491 lines
17 KiB
C++
491 lines
17 KiB
C++
#include "SLAPrint.hpp"
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#include "SLA/SLASupportTree.hpp"
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#include "SLA/SLABasePool.hpp"
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#include <tbb/parallel_for.h>
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//#include <tbb/spin_mutex.h>//#include "tbb/mutex.h"
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#include "I18N.hpp"
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//! macro used to mark string used at localization,
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//! return same string
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#define L(s) Slic3r::I18N::translate(s)
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namespace Slic3r {
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using SlicedModel = SlicedSupports;
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using SupportTreePtr = std::unique_ptr<sla::SLASupportTree>;
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class SLAPrintObject::SupportData {
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public:
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sla::EigenMesh3D emesh; // index-triangle representation
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sla::PointSet support_points; // all the support points (manual/auto)
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SupportTreePtr support_tree_ptr; // the supports
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SlicedSupports support_slices; // sliced supports
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};
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namespace {
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const std::array<unsigned, slaposCount> OBJ_STEP_LEVELS =
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{
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0,
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20,
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30,
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50,
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70,
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90
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};
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const std::array<std::string, slaposCount> OBJ_STEP_LABELS =
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{
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L("Slicing model"), // slaposObjectSlice,
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L("Generating islands"), // slaposSupportIslands,
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L("Scanning model structure"), // slaposSupportPoints,
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L("Generating support tree"), // slaposSupportTree,
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L("Generating base pool"), // slaposBasePool,
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L("Slicing supports") // slaposSliceSupports,
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};
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const std::array<unsigned, slapsCount> PRINT_STEP_LEVELS =
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{
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// This is after processing all the Print objects, so we start from 50%
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50, // slapsRasterize
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90, // slapsValidate
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};
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const std::array<std::string, slapsCount> PRINT_STEP_LABELS =
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{
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L("Rasterizing layers"), // slapsRasterize
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L("Validating"), // slapsValidate
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};
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}
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void SLAPrint::clear()
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{
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tbb::mutex::scoped_lock lock(this->state_mutex());
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// The following call should stop background processing if it is running.
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this->invalidate_all_steps();
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for (SLAPrintObject *object : m_objects) delete object;
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m_objects.clear();
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}
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SLAPrint::ApplyStatus SLAPrint::apply(const Model &model,
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const DynamicPrintConfig &config_in)
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{
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// if (m_objects.empty())
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// return APPLY_STATUS_UNCHANGED;
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// Grab the lock for the Print / PrintObject milestones.
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tbb::mutex::scoped_lock lock(this->state_mutex());
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if(m_objects.empty() && model.objects.empty())
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return APPLY_STATUS_UNCHANGED;
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// Temporary: just to have to correct layer height for the rasterization
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DynamicPrintConfig config(config_in);
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config.normalize();
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auto lh = config.opt<ConfigOptionFloat>("layer_height");
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// Temporary quick fix, just invalidate everything.
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{
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for (SLAPrintObject *print_object : m_objects) {
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print_object->invalidate_all_steps();
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delete print_object;
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}
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m_objects.clear();
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this->invalidate_all_steps();
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// Copy the model by value (deep copy),
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// keep the Model / ModelObject / ModelInstance / ModelVolume IDs.
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m_model.assign_copy(model);
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// Generate new SLAPrintObjects.
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for (ModelObject *model_object : m_model.objects) {
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auto po = new SLAPrintObject(this, model_object);
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po->m_config.layer_height.set(lh);
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m_objects.emplace_back(po);
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for (ModelInstance *oinst : model_object->instances) {
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Point tr = Point::new_scale(oinst->get_offset()(X),
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oinst->get_offset()(Y));
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auto rotZ = float(oinst->get_rotation()(Z));
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po->m_instances.emplace_back(oinst->id(), tr, rotZ);
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}
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}
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}
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return APPLY_STATUS_INVALIDATED;
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}
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void SLAPrint::process()
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{
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using namespace sla;
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// Assumption: at this point the print objects should be populated only with
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// the model objects we have to process and the instances are also filtered
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// shortcut to initial layer height
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auto ilh = float(m_material_config.initial_layer_height.getFloat());
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// Slicing the model object. This method is oversimplified and needs to
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// be compared with the fff slicing algorithm for verification
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auto slice_model = [this, ilh](SLAPrintObject& po) {
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auto lh = float(po.m_config.layer_height.getFloat());
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TriangleMesh mesh = po.transformed_mesh();
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TriangleMeshSlicer slicer(&mesh);
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auto bb3d = mesh.bounding_box();
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auto H = bb3d.max(Z) - bb3d.min(Z);
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auto gnd = float(bb3d.min(Z));
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std::vector<float> heights = {gnd};
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for(float h = gnd + ilh; h < gnd + H; h += lh) heights.emplace_back(h);
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auto& layers = po.m_model_slices;
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slicer.slice(heights, &layers, [this](){
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throw_if_canceled();
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});
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};
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auto support_points = [](SLAPrintObject& po) {
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ModelObject& mo = *po.m_model_object;
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if(!mo.sla_support_points.empty()) {
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po.m_supportdata.reset(new SLAPrintObject::SupportData());
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po.m_supportdata->emesh = sla::to_eigenmesh(po.transformed_mesh());
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po.m_supportdata->support_points =
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sla::to_point_set(po.transformed_support_points());
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}
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// for(SLAPrintObject *po : pobjects) {
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// TODO: calculate automatic support points
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// po->m_supportdata->slice_cache contains the slices at this point
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//}
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};
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// In this step we create the supports
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auto support_tree = [this](SLAPrintObject& po) {
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if(!po.m_supportdata) return;
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auto& emesh = po.m_supportdata->emesh;
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auto& pts = po.m_supportdata->support_points; // nowhere filled yet
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try {
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SupportConfig scfg; // TODO fill or replace with po.m_config
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sla::Controller ctl;
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ctl.statuscb = [this](unsigned st, const std::string& msg) {
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unsigned stinit = OBJ_STEP_LEVELS[slaposSupportTree];
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double d = (OBJ_STEP_LEVELS[slaposBasePool] - stinit) / 100.0;
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set_status(unsigned(stinit + st*d), msg);
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};
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ctl.stopcondition = [this](){ return canceled(); };
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ctl.cancelfn = [this]() { throw_if_canceled(); };
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po.m_supportdata->support_tree_ptr.reset(
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new SLASupportTree(pts, emesh, scfg, ctl));
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} catch(sla::SLASupportsStoppedException&) {
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// no need to rethrow
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// throw_if_canceled();
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}
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};
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// This step generates the sla base pad
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auto base_pool = [](SLAPrintObject& po) {
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// this step can only go after the support tree has been created
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// and before the supports had been sliced. (or the slicing has to be
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// repeated)
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if(po.is_step_done(slaposSupportTree) &&
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po.m_supportdata &&
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po.m_supportdata->support_tree_ptr)
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{
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double wt = po.m_config.pad_wall_thickness.getFloat();
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double h = po.m_config.pad_wall_height.getFloat();
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double md = po.m_config.pad_max_merge_distance.getFloat();
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double er = po.m_config.pad_edge_radius.getFloat();
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double lh = po.m_config.layer_height.getFloat();
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double elevation = po.m_config.support_object_elevation.getFloat();
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sla::ExPolygons bp;
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if(elevation < h/2)
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sla::base_plate(po.transformed_mesh(), bp,
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float(h/2), float(lh));
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po.m_supportdata->support_tree_ptr->add_pad(bp, wt, h, md, er);
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}
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};
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// Slicing the support geometries similarly to the model slicing procedure.
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// If the pad had been added previously (see step "base_pool" than it will
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// be part of the slices)
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auto slice_supports = [ilh](SLAPrintObject& po) {
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auto& sd = po.m_supportdata;
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if(sd && sd->support_tree_ptr) {
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auto lh = float(po.m_config.layer_height.getFloat());
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sd->support_slices = sd->support_tree_ptr->slice(lh, ilh);
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}
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};
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// Rasterizing the model objects, and their supports
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auto rasterize = [this, ilh]() {
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using Layer = sla::ExPolygons;
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using LayerCopies = std::vector<SLAPrintObject::Instance>;
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struct LayerRef {
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std::reference_wrapper<const Layer> lref;
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std::reference_wrapper<const LayerCopies> copies;
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LayerRef(const Layer& lyr, const LayerCopies& cp) :
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lref(std::cref(lyr)), copies(std::cref(cp)) {}
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};
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using LayerRefs = std::vector<LayerRef>;
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// layers according to quantized height levels
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std::map<long long, LayerRefs> levels;
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// For all print objects, go through its initial layers and place them
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// into the layers hash
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for(SLAPrintObject *o : m_objects) {
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double gndlvl = o->transformed_mesh().bounding_box().min(Z);
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double lh = o->m_config.layer_height.getFloat();
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SlicedModel & oslices = o->m_model_slices;
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for(int i = 0; i < oslices.size(); ++i) {
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int a = i == 0 ? 0 : 1;
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int b = i == 0 ? 0 : i - 1;
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double h = gndlvl + ilh * a + b * lh;
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long long lyridx = static_cast<long long>(scale_(h));
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auto& lyrs = levels[lyridx]; // this initializes a new record
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lyrs.emplace_back(oslices[i], o->m_instances);
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}
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if(o->m_supportdata) { // deal with the support slices if present
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auto& sslices = o->m_supportdata->support_slices;
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double el = o->m_config.support_object_elevation.getFloat();
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//TODO: remove next line:
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el = SupportConfig().object_elevation_mm;
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for(int i = 0; i < sslices.size(); ++i) {
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int a = i == 0 ? 0 : 1;
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int b = i == 0 ? 0 : i - 1;
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double h = gndlvl - el + ilh * a + b * lh;
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long long lyridx = static_cast<long long>(scale_(h));
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auto& lyrs = levels[lyridx];
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lyrs.emplace_back(sslices[i], o->m_instances);
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}
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}
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}
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if(canceled()) return;
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// collect all the keys
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std::vector<long long> keys; keys.reserve(levels.size());
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for(auto& e : levels) keys.emplace_back(e.first);
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{ // create a raster printer for the current print parameters
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// I don't know any better
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auto& ocfg = m_objects.front()->m_config;
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auto& matcfg = m_material_config;
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auto& printcfg = m_printer_config;
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double w = printcfg.display_width.getFloat();
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double h = printcfg.display_height.getFloat();
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unsigned pw = printcfg.display_pixels_x.getInt();
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unsigned ph = printcfg.display_pixels_y.getInt();
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double lh = ocfg.layer_height.getFloat();
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double exp_t = matcfg.exposure_time.getFloat();
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double iexp_t = matcfg.initial_exposure_time.getFloat();
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m_printer.reset(new SLAPrinter(w, h, pw, ph, lh, exp_t, iexp_t));
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}
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// Allocate space for all the layers
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SLAPrinter& printer = *m_printer;
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auto lvlcnt = unsigned(levels.size());
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printer.layers(lvlcnt);
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// TODO exclusive progress indication for this step would be good
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// as it is the longest of all. It would require synchronization
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// in the parallel processing.
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// procedure to process one height level. This will run in parallel
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auto lvlfn = [this, &keys, &levels, &printer](unsigned level_id) {
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if(canceled()) return;
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LayerRefs& lrange = levels[keys[level_id]];
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// Switch to the appropriate layer in the printer
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printer.begin_layer(level_id);
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for(auto& lyrref : lrange) { // for all layers in the current level
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if(canceled()) break;
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const Layer& sl = lyrref.lref; // get the layer reference
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const LayerCopies& copies = lyrref.copies;
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// Draw all the polygons in the slice to the actual layer.
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for(auto& cp : copies) {
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for(ExPolygon slice : sl) {
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slice.translate(cp.shift(X), cp.shift(Y));
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slice.rotate(cp.rotation);
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printer.draw_polygon(slice, level_id);
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}
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}
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}
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// Finish the layer for later saving it.
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printer.finish_layer(level_id);
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};
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// last minute escape
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if(canceled()) return;
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// Sequential version (for testing)
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// for(unsigned l = 0; l < lvlcnt; ++l) process_level(l);
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// Print all the layers in parallel
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tbb::parallel_for<unsigned, decltype(lvlfn)>(0, lvlcnt, lvlfn);
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};
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using slaposFn = std::function<void(SLAPrintObject&)>;
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using slapsFn = std::function<void(void)>;
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std::array<SLAPrintObjectStep, slaposCount> objectsteps = {
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slaposObjectSlice,
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slaposSupportIslands,
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slaposSupportPoints,
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slaposSupportTree,
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slaposBasePool,
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slaposSliceSupports
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};
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std::array<slaposFn, slaposCount> pobj_program =
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{
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slice_model,
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[](SLAPrintObject&){}, // slaposSupportIslands now empty
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support_points,
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support_tree,
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base_pool,
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slice_supports
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};
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std::array<slapsFn, slapsCount> print_program =
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{
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rasterize,
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[](){} // validate
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};
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const unsigned min_objstatus = 0;
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const unsigned max_objstatus = PRINT_STEP_LEVELS[slapsRasterize];
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const size_t objcount = m_objects.size();
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const double ostepd = (max_objstatus - min_objstatus) / (objcount * 100.0);
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for(SLAPrintObject * po : m_objects) {
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for(size_t s = 0; s < pobj_program.size(); ++s) {
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auto currentstep = objectsteps[s];
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// Cancellation checking. Each step will check for cancellation
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// on its own and return earlier gracefully. Just after it returns
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// execution gets to this point and throws the canceled signal.
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throw_if_canceled();
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if(po->m_stepmask[s] && !po->is_step_done(currentstep)) {
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unsigned st = OBJ_STEP_LEVELS[currentstep];
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st = unsigned(min_objstatus + st * ostepd);
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set_status(st, OBJ_STEP_LABELS[currentstep]);
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po->set_started(currentstep);
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pobj_program[s](*po);
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po->set_done(currentstep);
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}
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}
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}
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std::array<SLAPrintStep, slapsCount> printsteps = {
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slapsRasterize, slapsValidate
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};
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// this would disable the rasterization step
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// m_stepmask[slapsRasterize] = false;
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for(size_t s = 0; s < print_program.size(); ++s) {
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auto currentstep = printsteps[s];
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throw_if_canceled();
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if(m_stepmask[s] && !is_step_done(currentstep)) {
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set_status(PRINT_STEP_LEVELS[currentstep],
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PRINT_STEP_LABELS[currentstep]);
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set_started(currentstep);
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print_program[s]();
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set_done(currentstep);
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}
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}
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// If everything vent well
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set_status(100, L("Slicing done"));
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}
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SLAPrintObject::SLAPrintObject(SLAPrint *print, ModelObject *model_object):
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Inherited(print, model_object),
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m_stepmask(slaposCount, true)
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{
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}
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SLAPrintObject::~SLAPrintObject() {}
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TriangleMesh SLAPrintObject::support_mesh() const
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{
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TriangleMesh trm;
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if(m_supportdata && m_supportdata->support_tree_ptr)
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m_supportdata->support_tree_ptr->merged_mesh(trm);
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// TODO: is this necessary?
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trm.repair();
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return trm;
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}
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TriangleMesh SLAPrintObject::pad_mesh() const
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{
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if(!m_supportdata || !m_supportdata->support_tree_ptr) return {};
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return m_supportdata->support_tree_ptr->get_pad();
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}
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const TriangleMesh &SLAPrintObject::transformed_mesh() const {
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// we need to transform the raw mesh...
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// currently all the instances share the same x and y rotation and scaling
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// so we have to extract those from e.g. the first instance and apply to the
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// raw mesh. This is also true for the support points.
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// BUT: when the support structure is spawned for each instance than it has
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// to omit the X, Y rotation and scaling as those have been already applied
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// or apply an inverse transformation on the support structure after it
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// has been created.
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if(m_trmesh_valid) return m_transformed_rmesh;
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m_transformed_rmesh = m_model_object->raw_mesh();
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m_transformed_rmesh.transform(m_trafo);
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m_trmesh_valid = true;
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return m_transformed_rmesh;
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}
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std::vector<Vec3d> SLAPrintObject::transformed_support_points() const
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{
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assert(m_model_object != nullptr);
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auto& spts = m_model_object->sla_support_points;
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// this could be cached as well
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std::vector<Vec3d> ret; ret.reserve(spts.size());
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for(auto& sp : spts) ret.emplace_back( trafo() * Vec3d(sp.cast<double>()));
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return ret;
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}
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} // namespace Slic3r
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