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Optimize g-code generation for Klipper: combine accel and jerk command

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This commit is contained in:
SoftFever 2023-10-24 00:02:26 +08:00
parent d6146ecc84
commit 7a2229cae9
4 changed files with 76 additions and 10 deletions
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40
src/libslic3r/GCode.cpp
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@ -3457,6 +3457,7 @@ LayerResult GCode::process_layer(
//BBS
if (first_layer) {
// Orca: we don't need to optimize the Klipper as only set once
if (m_config.default_acceleration.value > 0 && m_config.initial_layer_acceleration.value > 0) {
gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.initial_layer_acceleration.value + 0.5));
}
@ -3483,9 +3484,10 @@ LayerResult GCode::process_layer(
gcode += this->unretract();
}
}
// BBS: reset acceleration at sencond layer
// Reset acceleration at sencond layer
// Orca: only set once, don't need to call set_accel_and_jerk
if (m_config.default_acceleration.value > 0 && m_config.initial_layer_acceleration.value > 0) {
gcode += m_writer.set_print_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
gcode += m_writer.set_print_acceleration((unsigned int) floor(m_config.default_acceleration.value + 0.5));
}
if (m_config.default_jerk.value > 0 && m_config.initial_layer_jerk.value > 0) {
@ -4501,6 +4503,10 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
// compensate retraction
gcode += this->unretract();
m_config.apply(m_calib_config);
// Orca: optimize for Klipper, set acceleration and jerk in one command
unsigned int acceleration_i = 0;
double jerk = 0;
// adjust acceleration
if (m_config.default_acceleration.value > 0) {
double acceleration;
@ -4525,12 +4531,11 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
} else {
acceleration = m_config.default_acceleration.value;
}
gcode += m_writer.set_print_acceleration((unsigned int)floor(acceleration + 0.5));
acceleration_i = (unsigned int)floor(acceleration + 0.5);
}
// adjust X Y jerk
if (m_config.default_jerk.value > 0) {
double jerk;
if (this->on_first_layer() && m_config.initial_layer_jerk.value > 0) {
jerk = m_config.initial_layer_jerk.value;
} else if (m_config.outer_wall_jerk.value > 0 && is_external_perimeter(path.role())) {
@ -4545,6 +4550,13 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
else {
jerk = m_config.default_jerk.value;
}
}
if (m_writer.get_gcode_flavor() == gcfKlipper) {
gcode += m_writer.set_accel_and_jerk(acceleration_i, jerk);
} else {
gcode += m_writer.set_print_acceleration(acceleration_i);
gcode += m_writer.set_jerk_xy(jerk);
}
@ -5017,23 +5029,31 @@ std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string
const bool used_external_mp_once = m_avoid_crossing_perimeters.used_external_mp_once();
std::string gcode;
// SoftFever
// Orca: we don't need to optimize the Klipper as only set once
double jerk_to_set = 0.0;
unsigned int acceleration_to_set = 0;
if (this->on_first_layer()) {
if (m_config.default_acceleration.value > 0 && m_config.initial_layer_acceleration.value > 0) {
gcode += m_writer.set_travel_acceleration((unsigned int)floor(m_config.initial_layer_acceleration.value + 0.5));
acceleration_to_set = (unsigned int) floor(m_config.initial_layer_acceleration.value + 0.5);
}
if (m_config.default_jerk.value > 0 && m_config.initial_layer_jerk.value > 0) {
gcode += m_writer.set_jerk_xy(m_config.initial_layer_jerk.value);
jerk_to_set = m_config.initial_layer_jerk.value;
}
} else {
if (m_config.default_acceleration.value > 0 && m_config.travel_acceleration.value > 0) {
gcode += m_writer.set_travel_acceleration((unsigned int)floor(m_config.travel_acceleration.value + 0.5));
acceleration_to_set = (unsigned int) floor(m_config.travel_acceleration.value + 0.5);
}
if (m_config.default_jerk.value > 0 && m_config.travel_jerk.value > 0) {
gcode += m_writer.set_jerk_xy(m_config.travel_jerk.value);
jerk_to_set = m_config.travel_jerk.value;
}
}
if (m_writer.get_gcode_flavor() == gcfKlipper) {
gcode += m_writer.set_accel_and_jerk(acceleration_to_set, jerk_to_set);
} else {
gcode += m_writer.set_travel_acceleration(acceleration_to_set);
gcode += m_writer.set_jerk_xy(jerk_to_set);
}
// if a retraction would be needed, try to use reduce_crossing_wall to plan a
// multi-hop travel path inside the configuration space
if (needs_retraction