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Implement reverse kernel

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Taken from CuraEngine's implementation.

Contributes to issue CURA-5561.
This commit is contained in:
Ghostkeeper 2018-09-04 16:58:57 +02:00
parent dcbe832d9f
commit 5e85af30de
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GPG key ID: 5252B696FB5E7C7A
1 changed files with 32 additions and 7 deletions
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39
50_inst_per_sec.py
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@ -281,11 +281,7 @@ class Command:
self.calculate_trapezoid(self._entry_speed / self._nominal_feedrate, safe_speed / self._nominal_feedrate) self.calculate_trapezoid(self._entry_speed / self._nominal_feedrate, safe_speed / self._nominal_feedrate)
travel_time_in_ms = distance / (self._nominal_feedrate / 60.0) * 1000.0 travel_time_in_ms = -1 #Signal that we need to include this in our second pass.
estimated_exec_time_in_ms = travel_time_in_ms
# TODO: take acceleration into account
# G4: Dwell, pause the machine for a period of time. TODO # G4: Dwell, pause the machine for a period of time. TODO
if cmd_num == 4: if cmd_num == 4:
@ -433,11 +429,21 @@ class CommandBuffer:
for idx, line in enumerate(self._all_lines): for idx, line in enumerate(self._all_lines):
cmd = Command(line) cmd = Command(line)
cmd.parse() cmd.parse()
self._all_commands.append(cmd)
if not cmd.is_command: if not cmd.is_command:
continue continue
self._all_commands.append(cmd)
#Second pass: Reverse kernel.
kernel_commands = [None, None, None]
for cmd in self._all_commands:
if cmd.estimated_exec_time_in_ms >= 0:
continue #Not a movement command.
kernel_commands[2] = kernel_commands[1]
kernel_commands[1] = kernel_commands[0]
kernel_commands[0] = cmd
self.reverse_pass_kernel(kernel_commands[0], kernel_commands[1], kernel_commands[2])
for idx, cmd in enumerate(self._all_commands):
cmd_count += 1 cmd_count += 1
if idx > cmd0_idx or idx == 0: if idx > cmd0_idx or idx == 0:
total_frame_time_in_ms += cmd.estimated_exec_time_in_ms total_frame_time_in_ms += cmd.estimated_exec_time_in_ms
@ -469,6 +475,25 @@ class CommandBuffer:
"cmd_count": cmd_count, "cmd_count": cmd_count,
"time_in_ms": total_frame_time_in_ms}) "time_in_ms": total_frame_time_in_ms})
def reverse_pass_kernel(self, previous: Command, current: Command, next: Command):
if not previous:
return
#If entry speed is already at the maximum entry speed, no need to
#recheck. The command is cruising. If not, the command is in state of
#acceleration or deceleration. Reset entry speed to maximum and check
#for maximum allowable speed reductions to ensure maximum possible
#planned speed.
if current._entry_speed != current._max_entry_speed:
#If nominal length is true, max junction speed is guaranteed to be
#reached. Only compute for max allowable speed if block is
#decelerating and nominal length is false.
if not current._nominal_length and current._max_entry_speed > next._max_entry_speed:
current._entry_speed = min(current._max_entry_speed, calc_max_allowable_speed(-current._acceleration, next._entry_speed, current._distance))
else:
current._entry_speed = current._max_entry_speed
current._recalculate = True
def to_file(self, file_name: str) -> None: def to_file(self, file_name: str) -> None:
all_lines = [str(c) for c in self._all_commands] all_lines = [str(c) for c in self._all_commands]
with open(file_name, "w", encoding = "utf-8") as f: with open(file_name, "w", encoding = "utf-8") as f: