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https://github.com/SoftFever/OrcaSlicer.git
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time estimator wip
This commit is contained in:
Enrico Turri
parent
7308017ee8
commit
bc3d184d7c
4 changed files with 876 additions and 2 deletions
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@ -2,8 +2,592 @@
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#include <boost/bind.hpp>
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#include <cmath>
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//###########################################################################################################
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#include <fstream>
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static const std::string AXIS_STR = "XYZE";
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static const float MMMIN_TO_MMSEC = 1.0f / 60.0f;
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static const float MILLISEC_TO_SEC = 0.001f;
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static const float INCHES_TO_MM = 25.4f;
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static const float DEFAULT_FEEDRATE = 0.0f; // <<<<<<<<< FIND A PROPER VALUE
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static const float DEFAULT_ACCELERATION = 3000.0f;
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static const float DEFAULT_AXIS_MAX_FEEDRATE[] = { 600.0f, 600.0f, 40.0f, 25.0f };
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static const float DEFAULT_AXIS_MAX_ACCELERATION[] = { 9000.0f, 9000.0f, 100.0f, 10000.0f };
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static const float DEFAULT_AXIS_MAX_JERK[] = { 10.0f, 10.0f, 0.2f, 2.5f }; // from firmware
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// static const float DEFAULT_AXIS_MAX_JERK[] = { 20.0f, 20.0f, 0.4f, 5.0f }; / from CURA
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static const float MINIMUM_FEEDRATE = 0.01f;
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static const float MINIMUM_PLANNER_SPEED = 0.05f; // <<<<<<<< WHAT IS THIS ???
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static const float FEEDRATE_THRESHOLD = 0.0001f;
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//###########################################################################################################
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namespace Slic3r {
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//###########################################################################################################
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float My_GCodeTimeEstimator::Block::move_length() const
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{
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float length = ::sqrt(sqr(delta_pos[X]) + sqr(delta_pos[Y]) + sqr(delta_pos[Z]));
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return (length > 0.0f) ? length : ::abs(delta_pos[E]);
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}
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void My_GCodeTimeEstimator::Block::calculate_trapezoid()
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{
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float accelerate_distance = estimate_acceleration_distance(entry_feedrate, feedrate, acceleration);
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float decelerate_distance = estimate_acceleration_distance(feedrate, exit_feedrate, -acceleration);
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float distance = move_length();
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float plateau_distance = distance - accelerate_distance - decelerate_distance;
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// Not enough space to reach the nominal feedrate.
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// This means no cruising, and we'll have to use intersection_distance() to calculate when to abort acceleration
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// and start braking in order to reach the exit_feedrate exactly at the end of this block.
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if (plateau_distance < 0.0f)
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{
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accelerate_distance = clamp(0.0f, distance, intersection_distance(entry_feedrate, exit_feedrate, acceleration, distance));
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plateau_distance = 0.0f;
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}
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trapezoid.distance = distance;
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trapezoid.accelerate_until = accelerate_distance;
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trapezoid.decelerate_after = accelerate_distance + plateau_distance;
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trapezoid.entry_feedrate = entry_feedrate;
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trapezoid.exit_feedrate = exit_feedrate;
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}
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float My_GCodeTimeEstimator::Block::max_allowable_speed(float acceleration, float target_velocity, float distance)
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{
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return ::sqrt(sqr(target_velocity) - 2.0f * acceleration * distance);
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}
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float My_GCodeTimeEstimator::Block::estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
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{
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return (acceleration == 0.0f) ? 0.0f : (sqr(target_rate) - sqr(initial_rate)) / (2.0f * acceleration);
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}
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float My_GCodeTimeEstimator::Block::intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
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{
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return (acceleration == 0.0f) ? 0.0f : (2.0f * acceleration * distance - sqr(initial_rate) + sqr(final_rate)) / (4.0f * acceleration);
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}
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float My_GCodeTimeEstimator::Block::acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration)
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{
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float discriminant = sqr(initial_feedrate) + 2.0f * acceleration * distance;
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// If discriminant is negative, we're moving in the wrong direction.
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// Making the discriminant 0 then gives the extremum of the parabola instead of the intersection.
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discriminant = std::max(0.0f, discriminant);
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return (-initial_feedrate + ::sqrt(discriminant)) / acceleration;
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}
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My_GCodeTimeEstimator::My_GCodeTimeEstimator()
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{
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}
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void My_GCodeTimeEstimator::parse(const std::string& gcode)
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{
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_reset();
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GCodeReader::parse(gcode, boost::bind(&My_GCodeTimeEstimator::_process_gcode_line, this, _1, _2));
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}
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void My_GCodeTimeEstimator::parse_file(const std::string& file)
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{
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_reset();
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GCodeReader::parse_file(file, boost::bind(&My_GCodeTimeEstimator::_process_gcode_line, this, _1, _2));
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}
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void My_GCodeTimeEstimator::calculate_time()
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{
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_time = get_additional_time();
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for (const Block& block : _blocks)
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{
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const Block::Trapezoid& trapezoid = block.trapezoid;
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float plateau_distance = trapezoid.decelerate_after - trapezoid.accelerate_until;
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_time += Block::acceleration_time_from_distance(block.entry_feedrate, trapezoid.accelerate_until, block.acceleration);
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_time += plateau_distance / block.feedrate;
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_time += Block::acceleration_time_from_distance(block.exit_feedrate, (trapezoid.distance - trapezoid.decelerate_after), block.acceleration);
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}
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}
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void My_GCodeTimeEstimator::set_axis_position(EAxis axis, float position)
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{
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_state.axis[axis].position = position;
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}
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void My_GCodeTimeEstimator::set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec)
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{
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_state.axis[axis].max_feedrate = feedrate_mm_sec;
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}
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void My_GCodeTimeEstimator::set_axis_max_acceleration(EAxis axis, float acceleration)
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{
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_state.axis[axis].max_acceleration = acceleration;
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}
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void My_GCodeTimeEstimator::set_axis_max_jerk(EAxis axis, float jerk)
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{
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_state.axis[axis].max_jerk = jerk;
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}
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float My_GCodeTimeEstimator::get_axis_position(EAxis axis) const
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{
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return _state.axis[axis].position;
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}
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float My_GCodeTimeEstimator::get_axis_max_feedrate(EAxis axis) const
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{
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return _state.axis[axis].max_feedrate;
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}
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float My_GCodeTimeEstimator::get_axis_max_acceleration(EAxis axis) const
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{
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return _state.axis[axis].max_acceleration;
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}
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float My_GCodeTimeEstimator::get_axis_max_jerk(EAxis axis) const
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{
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return _state.axis[axis].max_jerk;
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}
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void My_GCodeTimeEstimator::set_feedrate(float feedrate_mm_sec)
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{
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_state.feedrate = std::max(feedrate_mm_sec, MINIMUM_FEEDRATE);
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}
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float My_GCodeTimeEstimator::get_feedrate() const
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{
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return _state.feedrate;
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}
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void My_GCodeTimeEstimator::set_acceleration(float acceleration)
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{
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_state.acceleration = acceleration;
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}
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float My_GCodeTimeEstimator::get_acceleration() const
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{
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return _state.acceleration;
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}
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void My_GCodeTimeEstimator::set_dialect(My_GCodeTimeEstimator::EDialect dialect)
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{
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_state.dialect = dialect;
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}
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My_GCodeTimeEstimator::EDialect My_GCodeTimeEstimator::get_dialect() const
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{
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return _state.dialect;
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}
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void My_GCodeTimeEstimator::set_units(My_GCodeTimeEstimator::EUnits units)
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{
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_state.units = units;
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}
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My_GCodeTimeEstimator::EUnits My_GCodeTimeEstimator::get_units() const
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{
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return _state.units;
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}
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void My_GCodeTimeEstimator::set_positioningType(My_GCodeTimeEstimator::EPositioningType type)
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{
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_state.positioningType = type;
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}
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My_GCodeTimeEstimator::EPositioningType My_GCodeTimeEstimator::get_positioningType() const
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{
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return _state.positioningType;
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}
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void My_GCodeTimeEstimator::add_additional_time(float timeSec)
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{
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_state.additional_time += timeSec;
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}
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float My_GCodeTimeEstimator::get_additional_time() const
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{
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return _state.additional_time;
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}
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void My_GCodeTimeEstimator::set_default()
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{
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set_units(Millimeters);
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set_dialect(Unknown);
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set_positioningType(Absolute);
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set_feedrate(DEFAULT_FEEDRATE);
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set_acceleration(DEFAULT_ACCELERATION);
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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EAxis axis = (EAxis)a;
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set_axis_max_feedrate(axis, DEFAULT_AXIS_MAX_FEEDRATE[a]);
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set_axis_max_acceleration(axis, DEFAULT_AXIS_MAX_ACCELERATION[a]);
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set_axis_max_jerk(axis, DEFAULT_AXIS_MAX_JERK[a]);
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}
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}
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float My_GCodeTimeEstimator::get_time() const
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{
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return _time;
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}
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const My_GCodeTimeEstimator::BlocksList& My_GCodeTimeEstimator::get_blocks() const
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{
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return _blocks;
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}
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// void My_GCodeTimeEstimator::print_counters() const
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// {
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// std::cout << std::endl;
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// for (const CmdToCounterMap::value_type& counter : _cmdCounters)
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// {
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// std::cout << counter.first << " : " << counter.second << std::endl;
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// }
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// }
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void My_GCodeTimeEstimator::_reset()
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{
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// _cmdCounters.clear();
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_blocks.clear();
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set_default();
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set_axis_position(X, 0.0f);
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set_axis_position(Y, 0.0f);
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set_axis_position(Z, 0.0f);
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_state.additional_time = 0.0f;
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}
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void My_GCodeTimeEstimator::_process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line)
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{
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if (line.cmd.length() > 1)
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{
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switch (line.cmd[0])
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{
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case 'G':
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{
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switch (::atoi(&line.cmd[1]))
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{
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case 1: // Move
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{
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_processG1(line);
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break;
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}
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case 4: // Dwell
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{
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_processG4(line);
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break;
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}
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case 20: // Set Units to Inches
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{
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_processG20(line);
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break;
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}
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case 21: // Set Units to Millimeters
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{
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_processG21(line);
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break;
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}
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case 28: // Move to Origin (Home)
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{
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_processG28(line);
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break;
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}
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case 90: // Set to Absolute Positioning
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{
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_processG90(line);
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break;
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}
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case 91: // Set to Relative Positioning
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{
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_processG91(line);
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break;
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}
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case 92: // Set Position
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{
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_processG92(line);
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break;
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}
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}
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break;
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}
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case 'M':
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{
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switch (::atoi(&line.cmd[1]))
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{
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case 109: // Set Extruder Temperature and Wait
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{
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_processM109(line);
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break;
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}
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case 203: // Set maximum feedrate
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{
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_processM203(line);
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break;
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}
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case 204: // Set default acceleration
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{
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_processM204(line);
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break;
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}
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case 566: // Set allowable instantaneous speed change
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{
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_processM566(line);
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break;
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}
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}
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break;
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}
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}
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// CmdToCounterMap::iterator it = _cmdCounters.find(line.cmd);
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// if (it == _cmdCounters.end())
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// _cmdCounters.insert(CmdToCounterMap::value_type(line.cmd, 1));
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// else
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// ++it->second;
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}
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}
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void My_GCodeTimeEstimator::_processG1(const GCodeReader::GCodeLine& line)
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{
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float lengthsScaleFactor = (get_units() == Inches) ? INCHES_TO_MM : 1.0f;
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// gets position changes from line, if present
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float new_pos[Num_Axis];
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if (get_positioningType() == Absolute)
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{
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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new_pos[a] = line.has(AXIS_STR[a]) ? line.get_float(AXIS_STR[a]) * lengthsScaleFactor : get_axis_position((EAxis)a);
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}
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}
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else // get_positioningType() == Relative
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{
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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new_pos[a] = get_axis_position((EAxis)a);
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new_pos[a] += (line.has(AXIS_STR[a]) ? line.get_float(AXIS_STR[a]) * lengthsScaleFactor : 0.0f);
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}
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}
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// updates feedrate from line, if present
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if (line.has('F'))
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set_feedrate(line.get_float('F') * MMMIN_TO_MMSEC);
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// fills block data
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Block block;
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// calculates block movement deltas
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float max_abs_delta = 0.0f;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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block.delta_pos[a] = new_pos[a] - get_axis_position((EAxis)a);
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max_abs_delta = std::max(max_abs_delta, ::abs(block.delta_pos[a]));
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}
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// is it a move ?
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if (max_abs_delta == 0.0f)
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return;
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// calculates block feedrate
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float feedrate = get_feedrate();
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float distance = block.move_length();
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float invDistance = 1.0f / distance;
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float axis_feedrate[Num_Axis];
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float min_feedrate_factor = 1.0f;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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axis_feedrate[a] = feedrate * ::abs(block.delta_pos[a]) * invDistance;
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if (axis_feedrate[a] > 0.0f)
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min_feedrate_factor = std::min(min_feedrate_factor, get_axis_max_feedrate((EAxis)a) / axis_feedrate[a]);
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}
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block.feedrate = min_feedrate_factor * feedrate;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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axis_feedrate[a] *= min_feedrate_factor;
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}
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// calculates block acceleration
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float acceleration = get_acceleration();
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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float axis_max_acceleration = get_axis_max_acceleration((EAxis)a);
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if (acceleration * ::abs(block.delta_pos[a]) * invDistance > axis_max_acceleration)
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acceleration = axis_max_acceleration;
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}
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block.acceleration = acceleration;
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// calculates block exit feedrate
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float exit_feedrate = block.feedrate;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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float half_axis_max_jerk = 0.5f * get_axis_max_jerk((EAxis)a);
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if (axis_feedrate[a] > half_axis_max_jerk)
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exit_feedrate = std::min(exit_feedrate, half_axis_max_jerk);
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}
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block.exit_feedrate = exit_feedrate;
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// calculates block entry feedrate
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float vmax_junction = exit_feedrate;
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if (!_blocks.empty() && (_prev.feedrate > FEEDRATE_THRESHOLD))
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{
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vmax_junction = block.feedrate;
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float vmax_junction_factor = 1.0f;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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float abs_delta_axis_feedrate = ::abs(axis_feedrate[a] - _prev.axis_feedrate[a]);
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float axis_max_jerk = get_axis_max_jerk((EAxis)a);
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if (abs_delta_axis_feedrate > axis_max_jerk)
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vmax_junction_factor = std::min(vmax_junction_factor, axis_max_jerk / abs_delta_axis_feedrate);
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}
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// limit vmax to not exceed previous feedrate
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vmax_junction = std::min(_prev.feedrate, vmax_junction * vmax_junction_factor);
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}
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block.entry_feedrate = std::min(vmax_junction, Block::max_allowable_speed(-acceleration, MINIMUM_PLANNER_SPEED, distance));
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// calculates block trapezoid
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block.calculate_trapezoid();
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// updates previous cache
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_prev.feedrate = feedrate;
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for (unsigned char a = X; a < Num_Axis; ++a)
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{
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_prev.axis_feedrate[a] = axis_feedrate[a];
|
||||
}
|
||||
|
||||
// updates axis positions
|
||||
for (unsigned char a = X; a < Num_Axis; ++a)
|
||||
{
|
||||
set_axis_position((EAxis)a, new_pos[a]);
|
||||
}
|
||||
|
||||
// adds block to blocks list
|
||||
_blocks.push_back(block);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG4(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
EDialect dialect = get_dialect();
|
||||
|
||||
if (line.has('P'))
|
||||
add_additional_time(line.get_float('P') * MILLISEC_TO_SEC);
|
||||
|
||||
// see: http://reprap.org/wiki/G-code#G4:_Dwell
|
||||
if ((dialect == Repetier) ||
|
||||
(dialect == Marlin) ||
|
||||
(dialect == Smoothieware) ||
|
||||
(dialect == RepRapFirmware))
|
||||
{
|
||||
if (line.has('S'))
|
||||
add_additional_time(line.get_float('S'));
|
||||
}
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG20(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
set_units(Inches);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG21(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
set_units(Millimeters);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG28(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
// todo
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG90(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
set_positioningType(Absolute);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG91(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
// >>>>>>>> THERE ARE DIALECT VARIANTS
|
||||
|
||||
set_positioningType(Relative);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processG92(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
// todo
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processM109(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
// todo
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processM203(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
EDialect dialect = get_dialect();
|
||||
|
||||
// see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
|
||||
if (dialect == Repetier)
|
||||
return;
|
||||
|
||||
// see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
|
||||
float factor = (dialect == Marlin) ? 1.0f : MMMIN_TO_MMSEC;
|
||||
|
||||
if (line.has('X'))
|
||||
set_axis_max_feedrate(X, line.get_float('X') * factor);
|
||||
|
||||
if (line.has('Y'))
|
||||
set_axis_max_feedrate(Y, line.get_float('Y') * factor);
|
||||
|
||||
if (line.has('Z'))
|
||||
set_axis_max_feedrate(Z, line.get_float('Z') * factor);
|
||||
|
||||
if (line.has('E'))
|
||||
set_axis_max_feedrate(E, line.get_float('E') * factor);
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processM204(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
if (line.has('S'))
|
||||
set_acceleration(line.get_float('S')); // <<<< Is this correct ?
|
||||
|
||||
if (line.has('T'))
|
||||
{
|
||||
// what to do ?
|
||||
}
|
||||
}
|
||||
|
||||
void My_GCodeTimeEstimator::_processM566(const GCodeReader::GCodeLine& line)
|
||||
{
|
||||
if (line.has('X'))
|
||||
set_axis_max_jerk(X, line.get_float('X') * MMMIN_TO_MMSEC);
|
||||
|
||||
if (line.has('Y'))
|
||||
set_axis_max_jerk(Y, line.get_float('Y') * MMMIN_TO_MMSEC);
|
||||
|
||||
if (line.has('Z'))
|
||||
set_axis_max_jerk(Z, line.get_float('Z') * MMMIN_TO_MMSEC);
|
||||
|
||||
if (line.has('E'))
|
||||
set_axis_max_jerk(E, line.get_float('E') * MMMIN_TO_MMSEC);
|
||||
}
|
||||
//###########################################################################################################
|
||||
|
||||
void
|
||||
GCodeTimeEstimator::parse(const std::string &gcode)
|
||||
{
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue