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Prusa Multi Material: Improved path planning when jumping to the wipe tower.

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This commit is contained in:
bubnikv 2017-05-18 16:53:19 +02:00
parent e75d851bc4
commit 81701b400c
7 changed files with 348 additions and 264 deletions
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223
xs/src/libslic3r/GCode.cpp
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@ -140,6 +140,90 @@ Wipe::wipe(GCode &gcodegen, bool toolchange)
return gcode;
}
WipeTowerIntegration::WipeTowerIntegration(const PrintConfig &print_config)
{
// Initialize the wipe tower.
auto *wipe_tower = new WipeTowerPrusaMM(
float(print_config.wipe_tower_x.value), float(print_config.wipe_tower_y.value),
float(print_config.wipe_tower_width.value), float(print_config.wipe_tower_per_color_wipe.value));
//wipe_tower->set_retract();
//wipe_tower->set_zhop();
//wipe_tower->set_zhop();
// Set the extruder & material properties at the wipe tower object.
for (size_t i = 0; i < 4; ++ i)
wipe_tower->set_extruder(
i,
WipeTowerPrusaMM::parse_material(print_config.filament_type.get_at(i).c_str()),
print_config.temperature.get_at(i),
print_config.first_layer_temperature.get_at(i));
m_impl.reset(wipe_tower);
}
std::string WipeTowerIntegration::tool_change(GCode &gcodegen, int extruder_id, bool finish_layer)
{
bool over_wipe_tower = false;
std::string gcode;
if (gcodegen.writer().need_toolchange(extruder_id)) {
// Move over the wipe tower.
gcode += this->travel_to(gcodegen, m_impl->tool_change(extruder_id, WipeTower::PURPOSE_MOVE_TO_TOWER).second);
// Let the tool change be executed by the wipe tower class.
std::pair<std::string, WipeTower::xy> code_and_pos = m_impl->tool_change(extruder_id, WipeTower::PURPOSE_EXTRUDE);
// Inform the G-code writer about the changes done behind its back.
gcode += code_and_pos.first;
// Let the m_writer know the current extruder_id, but ignore the generated G-code.
gcodegen.writer().toolchange(extruder_id);
// A phony move to the end position at the wipe tower.
gcodegen.writer().travel_to_xy(Pointf(code_and_pos.second.x, code_and_pos.second.y));
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once = true;
over_wipe_tower = true;
}
if (finish_layer && ! m_impl->layer_finished()) {
// Last extruder change on the layer or no extruder change at all.
if (! over_wipe_tower)
gcode += this->travel_to(gcodegen, m_impl->finish_layer(WipeTower::PURPOSE_MOVE_TO_TOWER).second);
// Let the tool change be executed by the wipe tower class.
std::pair<std::string, WipeTower::xy> code_and_pos = m_impl->finish_layer(WipeTower::PURPOSE_EXTRUDE);
// Inform the G-code writer about the changes done behind its back.
gcode += code_and_pos.first;
// A phony move to the end position at the wipe tower.
gcodegen.writer().travel_to_xy(Pointf(code_and_pos.second.x, code_and_pos.second.y));
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once = true;
}
return gcode;
}
// Print is finished. Now it remains to unload the filament safely with ramming over the wipe tower.
std::string WipeTowerIntegration::finalize(GCode &gcodegen, const Print &print, bool current_layer_full)
{
std::string gcode;
// Unload the current filament over the purge tower.
if (current_layer_full) {
// There is not enough space on the wipe tower to purge the nozzle into. Lift Z to the next layer.
coordf_t new_print_z = gcodegen.writer().get_position().z + print.objects.front()->config.layer_height.value;
gcode += gcodegen.change_layer(new_print_z);
m_impl->set_layer(float(new_print_z), float(print.objects.front()->config.layer_height.value), 0, false, true);
}
gcode += this->tool_change(gcodegen, -1, false);
m_impl.release();
return gcode;
}
std::string WipeTowerIntegration::travel_to(GCode &gcodegen, const WipeTower::xy &dest)
{
// Retract for a tool change, using the toolchange retract value and setting the priming extra length.
std::string gcode = gcodegen.retract(true);
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once = true;
gcode += gcodegen.travel_to(
Point(scale_(dest.x - gcodegen.origin().x), scale_(dest.y - gcodegen.origin().y)),
erMixed,
"Travel to a Wipe Tower");
gcode += gcodegen.unretract();
return gcode;
}
#define EXTRUDER_CONFIG(OPT) m_config.OPT.get_at(m_writer.extruder()->id)
inline void write(FILE *file, const std::string &what)
@ -484,23 +568,8 @@ bool GCode::do_export(FILE *file, Print &print)
}
// Prusa Multi-Material wipe tower.
if (print.config.single_extruder_multi_material.value && print.config.wipe_tower.value &&
! tool_ordering.empty() && tool_ordering.front().wipe_tower_partitions > 0) {
// Initialize the wipe tower.
auto *wipe_tower = new WipeTowerPrusaMM(
float(print.config.wipe_tower_x.value), float(print.config.wipe_tower_y.value),
float(print.config.wipe_tower_width.value), float(print.config.wipe_tower_per_color_wipe.value));
//wipe_tower->set_retract();
//wipe_tower->set_zhop();
//wipe_tower->set_zhop();
// Set the extruder & material properties at the wipe tower object.
for (size_t i = 0; i < 4; ++ i)
wipe_tower->set_extruder(
i,
WipeTowerPrusaMM::parse_material(print.config.filament_type.get_at(i).c_str()),
print.config.temperature.get_at(i),
print.config.first_layer_temperature.get_at(i));
m_wipe_tower.reset(wipe_tower);
}
! tool_ordering.empty() && tool_ordering.front().wipe_tower_partitions > 0)
m_wipe_tower.reset(new WipeTowerIntegration(print.config));
// Extrude the layers.
for (auto &layer : layers) {
// layer.second is of type std::vector<LayerToPrint>,
@ -526,17 +595,9 @@ bool GCode::do_export(FILE *file, Print &print)
}
// write end commands to file
if (m_wipe_tower) {
// Unload the current filament over the purge tower.
if (tool_ordering.back().wipe_tower_partitions > 0 && m_wipe_tower->layer_finished()) {
// There is not enough space on the wipe tower to purge the nozzle into. Lift Z to the next layer.
coordf_t new_print_z = tool_ordering.back().print_z + print.objects.front()->config.layer_height.value;
write(file, this->change_layer(new_print_z));
m_wipe_tower->set_layer(new_print_z, print.objects.front()->config.layer_height.value, 0, false, true);
}
write(file, this->wipe_tower_tool_change(-1));
m_wipe_tower.release();
} else
if (m_wipe_tower)
write(file, m_wipe_tower->finalize(*this, print, tool_ordering.back().wipe_tower_partitions > 0 && m_wipe_tower->layer_finished()));
else
write(file, this->retract()); // TODO: process this retract through PressureRegulator in order to discharge fully
write(file, m_writer.set_fan(false));
writeln(file, m_placeholder_parser.process(print.config.end_gcode));
@ -711,24 +772,16 @@ void GCode::process_layer(
gcode += pp.process(print.config.layer_gcode.value) + "\n";
}
// Trigger the tool change explicitely to draw the wipe tower brim always.
bool wipe_tower_extrude_brim_explicit = m_wipe_tower && ! m_wipe_tower->finished() && first_layer && m_writer.extruder()->id == first_extruder_id;
if (! first_layer && ! m_second_layer_things_done) {
// Transition from 1st to 2nd layer. Adjust nozzle temperatures as prescribed by the nozzle dependent
// first_layer_temperature vs. temperature settings.
if (print.config.single_extruder_multi_material.value) {
// Switch the extruder before setting the 2nd layer temperature.
this->set_extruder(first_extruder_id);
int temperature = print.config.temperature.get_at(first_extruder_id);
if (temperature > 0 && temperature != print.config.first_layer_temperature.get_at(m_writer.extruder()->id))
gcode += m_writer.set_temperature(temperature, false, first_extruder_id);
} else {
for (const Extruder &extruder : m_writer.extruders) {
int temperature = print.config.temperature.get_at(extruder.id);
if (temperature > 0 && temperature != print.config.first_layer_temperature.get_at(extruder.id))
gcode += m_writer.set_temperature(temperature, false, extruder.id);
}
for (const Extruder &extruder : m_writer.extruders) {
if (print.config.single_extruder_multi_material.value && extruder.id != m_writer.extruder()->id)
// In single extruder multi material mode, set the temperature for the current extruder only.
continue;
int temperature = print.config.temperature.get_at(extruder.id);
if (temperature > 0 && temperature != print.config.first_layer_temperature.get_at(extruder.id))
gcode += m_writer.set_temperature(temperature, false, extruder.id);
}
if (print.config.bed_temperature.value > 0 && print.config.bed_temperature != print.config.first_layer_bed_temperature.value)
gcode += m_writer.set_bed_temperature(print.config.bed_temperature);
@ -736,9 +789,6 @@ void GCode::process_layer(
m_second_layer_things_done = true;
}
if (wipe_tower_extrude_brim_explicit)
gcode += this->wipe_tower_tool_change(first_extruder_id);
// Extrude skirt at the print_z of the raft layers and normal object layers
// not at the print_z of the interlaced support material layers.
bool extrude_skirt =
@ -913,21 +963,10 @@ void GCode::process_layer(
// Extrude the skirt, brim, support, perimeters, infill ordered by the extruders.
std::vector<std::unique_ptr<EdgeGrid::Grid>> lower_layer_edge_grids(layers.size());
for (unsigned int extruder_id : layer_tools.extruders)
{
gcode += this->set_extruder(extruder_id);
if (m_wipe_tower && ! m_wipe_tower->layer_finished() && extruder_id == layer_tools.extruders.back()) {
// Last extruder change on the layer or no extruder change at all.
// Move over the wipe tower.
gcode += m_writer.travel_to_xy(Pointf3(m_wipe_tower->position().x, m_wipe_tower->position().y));
gcode += m_writer.unlift();
gcode += m_writer.unretract();
// Let the tool change be executed by the wipe tower class.
std::pair<std::string, WipeTower::xy> code_and_pos = m_wipe_tower->finish_layer();
// Inform the G-code writer about the changes done behind its back.
gcode += code_and_pos.first;
// A phony move to the end position at the wipe tower.
m_writer.travel_to_xy(Pointf(code_and_pos.second.x, code_and_pos.second.y));
}
{
gcode += m_wipe_tower ?
m_wipe_tower->tool_change(*this, extruder_id, extruder_id == layer_tools.extruders.back()) :
this->set_extruder(extruder_id);
if (extrude_skirt) {
auto loops_it = skirt_loops_per_extruder.find(extruder_id);
@ -1317,7 +1356,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou
if (m_layer->lower_layer != nullptr && lower_layer_edge_grid != nullptr) {
if (! *lower_layer_edge_grid) {
// Create the distance field for a layer below.
const coord_t distance_field_resolution = scale_(1.f);
const coord_t distance_field_resolution = coord_t(scale_(1.) + 0.5);
*lower_layer_edge_grid = make_unique<EdgeGrid::Grid>();
(*lower_layer_edge_grid)->create(m_layer->lower_layer->slices, distance_field_resolution);
(*lower_layer_edge_grid)->calculate_sdf();
@ -1381,7 +1420,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou
// For each polygon point, store a penalty.
// First calculate the angles, store them as penalties. The angles are caluculated over a minimum arm length of nozzle_r.
std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths, nozzle_r);
std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths, float(nozzle_r));
// No penalty for reflex points, slight penalty for convex points, high penalty for flat surfaces.
const float penaltyConvexVertex = 1.f;
const float penaltyFlatSurface = 5.f;
@ -1558,7 +1597,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou
paths.front().polyline.points[0],
paths.front().polyline.points[1]
);
double distance = std::min(
double distance = std::min<double>(
scale_(EXTRUDER_CONFIG(nozzle_diameter)),
first_segment.length()
);
@ -1791,8 +1830,7 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
}
// This method accepts &point in print coordinates.
std::string
GCode::travel_to(const Point &point, ExtrusionRole role, std::string comment)
std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string comment)
{
/* Define the travel move as a line between current position and the taget point.
This is expressed in print coordinates, so it will need to be translated by
@ -1924,50 +1962,35 @@ std::string GCode::set_extruder(unsigned int extruder_id)
gcode += pp.process(m_config.toolchange_gcode.value) + '\n';
}
if (m_wipe_tower) {
assert(! m_wipe_tower->finished());
if (! m_wipe_tower->finished())
gcode += this->wipe_tower_tool_change(extruder_id);
} else {
// if ooze prevention is enabled, park current extruder in the nearest
// standby point and set it to the standby temperature
if (m_ooze_prevention.enable && m_writer.extruder() != NULL)
gcode += m_ooze_prevention.pre_toolchange(*this);
// append the toolchange command
gcode += m_writer.toolchange(extruder_id);
// set the new extruder to the operating temperature
if (m_ooze_prevention.enable)
gcode += m_ooze_prevention.post_toolchange(*this);
}
// if ooze prevention is enabled, park current extruder in the nearest
// standby point and set it to the standby temperature
if (m_ooze_prevention.enable && m_writer.extruder() != NULL)
gcode += m_ooze_prevention.pre_toolchange(*this);
// append the toolchange command
gcode += m_writer.toolchange(extruder_id);
// set the new extruder to the operating temperature
if (m_ooze_prevention.enable)
gcode += m_ooze_prevention.post_toolchange(*this);
return gcode;
}
std::string GCode::wipe_tower_tool_change(int extruder_id)
{
// Move over the wipe tower.
std::string gcode = m_writer.travel_to_xy(Pointf3(m_wipe_tower->position().x, m_wipe_tower->position().y));
gcode += m_writer.unlift();
gcode += m_writer.unretract();
// Let the tool change be executed by the wipe tower class.
std::pair<std::string, WipeTower::xy> code_and_pos = m_wipe_tower->tool_change(extruder_id);
// Inform the G-code writer about the changes done behind its back.
gcode += code_and_pos.first;
// Let the m_writer know the current extruder_id, but ignore the generated G-code.
m_writer.toolchange(extruder_id);
// A phony move to the end position at the wipe tower.
m_writer.travel_to_xy(Pointf(code_and_pos.second.x, code_and_pos.second.y));
return gcode;
}
// convert a model-space scaled point into G-code coordinates
Pointf GCode::point_to_gcode(const Point &point) const
{
Pointf extruder_offset = EXTRUDER_CONFIG(extruder_offset);
return Pointf(
unscale(point.x) + m_origin.x - extruder_offset.x,
unscale(point.y) + m_origin.y - extruder_offset.y
);
unscale(point.y) + m_origin.y - extruder_offset.y);
}
// convert a model-space scaled point into G-code coordinates
Point GCode::gcode_to_point(const Pointf &point) const
{
Pointf extruder_offset = EXTRUDER_CONFIG(extruder_offset);
return Point(
scale_(point.x - m_origin.x + extruder_offset.x),
scale_(point.y - m_origin.y + extruder_offset.y));
}
}