532 lines
22 KiB
Perl
532 lines
22 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::ExtrusionLoop ':roles';
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use Slic3r::ExtrusionPath ':roles';
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use Slic3r::Flow ':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 offset_ex);
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use Slic3r::Surface ':types';
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# Origin of print coordinates expressed in unscaled G-code coordinates.
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# This affects the input arguments supplied to the extrude*() and travel_to()
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# methods.
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has 'origin' => (is => 'rw', default => sub { Slic3r::Pointf->new });
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has 'config' => (is => 'ro', default => sub { Slic3r::Config::Full->new });
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has 'writer' => (is => 'ro', default => sub { Slic3r::GCode::Writer->new });
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has 'placeholder_parser' => (is => 'rw', default => sub { Slic3r::GCode::PlaceholderParser->new });
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has 'ooze_prevention' => (is => 'rw');
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has 'enable_loop_clipping' => (is => 'rw', default => sub {1});
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has 'enable_wipe' => (is => 'rw', default => sub {0}); # at least one extruder has wipe enabled
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has 'enable_cooling_markers' => (is =>'rw', default => sub {0});
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has 'layer_count' => (is => 'ro');
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has '_layer_index' => (is => 'rw', default => sub {-1}); # just a counter
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has 'layer' => (is => 'rw');
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has '_layer_islands' => (is => 'rw');
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has '_upper_layer_islands' => (is => 'rw');
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has '_seam_position' => (is => 'ro', default => sub { {} }); # $object => pos
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has '_external_mp' => (is => 'rw');
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has '_layer_mp' => (is => 'rw');
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has 'new_object' => (is => 'rw', default => sub {0}); # this flag triggers the use of the external configuration space for avoid_crossing_perimeters for the next travel move
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has 'straight_once' => (is => 'rw', default => sub {1}); # this flag disables avoid_crossing_perimeters just for the next travel move
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has 'first_layer' => (is => 'rw', default => sub {0}); # this flag triggers first layer speeds
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has 'elapsed_time' => (is => 'rw', default => sub {0} ); # seconds
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has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
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has '_wipe_path' => (is => 'rw');
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sub apply_print_config {
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my ($self, $print_config) = @_;
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$self->writer->apply_print_config($print_config);
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$self->config->apply_print_config($print_config);
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}
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sub set_extruders {
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my ($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->enable_wipe(defined first { $self->config->get_at('wipe', $_) } @$extruder_ids);
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}
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sub set_origin {
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my ($self, $pointf) = @_;
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# if origin increases (goes towards right), last_pos decreases because it goes towards left
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my @translate = (
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scale ($self->origin->x - $pointf->x),
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scale ($self->origin->y - $pointf->y), #-
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);
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$self->last_pos->translate(@translate);
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$self->_wipe_path->translate(@translate) if $self->_wipe_path;
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$self->origin($pointf);
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}
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sub init_external_mp {
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my ($self, $islands) = @_;
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$self->_external_mp(Slic3r::MotionPlanner->new($islands));
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}
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sub change_layer {
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my ($self, $layer) = @_;
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$self->layer($layer);
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$self->_layer_index($self->_layer_index + 1);
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$self->first_layer($layer->id == 0);
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# avoid computing islands and overhangs if they're not needed
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$self->_layer_islands($layer->islands);
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$self->_upper_layer_islands($layer->upper_layer ? $layer->upper_layer->islands : []);
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if ($self->config->avoid_crossing_perimeters) {
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$self->_layer_mp(Slic3r::MotionPlanner->new(
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union_ex([ map @$_, @{$layer->slices} ], 1),
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));
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}
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my $gcode = "";
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if (defined $self->layer_count) {
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# TODO: cap this to 99% and add an explicit M73 P100 in the end G-code
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$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->id . ')');
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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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my $polygon = $loop->polygon;
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my @simplified = @{$polygon->simplify(scale $self->config->get_at('nozzle_diameter', $self->writer->extruder->id)/2)};
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# concave vertices have priority
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my @candidates = map @{$_->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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my $obj_ptr = 0;
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if (defined $self->layer) {
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$obj_ptr = $self->layer->object->ptr;
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if (defined $self->_seam_position->{$self->layer->object}) {
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$last_pos = $self->_seam_position->{$obj_ptr};
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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 = $last_pos->nearest_point(\@candidates);
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$loop->split_at_vertex($point);
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} elsif (@candidates) {
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my @non_overhang = grep !$loop->has_overhang_point($_), @candidates;
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@candidates = @non_overhang if @non_overhang;
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$point = $last_pos->nearest_point(\@candidates);
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$loop->split_at_vertex($point);
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} else {
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$point = $last_pos->projection_onto_polygon($polygon);
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$loop->split_at($point);
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}
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$self->_seam_position->{$obj_ptr} = $point;
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} elsif ($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 //= $self->config->get_abs_value('small_perimeter_speed');
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}
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$speed //= -1;
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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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$self->_wipe_path($paths[0]->polyline->clone) if $self->enable_wipe; # TODO: don't limit wipe to last path
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# make a little move inwards before leaving loop
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if ($paths[-1]->role == EXTR_ROLE_EXTERNAL_PERIMETER && defined $self->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 = $was_clockwise ? (-2, 1) : (1, -2);
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my $angle = Slic3r::Geometry::angle3points(@$last_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 $first_segment = Slic3r::Line->new(@$last_path_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, $last_path_polyline->first_point);
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# generate the travel move
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$gcode .= $self->travel_to($point, $paths[-1]->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, $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 !defined $self->last_pos || !$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->infill_acceleration && $path->is_fill) {
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$acceleration = $self->config->infill_acceleration;
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} elsif ($self->config->bridge_acceleration && $path->is_bridge) {
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$acceleration = $self->config->bridge_acceleration;
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} else {
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$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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my $F;
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if ($path->role == EXTR_ROLE_PERIMETER) {
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$F = $self->config->get_abs_value('perimeter_speed');
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} elsif ($path->role == EXTR_ROLE_EXTERNAL_PERIMETER) {
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$F = $self->config->get_abs_value('external_perimeter_speed');
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} elsif ($path->role == EXTR_ROLE_OVERHANG_PERIMETER || $path->role == EXTR_ROLE_BRIDGE) {
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$F = $self->config->get_abs_value('bridge_speed');
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} elsif ($path->role == EXTR_ROLE_FILL) {
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$F = $self->config->get_abs_value('infill_speed');
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} elsif ($path->role == EXTR_ROLE_SOLIDFILL) {
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$F = $self->config->get_abs_value('solid_infill_speed');
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} elsif ($path->role == EXTR_ROLE_TOPSOLIDFILL) {
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$F = $self->config->get_abs_value('top_solid_infill_speed');
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} elsif ($path->role == EXTR_ROLE_GAPFILL) {
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$F = $self->config->get_abs_value('gap_fill_speed');
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} else {
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$F = $speed // -1;
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die "Invalid speed" if $F < 0; # $speed == -1
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}
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$F *= 60; # convert mm/sec to mm/min
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if ($self->first_layer) {
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$F = $self->config->get_abs_value_over('first_layer_speed', $F/60) * 60;
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}
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# extrude arc or line
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$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->enable_wipe) {
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$self->_wipe_path($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->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->elapsed_time($self->elapsed_time + $path_time);
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}
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return $gcode;
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}
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sub travel_to {
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my ($self, $point, $role, $comment) = @_;
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my $gcode = "";
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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 $travel = Slic3r::Line->new($self->last_pos, $point);
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# Skip retraction at all in the following cases:
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# - travel length is shorter than the configured threshold
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# - user has enabled "Only retract when crossing perimeters" and the travel move is
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# contained in a single island of the current layer *and* a single island in the
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# upper layer (so that ooze will not be visible)
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# - the path that will be extruded after this travel move is a support material
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# extrusion and the travel move is contained in a single support material island
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if ($travel->length < scale $self->config->get_at('retract_before_travel', $self->writer->extruder->id)
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|| ($self->config->only_retract_when_crossing_perimeters
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&& $self->config->fill_density > 0
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&& (first { $_->contains_line($travel) } @{$self->_upper_layer_islands})
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&& (first { $_->contains_line($travel) } @{$self->_layer_islands}))
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|| (defined $role && $role == EXTR_ROLE_SUPPORTMATERIAL && (first { $_->contains_line($travel) } @{$self->layer->support_islands}))
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) {
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# Just perform a straight travel move without any retraction.
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$gcode .= $self->writer->travel_to_xy($self->point_to_gcode($point), $comment);
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} elsif ($self->config->avoid_crossing_perimeters && !$self->straight_once) {
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# If avoid_crossing_perimeters is enabled and the straight_once flag is not set
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# we need to plan a multi-segment travel move inside the configuration space.
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if ($self->new_object) {
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# If we're moving to a new object we need to use the external configuration space.
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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 $origin = $self->origin;
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$point->translate(map scale $_, @$origin);
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# calculate path (external_mp uses G-code coordinates so we set a temporary null origin)
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$self->set_origin(Slic3r::Pointf->new(0,0));
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$gcode .= $self->_plan($self->_external_mp, $point, $comment);
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$self->set_origin($origin);
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} else {
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$gcode .= $self->_plan($self->_layer_mp, $point, $comment);
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}
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} else {
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# If avoid_crossing_perimeters is disabled or the straight_once flag is set,
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# perform a straight move with a retraction.
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$gcode .= $self->retract;
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$gcode .= $self->writer->travel_to_xy($self->point_to_gcode($point), $comment);
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}
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# Re-allow avoid_crossing_perimeters for the next travel moves
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$self->straight_once(0);
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return $gcode;
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}
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sub _plan {
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my ($self, $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 $island (@{$self->_upper_layer_islands}) {
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# discard the island if at any line is not enclosed in it
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next if first { !$island->contains_line($_) } @travel;
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# okay, this island encloses the full travel path
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$need_retract = 0;
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last;
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}
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}
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# perform the retraction
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$gcode .= $self->retract if $need_retract;
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# append the actual path and return
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# use G1 because we rely on paths being straight (G0 may make round paths)
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$gcode .= join '',
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map $self->writer->travel_to_xy($self->point_to_gcode($_->b), $comment),
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@travel;
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return $gcode;
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}
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sub retract {
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my ($self, $toolchange) = @_;
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return "" if !defined $self->writer->extruder;
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my $gcode = "";
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# wipe (if it's enabled for this extruder and we have a stored wipe path)
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if ($self->config->get_at('wipe', $self->writer->extruder->id) && $self->_wipe_path) {
|
||
# Reduce feedrate a bit; travel speed is often too high to move on existing material.
|
||
# Too fast = ripping of existing material; too slow = short wipe path, thus more blob.
|
||
my $wipe_speed = $self->writer->config->travel_speed * 0.8;
|
||
|
||
# get the retraction length
|
||
my $length = $toolchange
|
||
? $self->writer->extruder->retract_length_toolchange
|
||
: $self->writer->extruder->retract_length;
|
||
|
||
if ($length) {
|
||
# Calculate how long we need to travel in order to consume the required
|
||
# amount of retraction. In other words, how far do we move in XY at $wipe_speed
|
||
# for the time needed to consume retract_length at retract_speed?
|
||
my $wipe_dist = scale($length / $self->writer->extruder->retract_speed * $wipe_speed);
|
||
|
||
# Take the stored wipe path and replace first point with the current actual position
|
||
# (they might be different, for example, in case of loop clipping).
|
||
my $wipe_path = Slic3r::Polyline->new(
|
||
$self->last_pos,
|
||
@{$self->_wipe_path}[1..$#{$self->_wipe_path}],
|
||
);
|
||
#
|
||
$wipe_path->clip_end($wipe_path->length - $wipe_dist);
|
||
|
||
# subdivide the retraction in segments
|
||
my $retracted = 0;
|
||
foreach my $line (@{$wipe_path->lines}) {
|
||
my $segment_length = $line->length;
|
||
# Reduce retraction length a bit to avoid effective retraction speed to be greater than the configured one
|
||
# due to rounding (TODO: test and/or better math for this)
|
||
my $dE = $length * ($segment_length / $wipe_dist) * 0.95;
|
||
$gcode .= $self->writer->set_speed($wipe_speed*60);
|
||
$gcode .= $self->writer->extrude_to_xy(
|
||
$self->point_to_gcode($line->b),
|
||
-$dE,
|
||
'retract' . ($self->enable_cooling_markers ? ';_WIPE' : ''),
|
||
);
|
||
$retracted += $dE;
|
||
}
|
||
$self->writer->extruder->set_retracted($self->writer->extruder->retracted + $retracted);
|
||
}
|
||
}
|
||
|
||
# The parent class will decide whether we need to perform an actual retraction
|
||
# (the extruder might be already retracted fully or partially). We call these
|
||
# methods even if we performed wipe, since this will ensure the entire retraction
|
||
# length is honored in case wipe path was too short.p
|
||
$gcode .= $toolchange ? $self->writer->retract_for_toolchange : $self->writer->retract;
|
||
|
||
$gcode .= $self->writer->reset_e;
|
||
$gcode .= $self->writer->lift
|
||
if $self->writer->extruder->retract_length > 0;
|
||
|
||
return $gcode;
|
||
}
|
||
|
||
sub unretract {
|
||
my ($self) = @_;
|
||
|
||
my $gcode = "";
|
||
$gcode .= $self->writer->unlift;
|
||
$gcode .= $self->writer->unretract('compensate retraction');
|
||
return $gcode;
|
||
}
|
||
|
||
# convert a model-space scaled point into G-code coordinates
|
||
sub point_to_gcode {
|
||
my ($self, $point) = @_;
|
||
|
||
my $extruder_offset = $self->config->get_at('extruder_offset', $self->writer->extruder->id);
|
||
return Slic3r::Pointf->new(
|
||
($point->x * &Slic3r::SCALING_FACTOR) + $self->origin->x - $extruder_offset->x,
|
||
($point->y * &Slic3r::SCALING_FACTOR) + $self->origin->y - $extruder_offset->y, #**
|
||
);
|
||
}
|
||
|
||
sub set_extruder {
|
||
my ($self, $extruder_id) = @_;
|
||
|
||
return "" if !$self->writer->need_toolchange($extruder_id);
|
||
|
||
# if we are running a single-extruder setup, just set the extruder and return nothing
|
||
if (!$self->writer->multiple_extruders) {
|
||
return $self->writer->toolchange($extruder_id);
|
||
}
|
||
|
||
# prepend retraction on the current extruder
|
||
my $gcode = $self->retract(1);
|
||
|
||
# append custom toolchange G-code
|
||
if (defined $self->writer->extruder && $self->config->toolchange_gcode) {
|
||
$gcode .= sprintf "%s\n", $self->placeholder_parser->process($self->config->toolchange_gcode, {
|
||
previous_extruder => $self->writer->extruder->id,
|
||
next_extruder => $extruder_id,
|
||
});
|
||
}
|
||
|
||
# if ooze prevention is enabled, park current extruder in the nearest
|
||
# standby point and set it to the standby temperature
|
||
$gcode .= $self->ooze_prevention->pre_toolchange($self)
|
||
if $self->ooze_prevention && defined $self->writer->extruder;
|
||
|
||
# append the toolchange command
|
||
$gcode .= $self->writer->toolchange($extruder_id);
|
||
|
||
# set the new extruder to the operating temperature
|
||
$gcode .= $self->ooze_prevention->post_toolchange($self)
|
||
if $self->ooze_prevention;
|
||
|
||
return $gcode;
|
||
}
|
||
|
||
1;
|