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Refactoring: moved most of the low-level G-code to the Slic3r::GCode::Base class. Cleanup of the retraction and wipe logic.

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This commit is contained in:
Alessandro Ranellucci 2014-10-21 20:16:45 +02:00
parent 33edda0a69
commit 167df0ab87
11 changed files with 403 additions and 177 deletions
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204
lib/Slic3r/GCode.pm
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@ -30,7 +30,6 @@ has 'layer_mp' => (is => 'rw');
has 'new_object' => (is => 'rw', default => sub {0});
has 'straight_once' => (is => 'rw', default => sub {1});
has 'elapsed_time' => (is => 'rw', default => sub {0} ); # seconds
has 'lifted' => (is => 'rw', default => sub {0} );
has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
has 'wipe_path' => (is => 'rw');
@ -81,49 +80,17 @@ sub change_layer {
}
my $gcode = "";
if ($self->config->gcode_flavor =~ /^(?:makerware|sailfish)$/ && defined $self->layer_count) {
if (defined $self->layer_count) {
# TODO: cap this to 99% and add an explicit M73 P100 in the end G-code
$gcode .= sprintf "M73 P%s%s\n",
int(99 * ($self->_layer_index / ($self->layer_count - 1))),
($self->config->gcode_comments ? ' ; update progress' : '');
$gcode .= $self->update_progress(int(99 * ($self->_layer_index / ($self->layer_count - 1))));
}
$gcode .= $self->move_z($layer->print_z);
return $gcode;
}
# this method accepts Z in unscaled coordinates
sub move_z {
my ($self, $z, $comment) = @_;
my $gcode = "";
$z += $self->config->z_offset;
my $current_z = $self->z;
my $nominal_z = defined $current_z ? ($current_z - $self->lifted) : undef;
if (!defined $current_z || $z > $current_z || $z < $nominal_z) {
# we're moving above the current actual Z (so above the lift height of the current
# layer if any) or below the current nominal layer
# in both cases, we're going to the nominal Z of the next layer
$self->lifted(0);
if ($self->_extruder->retract_layer_change) {
# this retraction may alter $self->z
$gcode .= $self->retract(move_z => $z);
$current_z = $self->z; # update current z in case retract() changed it
$nominal_z = defined $current_z ? ($current_z - $self->lifted) : undef;
}
$gcode .= $self->G0(undef, $z, 0, $self->config->travel_speed*60, $comment || ('move to next layer (' . $self->layer->id . ')'))
if !defined $current_z || abs($z - $nominal_z) > epsilon;
} elsif ($z < $current_z) {
# we're moving above the current nominal layer height and below the current actual one.
# we're basically advancing to next layer, whose nominal Z is still lower than the previous
# layer Z with lift.
$self->lifted($current_z - $z);
my $z = $layer->print_z + $self->config->z_offset; # in unscaled coordinates
if ($self->_extruder->retract_layer_change && $self->will_move_z($z)) {
$gcode .= $self->retract;
$gcode .= $self->lift;
}
$gcode .= $self->travel_to_z($z, 'move to next layer (' . $self->layer->id . ')');
return $gcode;
}
@ -289,8 +256,8 @@ sub _extrude_path {
}
# calculate extrusion length per distance unit
my $e = $self->_extruder->e_per_mm3 * $path->mm3_per_mm;
$e = 0 if !$self->_extrusion_axis;
my $e_per_mm = $self->_extruder->e_per_mm3 * $path->mm3_per_mm;
$e_per_mm = 0 if !$self->_extrusion_axis;
# set speed
my $F;
@ -322,7 +289,7 @@ sub _extrude_path {
$gcode .= ";_BRIDGE_FAN_START\n" if $path->is_bridge;
my $path_length = unscale $path->length;
{
$gcode .= $path->gcode($self->_extruder, $e, $F,
$gcode .= $path->gcode($self->_extruder, $e_per_mm, $F,
$self->shift_x - $self->_extruder->extruder_offset->x,
$self->shift_y - $self->_extruder->extruder_offset->y, #,,
$self->_extrusion_axis,
@ -365,11 +332,11 @@ sub travel_to {
|| (defined $role && $role == EXTR_ROLE_SUPPORTMATERIAL && (first { $_->contains_line($travel) } @{$self->layer->support_islands}))
) {
$self->straight_once(0);
$gcode .= $self->G0($point, undef, 0, $self->config->travel_speed*60, $comment || "");
$gcode .= $self->travel_to_xy($self->point_to_gcode($point), $comment);
} elsif (!$self->config->avoid_crossing_perimeters || $self->straight_once) {
$self->straight_once(0);
$gcode .= $self->retract;
$gcode .= $self->G0($point, undef, 0, $self->config->travel_speed*60, $comment || "");
$gcode .= $self->travel_to_xy($self->point_to_gcode($point), $comment);
} else {
if ($self->new_object) {
$self->new_object(0);
@ -410,85 +377,75 @@ sub _plan {
}
}
# do the retract (the travel_to argument is broken)
# perform the retraction
$gcode .= $self->retract if $need_retract;
# append the actual path and return
# use G1 because we rely on paths being straight (G0 may make round paths)
$gcode .= join '', map $self->G1($_->b, undef, 0, $self->config->travel_speed*60, $comment || ""), @travel;
$gcode .= join '',
map $self->travel_to_xy($self->point_to_gcode($_->b), $comment),
@travel;
return $gcode;
}
sub retract {
my ($self, %params) = @_;
my ($self, $toolchange) = @_;
return "" if !defined $self->_extruder;
# get the retraction length and abort if none
my ($length, $restart_extra, $comment) = $params{toolchange}
? ($self->_extruder->retract_length_toolchange, $self->_extruder->retract_restart_extra_toolchange, "retract for tool change")
: ($self->_extruder->retract_length, $self->_extruder->retract_restart_extra, "retract");
# if we already retracted, reduce the required amount of retraction
$length -= $self->_extruder->retracted;
return "" unless $length > 0;
my $gcode = "";
# wipe
my $wipe_path;
# wipe (if it's enabled for this extruder and we have a stored wipe path)
if ($self->_extruder->wipe && $self->wipe_path) {
my @points = @{$self->wipe_path};
$wipe_path = Slic3r::Polyline->new($self->last_pos, @{$self->wipe_path}[1..$#{$self->wipe_path}]);
$wipe_path->clip_end($wipe_path->length - $self->_extruder->scaled_wipe_distance($self->config->travel_speed));
}
# prepare moves
my $retract = [undef, undef, -$length, $self->_extruder->retract_speed_mm_min, $comment];
my $lift = ($self->config->retract_lift->[0] == 0 || defined $params{move_z}) && !$self->lifted
? undef
: [undef, $self->z + $self->config->retract_lift->[0], 0, $self->config->travel_speed*60, 'lift plate during travel'];
# check that we have a positive wipe length
if ($wipe_path) {
# subdivide the retraction
# 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->gcode_config->travel_speed * 0.8;
# get the retraction length
my $length = $toolchange
? $self->_extruder->retract_length
: $self->_extruder->retract_length_toolchange;
# 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->_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
my $e = $retract->[2] * ($segment_length / $self->_extruder->scaled_wipe_distance($self->config->travel_speed)) * 0.95;
$retracted += $e;
$gcode .= $self->G1($line->b, undef, $e, $self->config->travel_speed*60*0.8, $retract->[3] . ";_WIPE");
# 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 .= $self->set_speed($wipe_speed*60);
$gcode .= $self->extrude_to_xy(
$self->point_to_gcode($line->b),
-$dE,
'retract;_WIPE',
);
$retracted += $dE;
}
if ($retracted > $retract->[2]) {
# if we retracted less than we had to, retract the remainder
# TODO: add regression test
$gcode .= $self->G1(undef, undef, $retract->[2] - $retracted, $self->_extruder->retract_speed_mm_min, $comment);
}
$gcode .= $self->reset_e;
} elsif ($self->gcode_config->use_firmware_retraction) {
$gcode .= "G10 ; retract\n";
} else {
$gcode .= $self->G1(@$retract);
# reset extrusion distance during retracts
# this makes sure we leave sufficient precision in the firmware
$gcode .= $self->reset_e;
$self->_extruder->set_retracted($self->_extruder->retracted + $retracted);
}
if (!$self->lifted) {
if (defined $params{move_z} && $self->config->retract_lift->[0] > 0) {
my $travel = [undef, $params{move_z} + $self->config->retract_lift->[0], 0, $self->config->travel_speed*60, 'move to next layer (' . $self->layer->id . ') and lift'];
$gcode .= $self->G0(@$travel);
$self->lifted($self->config->retract_lift->[0]);
} elsif ($lift) {
$gcode .= $self->G1(@$lift);
}
}
$self->_extruder->set_retracted($self->_extruder->retracted + $length);
$self->_extruder->set_restart_extra($restart_extra);
$self->lifted($self->config->retract_lift->[0]) if $lift;
$gcode .= "M103 ; extruder off\n" if $self->config->gcode_flavor eq 'makerware';
# 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->retract_for_toolchange : $self->SUPER::retract;
$gcode .= $self->reset_e;
$gcode .= $self->lift;
return $gcode;
}
@ -497,31 +454,8 @@ sub unretract {
my ($self) = @_;
my $gcode = "";
$gcode .= "M101 ; extruder on\n" if $self->config->gcode_flavor eq 'makerware';
if ($self->lifted) {
$gcode .= $self->G0(undef, $self->z - $self->lifted, 0, $self->config->travel_speed*60, 'restore layer Z');
$self->lifted(0);
}
my $to_unretract = $self->_extruder->retracted + $self->_extruder->restart_extra;
if ($to_unretract) {
if ($self->gcode_config->use_firmware_retraction) {
$gcode .= "G11 ; unretract\n";
$gcode .= $self->reset_e;
} elsif ($self->_extrusion_axis) {
# use G1 instead of G0 because G0 will blend the restart with the previous travel move
$gcode .= sprintf "G1 %s%.5f F%.3f",
$self->_extrusion_axis,
$self->_extruder->extrude($to_unretract),
$self->_extruder->retract_speed_mm_min;
$gcode .= " ; compensate retraction" if $self->config->gcode_comments;
$gcode .= "\n";
}
$self->_extruder->set_retracted(0);
$self->_extruder->set_restart_extra(0);
}
$gcode .= $self->unlift;
$gcode .= $self->SUPER::unretract('compensate retraction');
return $gcode;
}
@ -553,6 +487,16 @@ sub _G0_G1 {
return $self->_Gx($gcode, $e, $F, $comment);
}
# convert a model-space scaled point into G-code coordinates
sub point_to_gcode {
my ($self, $point) = @_;
return Slic3r::Pointf->new(
($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->_extruder->extruder_offset->x,
($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->_extruder->extruder_offset->y, #**
);
}
sub _Gx {
my ($self, $gcode, $e, $F, $comment) = @_;
@ -578,7 +522,7 @@ sub set_extruder {
}
# prepend retraction on the current extruder
my $gcode = $self->retract(toolchange => 1);
my $gcode = $self->retract(1);
# append custom toolchange G-code
if (defined $self->_extruder && $self->config->toolchange_gcode) {