,
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);
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}
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my $F = $speed * 60; # convert mm/sec to mm/min
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# extrude arc or line
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$gcode .= ";_BRIDGE_FAN_START\n" if $path->is_bridge && $self->enable_cooling_markers;
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my $path_length = unscale $path->length;
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{
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my $extruder_offset = $self->config->get_at('extruder_offset', $self->writer->extruder->id);
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$gcode .= $path->gcode($self->writer->extruder, $e_per_mm, $F,
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$self->origin->x - $extruder_offset->x,
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$self->origin->y - $extruder_offset->y, #-
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$self->writer->extrusion_axis,
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$self->config->gcode_comments ? " ; $description" : "");
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if ($self->wipe->enable) {
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$self->wipe->set_path($path->polyline->clone);
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$self->wipe->path->reverse;
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}
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}
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$gcode .= ";_BRIDGE_FAN_END\n" if $path->is_bridge && $self->enable_cooling_markers;
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$self->set_last_pos($path->last_point);
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if ($self->config->cooling) {
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my $path_time = $path_length / $F * 60;
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$self->set_elapsed_time($self->elapsed_time + $path_time);
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}
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return $gcode;
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}
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# This method accepts $point in print coordinates.
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sub travel_to {
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my ($self, $point, $role, $comment) = @_;
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# Define the travel move as a line between current position and the taget point.
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# This is expressed in print coordinates, so it will need to be translated by
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# $self->origin in order to get G-code coordinates.
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my $travel = Slic3r::Polyline->new($self->last_pos, $point);
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# check whether a straight travel move would need retraction
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my $needs_retraction = $self->needs_retraction($travel, $role // EXTR_ROLE_NONE);
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# if a retraction would be needed, try to use avoid_crossing_perimeters to plan a
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# multi-hop travel path inside the configuration space
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if ($needs_retraction
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&& $self->config->avoid_crossing_perimeters
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&& !$self->avoid_crossing_perimeters->disable_once) {
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$travel = $self->avoid_crossing_perimeters->travel_to($self, $point);
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# check again whether the new travel path still needs a retraction
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$needs_retraction = $self->needs_retraction($travel, $role // EXTR_ROLE_NONE);
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}
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# Re-allow avoid_crossing_perimeters for the next travel moves
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$self->avoid_crossing_perimeters->set_disable_once(0);
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$self->avoid_crossing_perimeters->set_use_external_mp_once(0);
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# generate G-code for the travel move
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my $gcode = "";
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$gcode .= $self->retract if $needs_retraction;
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# use G1 because we rely on paths being straight (G0 may make round paths)
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$gcode .= $self->writer->travel_to_xy($self->point_to_gcode($_->b), $comment)
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for @{$travel->lines};
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return $gcode;
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}
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sub set_extruder {
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my ($self, $extruder_id) = @_;
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$self->placeholder_parser->set('current_extruder', $extruder_id);
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return "" if !$self->writer->need_toolchange($extruder_id);
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# if we are running a single-extruder setup, just set the extruder and return nothing
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if (!$self->writer->multiple_extruders) {
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return $self->writer->toolchange($extruder_id);
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}
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# prepend retraction on the current extruder
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my $gcode = $self->retract(1);
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# append custom toolchange G-code
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if (defined $self->writer->extruder && $self->config->toolchange_gcode) {
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my $pp = $self->placeholder_parser->clone;
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$pp->set('previous_extruder' => $self->writer->extruder->id);
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$pp->set('next_extruder' => $extruder_id);
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$gcode .= sprintf "%s\n", $pp->process($self->config->toolchange_gcode);
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}
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# if ooze prevention is enabled, park current extruder in the nearest
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# standby point and set it to the standby temperature
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$gcode .= $self->ooze_prevention->pre_toolchange($self)
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if $self->ooze_prevention->enable && defined $self->writer->extruder;
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# append the toolchange command
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$gcode .= $self->writer->toolchange($extruder_id);
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# set the new extruder to the operating temperature
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$gcode .= $self->ooze_prevention->post_toolchange($self)
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if $self->ooze_prevention->enable;
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return $gcode;
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}
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package Slic3r::GCode::OozePrevention;
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use strict;
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use warnings;
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use Slic3r::Geometry qw(scale);
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sub pre_toolchange {
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my ($self, $gcodegen) = @_;
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my $gcode = "";
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# move to the nearest standby point
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if (@{$self->standby_points}) {
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# get current position in print coordinates
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my $pos = Slic3r::Point->new_scale(@{$gcodegen->writer->get_position}[0,1]);
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my $standby_point = Slic3r::Pointf->new_unscale(@{$pos->nearest_point($self->standby_points)});
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# We don't call $gcodegen->travel_to() because we don't need retraction (it was already
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# triggered by the caller) nor avoid_crossing_perimeters and also because the coordinates
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# of the destination point must not be transformed by origin nor current extruder offset.
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$gcode .= $gcodegen->writer->travel_to_xy($standby_point, 'move to standby position');
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}
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if ($gcodegen->config->standby_temperature_delta != 0) {
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my $temp = $gcodegen->has_layer && $gcodegen->layer->id == 0
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? $gcodegen->config->get_at('first_layer_temperature', $gcodegen->writer->extruder->id)
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: $gcodegen->config->get_at('temperature', $gcodegen->writer->extruder->id);
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# we assume that heating is always slower than cooling, so no need to block
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$gcode .= $gcodegen->writer->set_temperature($temp + $gcodegen->config->standby_temperature_delta, 0);
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}
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return $gcode;
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}
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sub post_toolchange {
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my ($self, $gcodegen) = @_;
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my $gcode = "";
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if ($gcodegen->config->standby_temperature_delta != 0) {
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my $temp = $gcodegen->has_layer && $gcodegen->layer->id == 0
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? $gcodegen->config->get_at('first_layer_temperature', $gcodegen->writer->extruder->id)
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: $gcodegen->config->get_at('temperature', $gcodegen->writer->extruder->id);
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$gcode .= $gcodegen->writer->set_temperature($temp, 1);
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}
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return $gcode;
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}
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1;
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