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PrusaSlicer-NonPlainar/src/libslic3r/GCodeWriter.cpp
bubnikv 0558b53493 WIP: Moved sources int src/, separated most of the source code from Perl. 
The XS was left only for the unit / integration tests, and it links
libslic3r only. No wxWidgets are allowed to be used from Perl starting
from now.
2018-09-19 11:02:24 +02:00

510 lines
16 KiB
C++
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#include "GCodeWriter.hpp"
#include <algorithm>
#include <iomanip>
#include <iostream>
#include <map>
#include <assert.h>
#define FLAVOR_IS(val) this->config.gcode_flavor == val
#define FLAVOR_IS_NOT(val) this->config.gcode_flavor != val
#define COMMENT(comment) if (this->config.gcode_comments && !comment.empty()) gcode << " ; " << comment;
#define PRECISION(val, precision) std::fixed << std::setprecision(precision) << val
#define XYZF_NUM(val) PRECISION(val, 3)
#define E_NUM(val) PRECISION(val, 5)
namespace Slic3r {
void GCodeWriter::apply_print_config(const PrintConfig &print_config)
{
this->config.apply(print_config, true);
m_extrusion_axis = this->config.get_extrusion_axis();
m_single_extruder_multi_material = print_config.single_extruder_multi_material.value;
m_max_acceleration = (print_config.gcode_flavor.value == gcfMarlin) ?
print_config.machine_max_acceleration_extruding.values.front() : 0;
}
void GCodeWriter::set_extruders(const std::vector<unsigned int> &extruder_ids)
{
m_extruders.clear();
m_extruders.reserve(extruder_ids.size());
for (unsigned int extruder_id : extruder_ids)
m_extruders.emplace_back(Extruder(extruder_id, &this->config));
/* we enable support for multiple extruder if any extruder greater than 0 is used
(even if prints only uses that one) since we need to output Tx commands
first extruder has index 0 */
this->multiple_extruders = (*std::max_element(extruder_ids.begin(), extruder_ids.end())) > 0;
}
std::string GCodeWriter::preamble()
{
std::ostringstream gcode;
if (FLAVOR_IS_NOT(gcfMakerWare)) {
gcode << "G21 ; set units to millimeters\n";
gcode << "G90 ; use absolute coordinates\n";
}
if (FLAVOR_IS(gcfRepRap) || FLAVOR_IS(gcfMarlin) || FLAVOR_IS(gcfTeacup) || FLAVOR_IS(gcfRepetier) || FLAVOR_IS(gcfSmoothie)) {
if (this->config.use_relative_e_distances) {
gcode << "M83 ; use relative distances for extrusion\n";
} else {
gcode << "M82 ; use absolute distances for extrusion\n";
}
gcode << this->reset_e(true);
}
return gcode.str();
}
std::string GCodeWriter::postamble() const
{
std::ostringstream gcode;
if (FLAVOR_IS(gcfMachinekit))
gcode << "M2 ; end of program\n";
return gcode.str();
}
std::string GCodeWriter::set_temperature(unsigned int temperature, bool wait, int tool) const
{
if (wait && (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)))
return "";
std::string code, comment;
if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
code = "M109";
comment = "set temperature and wait for it to be reached";
} else {
code = "M104";
comment = "set temperature";
}
std::ostringstream gcode;
gcode << code << " ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << temperature;
if (tool != -1 &&
( (this->multiple_extruders && ! m_single_extruder_multi_material) ||
FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) ) {
gcode << " T" << tool;
}
gcode << " ; " << comment << "\n";
if (FLAVOR_IS(gcfTeacup) && wait)
gcode << "M116 ; wait for temperature to be reached\n";
return gcode.str();
}
std::string GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait)
{
if (temperature == m_last_bed_temperature && (! wait || m_last_bed_temperature_reached))
return std::string();
m_last_bed_temperature = temperature;
m_last_bed_temperature_reached = wait;
std::string code, comment;
if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
code = "M109";
} else {
code = "M190";
}
comment = "set bed temperature and wait for it to be reached";
} else {
code = "M140";
comment = "set bed temperature";
}
std::ostringstream gcode;
gcode << code << " ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << temperature << " ; " << comment << "\n";
if (FLAVOR_IS(gcfTeacup) && wait)
gcode << "M116 ; wait for bed temperature to be reached\n";
return gcode.str();
}
std::string GCodeWriter::set_fan(unsigned int speed, bool dont_save)
{
std::ostringstream gcode;
if (m_last_fan_speed != speed || dont_save) {
if (!dont_save) m_last_fan_speed = speed;
if (speed == 0) {
if (FLAVOR_IS(gcfTeacup)) {
gcode << "M106 S0";
} else if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
gcode << "M127";
} else {
gcode << "M107";
}
if (this->config.gcode_comments) gcode << " ; disable fan";
gcode << "\n";
} else {
if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
gcode << "M126";
} else {
gcode << "M106 ";
if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
gcode << "P";
} else {
gcode << "S";
}
gcode << (255.0 * speed / 100.0);
}
if (this->config.gcode_comments) gcode << " ; enable fan";
gcode << "\n";
}
}
return gcode.str();
}
std::string GCodeWriter::set_acceleration(unsigned int acceleration)
{
// Clamp the acceleration to the allowed maximum.
if (m_max_acceleration > 0 && acceleration > m_max_acceleration)
acceleration = m_max_acceleration;
if (acceleration == 0 || acceleration == m_last_acceleration)
return std::string();
m_last_acceleration = acceleration;
std::ostringstream gcode;
if (FLAVOR_IS(gcfRepetier)) {
// M201: Set max printing acceleration
gcode << "M201 X" << acceleration << " Y" << acceleration;
if (this->config.gcode_comments) gcode << " ; adjust acceleration";
gcode << "\n";
// M202: Set max travel acceleration
gcode << "M202 X" << acceleration << " Y" << acceleration;
} else {
// M204: Set default acceleration
gcode << "M204 S" << acceleration;
}
if (this->config.gcode_comments) gcode << " ; adjust acceleration";
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::reset_e(bool force)
{
if (FLAVOR_IS(gcfMach3)
|| FLAVOR_IS(gcfMakerWare)
|| FLAVOR_IS(gcfSailfish))
return "";
if (m_extruder != nullptr) {
if (m_extruder->E() == 0. && ! force)
return "";
m_extruder->reset_E();
}
if (! m_extrusion_axis.empty() && ! this->config.use_relative_e_distances) {
std::ostringstream gcode;
gcode << "G92 " << m_extrusion_axis << "0";
if (this->config.gcode_comments) gcode << " ; reset extrusion distance";
gcode << "\n";
return gcode.str();
} else {
return "";
}
}
std::string GCodeWriter::update_progress(unsigned int num, unsigned int tot, bool allow_100) const
{
if (FLAVOR_IS_NOT(gcfMakerWare) && FLAVOR_IS_NOT(gcfSailfish))
return "";
unsigned int percent = (unsigned int)floor(100.0 * num / tot + 0.5);
if (!allow_100) percent = std::min(percent, (unsigned int)99);
std::ostringstream gcode;
gcode << "M73 P" << percent;
if (this->config.gcode_comments) gcode << " ; update progress";
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::toolchange_prefix() const
{
return FLAVOR_IS(gcfMakerWare) ? "M135 T" :
FLAVOR_IS(gcfSailfish) ? "M108 T" : "T";
}
std::string GCodeWriter::toolchange(unsigned int extruder_id)
{
// set the new extruder
auto it_extruder = std::lower_bound(m_extruders.begin(), m_extruders.end(), Extruder::key(extruder_id));
assert(it_extruder != m_extruders.end());
m_extruder = const_cast<Extruder*>(&*it_extruder);
// return the toolchange command
// if we are running a single-extruder setup, just set the extruder and return nothing
std::ostringstream gcode;
if (this->multiple_extruders) {
gcode << this->toolchange_prefix() << extruder_id;
if (this->config.gcode_comments)
gcode << " ; change extruder";
gcode << "\n";
gcode << this->reset_e(true);
}
return gcode.str();
}
std::string GCodeWriter::set_speed(double F, const std::string &comment, const std::string &cooling_marker) const
{
assert(F > 0.);
assert(F < 100000.);
std::ostringstream gcode;
gcode << "G1 F" << F;
COMMENT(comment);
gcode << cooling_marker;
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::travel_to_xy(const Vec2d &point, const std::string &comment)
{
m_pos(0) = point(0);
m_pos(1) = point(1);
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point(0))
<< " Y" << XYZF_NUM(point(1))
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &comment)
{
/* If target Z is lower than current Z but higher than nominal Z we
don't perform the Z move but we only move in the XY plane and
adjust the nominal Z by reducing the lift amount that will be
used for unlift. */
if (!this->will_move_z(point(2))) {
double nominal_z = m_pos(2) - m_lifted;
m_lifted = m_lifted - (point(2) - nominal_z);
return this->travel_to_xy(to_2d(point));
}
/* In all the other cases, we perform an actual XYZ move and cancel
the lift. */
m_lifted = 0;
m_pos = point;
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point(0))
<< " Y" << XYZF_NUM(point(1))
<< " Z" << XYZF_NUM(point(2))
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::travel_to_z(double z, const std::string &comment)
{
/* If target Z is lower than current Z but higher than nominal Z
we don't perform the move but we only adjust the nominal Z by
reducing the lift amount that will be used for unlift. */
if (!this->will_move_z(z)) {
double nominal_z = m_pos(2) - m_lifted;
m_lifted = m_lifted - (z - nominal_z);
return "";
}
/* In all the other cases, we perform an actual Z move and cancel
the lift. */
m_lifted = 0;
return this->_travel_to_z(z, comment);
}
std::string GCodeWriter::_travel_to_z(double z, const std::string &comment)
{
m_pos(2) = z;
std::ostringstream gcode;
gcode << "G1 Z" << XYZF_NUM(z)
<< " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
bool GCodeWriter::will_move_z(double z) const
{
/* If target Z is lower than current Z but higher than nominal Z
we don't perform an actual Z move. */
if (m_lifted > 0) {
double nominal_z = m_pos(2) - m_lifted;
if (z >= nominal_z && z <= m_pos(2))
return false;
}
return true;
}
std::string GCodeWriter::extrude_to_xy(const Vec2d &point, double dE, const std::string &comment)
{
m_pos(0) = point(0);
m_pos(1) = point(1);
m_extruder->extrude(dE);
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point(0))
<< " Y" << XYZF_NUM(point(1))
<< " " << m_extrusion_axis << E_NUM(m_extruder->E());
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::extrude_to_xyz(const Vec3d &point, double dE, const std::string &comment)
{
m_pos = point;
m_lifted = 0;
m_extruder->extrude(dE);
std::ostringstream gcode;
gcode << "G1 X" << XYZF_NUM(point(0))
<< " Y" << XYZF_NUM(point(1))
<< " Z" << XYZF_NUM(point(2))
<< " " << m_extrusion_axis << E_NUM(m_extruder->E());
COMMENT(comment);
gcode << "\n";
return gcode.str();
}
std::string GCodeWriter::retract(bool before_wipe)
{
double factor = before_wipe ? m_extruder->retract_before_wipe() : 1.;
assert(factor >= 0. && factor <= 1. + EPSILON);
return this->_retract(
factor * m_extruder->retract_length(),
factor * m_extruder->retract_restart_extra(),
"retract"
);
}
std::string GCodeWriter::retract_for_toolchange(bool before_wipe)
{
double factor = before_wipe ? m_extruder->retract_before_wipe() : 1.;
assert(factor >= 0. && factor <= 1. + EPSILON);
return this->_retract(
factor * m_extruder->retract_length_toolchange(),
factor * m_extruder->retract_restart_extra_toolchange(),
"retract for toolchange"
);
}
std::string GCodeWriter::_retract(double length, double restart_extra, const std::string &comment)
{
std::ostringstream gcode;
/* If firmware retraction is enabled, we use a fake value of 1
since we ignore the actual configured retract_length which
might be 0, in which case the retraction logic gets skipped. */
if (this->config.use_firmware_retraction) length = 1;
// If we use volumetric E values we turn lengths into volumes */
if (this->config.use_volumetric_e) {
double d = m_extruder->filament_diameter();
double area = d * d * PI/4;
length = length * area;
restart_extra = restart_extra * area;
}
double dE = m_extruder->retract(length, restart_extra);
if (dE != 0) {
if (this->config.use_firmware_retraction) {
if (FLAVOR_IS(gcfMachinekit))
gcode << "G22 ; retract\n";
else
gcode << "G10 ; retract\n";
} else {
gcode << "G1 " << m_extrusion_axis << E_NUM(m_extruder->E())
<< " F" << float(m_extruder->retract_speed() * 60.);
COMMENT(comment);
gcode << "\n";
}
}
if (FLAVOR_IS(gcfMakerWare))
gcode << "M103 ; extruder off\n";
return gcode.str();
}
std::string GCodeWriter::unretract()
{
std::ostringstream gcode;
if (FLAVOR_IS(gcfMakerWare))
gcode << "M101 ; extruder on\n";
double dE = m_extruder->unretract();
if (dE != 0) {
if (this->config.use_firmware_retraction) {
if (FLAVOR_IS(gcfMachinekit))
gcode << "G23 ; unretract\n";
else
gcode << "G11 ; unretract\n";
gcode << this->reset_e();
} else {
// use G1 instead of G0 because G0 will blend the restart with the previous travel move
gcode << "G1 " << m_extrusion_axis << E_NUM(m_extruder->E())
<< " F" << float(m_extruder->deretract_speed() * 60.);
if (this->config.gcode_comments) gcode << " ; unretract";
gcode << "\n";
}
}
return gcode.str();
}
/* If this method is called more than once before calling unlift(),
it will not perform subsequent lifts, even if Z was raised manually
(i.e. with travel_to_z()) and thus _lifted was reduced. */
std::string GCodeWriter::lift()
{
// check whether the above/below conditions are met
double target_lift = 0;
{
double above = this->config.retract_lift_above.get_at(m_extruder->id());
double below = this->config.retract_lift_below.get_at(m_extruder->id());
if (m_pos(2) >= above && (below == 0 || m_pos(2) <= below))
target_lift = this->config.retract_lift.get_at(m_extruder->id());
}
if (m_lifted == 0 && target_lift > 0) {
m_lifted = target_lift;
return this->_travel_to_z(m_pos(2) + target_lift, "lift Z");
}
return "";
}
std::string GCodeWriter::unlift()
{
std::string gcode;
if (m_lifted > 0) {
gcode += this->_travel_to_z(m_pos(2) - m_lifted, "restore layer Z");
m_lifted = 0;
}
return gcode;
}
}
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