ENH: add jerk parameter

thanks SoftFever

Signed-off-by: qing.zhang <qing.zhang@bambulab.com>
Change-Id: I6aadbffebc069167a460c991aa8fb711b754ff37

src/libslic3r/GCode.cpp

@@ -1873,11 +1873,10 @@ void GCode::_do_export(Print& print, GCodeOutputStream &file, ThumbnailsGenerato
             gcode += m_writer.set_acceleration((unsigned int) floor(m_config.outer_wall_acceleration.value + 0.5));
         }
 
-        // todo: 3rd party printer need
-        //if (m_config.default_jerk.value > 0) {
-        //    double jerk = m_config.outer_wall_jerk.value;
-        //    gcode += m_writer.set_jerk_xy(jerk);
-        //}
+        if (m_config.default_jerk.value > 0 && !this->is_BBL_Printer()) {
+            double jerk = m_config.outer_wall_jerk.value;
+            gcode += m_writer.set_jerk_xy(jerk);
+        }
 
         calib_pressure_advance pa_test(this);
         double                 filament_max_volumetric_speed = m_config.option<ConfigOptionFloats>("filament_max_volumetric_speed")->get_at(initial_extruder_id);
@@ -2807,6 +2806,9 @@ GCode::LayerResult GCode::process_layer(
             double acceleration = m_config.initial_layer_acceleration.value;
             gcode += m_writer.set_acceleration((unsigned int)floor(acceleration + 0.5));
         }
+
+        if (m_config.default_jerk.value > 0 && m_config.initial_layer_jerk.value > 0 && !this->is_BBL_Printer())
+            gcode += m_writer.set_jerk_xy(m_config.initial_layer_jerk.value);
     }
 
     if (! first_layer && ! m_second_layer_things_done) {
@@ -2831,6 +2833,10 @@ GCode::LayerResult GCode::process_layer(
             double acceleration = m_config.default_acceleration.value;
             gcode += m_writer.set_acceleration((unsigned int)floor(acceleration + 0.5));
         }
+
+        if (m_config.default_jerk.value > 0 && m_config.initial_layer_jerk.value > 0 && !this->is_BBL_Printer())
+            gcode += m_writer.set_jerk_xy(m_config.default_jerk.value);
+
         // Transition from 1st to 2nd layer. Adjust nozzle temperatures as prescribed by the nozzle dependent
         // nozzle_temperature_initial_layer vs. temperature settings.
         for (const Extruder &extruder : m_writer.extruders()) {
@@ -3472,9 +3478,13 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou
     }
 
     //BBS: don't reset acceleration when printing first layer. During first layer, acceleration is always same value.
-    if (!this->on_first_layer())
+    if (!this->on_first_layer()) {
         // reset acceleration
-        gcode += m_writer.set_acceleration((unsigned int)(m_config.default_acceleration.value + 0.5));
+        gcode += m_writer.set_acceleration((unsigned int) (m_config.default_acceleration.value + 0.5));
+        if (!this->is_BBL_Printer())
+            gcode += m_writer.set_jerk_xy(m_config.default_jerk.value);
+    }
+
 
     // BBS
     if (m_wipe.enable) {
@@ -3553,9 +3563,12 @@ std::string GCode::extrude_multi_path(ExtrusionMultiPath multipath, std::string
         m_wipe.path.reverse();
     }
     //BBS: don't reset acceleration when printing first layer. During first layer, acceleration is always same value.
-    if (!this->on_first_layer())
+    if (!this->on_first_layer()) {
         // reset acceleration
-        gcode += m_writer.set_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+        gcode += m_writer.set_acceleration((unsigned int) floor(m_config.default_acceleration.value + 0.5));
+        if (!this->is_BBL_Printer())
+            gcode += m_writer.set_jerk_xy(m_config.default_jerk.value);
+    }
     return gcode;
 }
 
@@ -3581,9 +3594,12 @@ std::string GCode::extrude_path(ExtrusionPath path, std::string description, dou
         m_wipe.path.reverse();
     }
     //BBS: don't reset acceleration when printing first layer. During first layer, acceleration is always same value.
-    if (!this->on_first_layer())
+    if (!this->on_first_layer()) {
         // reset acceleration
-        gcode += m_writer.set_acceleration((unsigned int)floor(m_config.default_acceleration.value + 0.5));
+        gcode += m_writer.set_acceleration((unsigned int) floor(m_config.default_acceleration.value + 0.5));
+        if (!this->is_BBL_Printer())
+            gcode += m_writer.set_jerk_xy(m_config.default_jerk.value);
+    }
     return gcode;
 }
 
@@ -3798,6 +3814,21 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
         gcode += m_writer.set_acceleration((unsigned int)floor(acceleration + 0.5));
     }
 
+    if (m_config.default_jerk.value > 0 && !this->is_BBL_Printer()) {
+        double jerk = m_config.default_jerk.value;
+        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 && path.role() == erExternalPerimeter)
+            jerk = m_config.outer_wall_jerk.value;
+        else if (m_config.inner_wall_jerk.value > 0 && path.role() == erPerimeter)
+            jerk = m_config.inner_wall_jerk.value;
+        else if (m_config.infill_jerk.value > 0 && is_infill(path.role()))
+            jerk = m_config.infill_jerk.value;
+        else if (m_config.top_surface_jerk.value > 0 && is_top_surface(path.role()))
+            jerk = m_config.top_surface_jerk.value;
+
+        gcode += m_writer.set_jerk_xy(jerk);
+    }
     // calculate extrusion length per distance unit
     auto _mm3_per_mm = path.mm3_per_mm * double(m_curr_print->calib_mode() == CalibMode::Calib_Flow_Rate ? this->config().print_flow_ratio.value : 1);
 
@@ -4129,6 +4160,13 @@ std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string
 
     // use G1 because we rely on paths being straight (G0 may make round paths)
     if (travel.size() >= 2) {
+        // SoftFever
+        if (this->on_first_layer()) {
+            if (m_config.default_jerk.value > 0 && m_config.initial_layer_jerk.value > 0 && !this->is_BBL_Printer())
+                gcode += m_writer.set_jerk_xy(m_config.initial_layer_jerk.value);
+        } else if (m_config.default_jerk.value > 0 && m_config.travel_jerk.value > 0 && !this->is_BBL_Printer())
+                gcode += m_writer.set_jerk_xy(m_config.travel_jerk.value);
+
         for (size_t i = 1; i < travel.size(); ++ i) {
             // BBS. Process lazy layer change, but don't do lazy layer change when enable spiral vase
             Vec3d curr_pos = m_writer.get_position();

src/libslic3r/GCodeWriter.cpp

@@ -26,6 +26,7 @@ void GCodeWriter::apply_print_config(const PrintConfig &print_config)
                   || print_config.gcode_flavor.value == gcfMarlinFirmware
                   || print_config.gcode_flavor.value == gcfKlipper;
     m_max_acceleration = std::lrint(is_marlin ? print_config.machine_max_acceleration_extruding.values.front() : 0);
+    m_max_jerk = std::lrint(is_marlin ? std::min(print_config.machine_max_jerk_x.values.front(), print_config.machine_max_jerk_y.values.front()) : 0);
 }
 
 void GCodeWriter::set_extruders(std::vector<unsigned int> extruder_ids)
@@ -203,6 +204,27 @@ std::string GCodeWriter::set_pressure_advance(double pa) const
     return gcode.str();
 }
 
+std::string GCodeWriter::set_jerk_xy(double jerk)
+{
+    // Clamp the jerk to the allowed maximum.
+    if (m_max_jerk > 0 && jerk > m_max_jerk) jerk = m_max_jerk;
+
+    if (jerk < 0.01 || is_approx(jerk, m_last_jerk)) return std::string();
+
+    m_last_jerk = jerk;
+
+    std::ostringstream gcode;
+    if (FLAVOR_IS(gcfKlipper))
+        gcode << "SET_VELOCITY_LIMIT SQUARE_CORNER_VELOCITY=" << jerk;
+    else
+        gcode << "M205 X" << jerk << " Y" << jerk;
+
+    if (GCodeWriter::full_gcode_comment) gcode << " ; adjust jerk";
+    gcode << "\n";
+
+    return gcode.str();
+}
+
 std::string GCodeWriter::reset_e(bool force)
 {
     if (FLAVOR_IS(gcfMach3)

src/libslic3r/GCodeWriter.hpp

@@ -26,6 +26,7 @@ public:
         multiple_extruders(false), m_extruder(nullptr),
         m_single_extruder_multi_material(false),
         m_last_acceleration(0), m_max_acceleration(0),
+        m_last_jerk(0), m_max_jerk(0),
         /*m_last_bed_temperature(0), */m_last_bed_temperature_reached(true),
         m_lifted(0),
         m_to_lift(0),
@@ -51,6 +52,7 @@ public:
     std::string set_bed_temperature(int temperature, bool wait = false);
     std::string set_acceleration(unsigned int acceleration);
     std::string set_pressure_advance(double pa) const;
+    std::string set_jerk_xy(double jerk);
     std::string reset_e(bool force = false);
     std::string update_progress(unsigned int num, unsigned int tot, bool allow_100 = false) const;
     // return false if this extruder was already selected
@@ -115,6 +117,8 @@ private:
     // Limit for setting the acceleration, to respect the machine limits set for the Marlin firmware.
     // If set to zero, the limit is not in action.
     unsigned int    m_max_acceleration;
+    double          m_last_jerk;
+    double          m_max_jerk;
     //BBS
     unsigned int    m_last_additional_fan_speed;
     int             m_last_bed_temperature;

src/libslic3r/Preset.cpp

@@ -759,6 +759,7 @@ static std::vector<std::string> s_Preset_print_options {
      "wall_generator", "wall_transition_length", "wall_transition_filter_deviation", "wall_transition_angle",
      "wall_distribution_count", "min_feature_size", "min_bead_width", "post_process",
     "seam_gap", "wipe_speed", "top_solid_infill_flow_ratio", "bottom_solid_infill_flow_ratio",
+    "default_jerk", "outer_wall_jerk", "inner_wall_jerk", "infill_jerk", "top_surface_jerk", "initial_layer_jerk", "travel_jerk",
      // calib
     "print_flow_ratio"
 };

src/libslic3r/Print.cpp

@@ -150,6 +150,13 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         //SoftFever
         "seam_gap",
         "wipe_speed"
+        "default_jerk",
+        "outer_wall_jerk",
+        "inner_wall_jerk",
+        "infill_jerk",
+        "top_surface_jerk",
+        "initial_layer_jerk",
+        "travel_jerk"
     };
 
     static std::unordered_set<std::string> steps_ignore;

src/libslic3r/PrintConfig.cpp

@@ -1411,6 +1411,62 @@ void PrintConfigDef::init_fff_params()
     def->mode = comAdvanced;
     def->set_default_value(new ConfigOptionFloat(300));
 
+    def = this->add("default_jerk", coFloat);
+    def->label = L("Default");
+    def->tooltip = L("Default jerk");
+    def->sidetext = L("mm/s");
+    def->min = 0;
+    def->mode = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(0));
+
+    def = this->add("outer_wall_jerk", coFloat);
+    def->label = L("Outer wall");
+    def->tooltip = L("Jerk of outer walls");
+    def->sidetext = L("mm/s");
+    def->min = 0;
+    def->mode = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
+    def = this->add("inner_wall_jerk", coFloat);
+    def->label = L("Inner wall");
+    def->tooltip = L("Jerk of inner walls");
+    def->sidetext = L("mm/s");
+    def->min = 0;
+    def->mode = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
+    def = this->add("infill_jerk", coFloat);
+    def->label = L("Infill");
+    def->tooltip = L("Jerk of infill");
+    def->sidetext = L("mm/s");
+    def->min = 0;
+    def->mode = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
+    def           = this->add("top_surface_jerk", coFloat);
+    def->label    = L("Top surface");
+    def->tooltip  = L("Jerk of top surface");
+    def->sidetext = L("mm/s");
+    def->min      = 0;
+    def->mode     = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
+    def           = this->add("initial_layer_jerk", coFloat);
+    def->label    = L("First layer");
+    def->tooltip  = L("Jerk of first layer");
+    def->sidetext = L("mm/s");
+    def->min      = 0;
+    def->mode     = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
+    def           = this->add("travel_jerk", coFloat);
+    def->label    = L("Travel");
+    def->tooltip  = L("Jerk of travel");
+    def->sidetext = L("mm/s");
+    def->min      = 0;
+    def->mode     = comAdvanced;
+    def->set_default_value(new ConfigOptionFloat(9));
+
     def = this->add("initial_layer_line_width", coFloat);
     def->label = L("Initial layer");
     def->category = L("Quality");

src/libslic3r/PrintConfig.hpp

@@ -962,6 +962,14 @@ PRINT_CONFIG_CLASS_DERIVED_DEFINE(
     ((ConfigOptionFloat,              nozzle_volume))
     ((ConfigOptionPoints,             start_end_points))
     ((ConfigOptionEnum<TimelapseType>,    timelapse_type))
+    ((ConfigOptionFloat,              default_jerk))
+    ((ConfigOptionFloat,              outer_wall_jerk))
+    ((ConfigOptionFloat,              inner_wall_jerk))
+    ((ConfigOptionFloat,              infill_jerk))
+    ((ConfigOptionFloat,              top_surface_jerk))
+    ((ConfigOptionFloat,              initial_layer_jerk))
+    ((ConfigOptionFloat,              travel_jerk))
+
     // BBS: move from PrintObjectConfig
     ((ConfigOptionBool, independent_support_layer_height))
 )