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Initial integration of the Prusa MultiMatrial Wipe Tower.

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This commit is contained in:
bubnikv 2017-05-16 13:45:28 +02:00
parent 74346efccb
commit c22b6edeeb
11 changed files with 922 additions and 439 deletions
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144
xs/src/libslic3r/GCode.cpp
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@ -2,6 +2,7 @@
#include "ExtrusionEntity.hpp"
#include "EdgeGrid.hpp"
#include "Geometry.hpp"
#include "GCode/WipeTowerPrusaMM.hpp"
#include <algorithm>
#include <cstdlib>
@ -384,6 +385,8 @@ bool GCode::do_export(FILE *file, Print &print)
// Set first layer extruder.
this->_print_first_layer_extruder_temperatures(file, print, false);
}
// Get optimal tool ordering to minimize tool switches of a multi-exruder print.
std::vector<ToolOrdering::LayerTools> tool_ordering = ToolOrdering::tool_ordering(*object);
// Pair the object layers with the support layers by z, extrude them.
size_t idx_object_layer = 0;
size_t idx_support_layer = 0;
@ -401,7 +404,9 @@ bool GCode::do_export(FILE *file, Print &print)
-- idx_object_layer;
}
}
this->process_layer(file, print, layers_to_print, &copy - object->_shifted_copies.data());
auto it_layer_tools = std::lower_bound(tool_ordering.begin(), tool_ordering.end(), ToolOrdering::LayerTools(layer_to_print.layer()->print_z));
assert(it_layer_tools != tool_ordering.end() && it_layer_tools->print_z == layer_to_print.layer()->print_z);
this->process_layer(file, print, layers_to_print, *it_layer_tools, &copy - object->_shifted_copies.data());
}
write(file, this->filter(m_cooling_buffer->flush(), true));
++ finished_objects;
@ -437,21 +442,63 @@ bool GCode::do_export(FILE *file, Print &print)
}
++ object_order;
}
// Get optimal tool ordering to minimize tool switches of a multi-exruder print.
std::vector<ToolOrdering::LayerTools> tool_ordering = ToolOrdering::tool_ordering(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);
}
// Extrude the layers.
for (auto &layer : layers)
for (auto &layer : layers) {
// layer.second is of type std::vector<LayerToPrint>,
// wher the objects are sorted by their sorted order given by object_indices.
this->process_layer(file, print, layer.second);
auto it_layer_tools = std::lower_bound(tool_ordering.begin(), tool_ordering.end(), ToolOrdering::LayerTools(layer.first));
assert(it_layer_tools != tool_ordering.end() && layer.first);
if (m_wipe_tower) {
bool first_layer = layer.first == layers.begin()->first;
auto it_layer_tools_next = it_layer_tools;
++ it_layer_tools_next;
m_wipe_tower->set_layer(
layer.first,
first_layer ?
print.objects.front()->config.first_layer_height.get_abs_value(print.objects.front()->config.layer_height.value) :
print.objects.front()->config.layer_height.value,
it_layer_tools->wipe_tower_partitions,
first_layer,
it_layer_tools->wipe_tower_partitions == 0 || (it_layer_tools_next == tool_ordering.end() || it_layer_tools_next->wipe_tower_partitions == 0));
}
this->process_layer(file, print, layer.second, *it_layer_tools, size_t(-1));
}
write(file, this->filter(m_cooling_buffer->flush(), true));
}
// write end commands to file
write(file, this->retract()); // TODO: process this retract through PressureRegulator in order to discharge fully
if (m_wipe_tower) {
// Unload the current filament over the purge tower.
write(file, this->wipe_tower_tool_change(-1));
m_wipe_tower.release();
} 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));
write(file, m_writer.update_progress(m_layer_count, m_layer_count, true)); // 100%
write(file, m_writer.postamble());
// get filament stats
print.filament_stats.clear();
print.total_used_filament = 0.;
@ -543,6 +590,7 @@ void GCode::process_layer(
const Print &print,
// Set of object & print layers of the same PrintObject and with the same print_z.
const std::vector<LayerToPrint> &layers,
const ToolOrdering::LayerTools &layer_tools,
// If set to size_t(-1), then print all copies of all objects.
// Otherwise print a single copy of a single object.
const size_t single_object_idx)
@ -562,7 +610,8 @@ void GCode::process_layer(
}
const Layer &layer = (object_layer != nullptr) ? *object_layer : *support_layer;
coordf_t print_z = layer.print_z;
bool first_layer = print_z < m_config.first_layer_height.get_abs_value(m_config.layer_height.value) + EPSILON;
bool first_layer = layer.id() == 0;
unsigned int first_extruder_id = layer_tools.extruders.empty() ? 0 : layer_tools.extruders.front();
// Initialize config with the 1st object to be printed at this layer.
m_config.apply(layer.object()->config, true);
@ -620,7 +669,7 @@ void GCode::process_layer(
if (! m_brim_done)
// Switch the extruder to the extruder of the perimeters, so the perimeters extruder will be primed
// by the skirt before the brim is extruded with the same extruder.
gcode += this->set_extruder(print.regions.front()->config.perimeter_extruder.value - 1);
gcode += this->set_extruder(layer_tools.extruders.front());
// 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.
@ -643,10 +692,10 @@ void GCode::process_layer(
std::vector<unsigned int> extruder_ids = m_writer.extruder_ids();
// Reorder the extruders, so that the last used extruder is at the front.
for (size_t i = 1; i < extruder_ids.size(); ++ i)
if (extruder_ids[i] == m_writer.extruder()->id) {
if (extruder_ids[i] == first_extruder_id) {
// Move the last extruder to the front.
memmove(extruder_ids.data() + 1, extruder_ids.data(), i * sizeof(unsigned int));
extruder_ids.front() = m_writer.extruder()->id;
extruder_ids.front() = first_extruder_id;
break;
}
size_t n_loops = print.skirt.entities.size();
@ -668,7 +717,7 @@ void GCode::process_layer(
}
} else
// Extrude all skirts with the current extruder.
skirt_loops_per_extruder[m_writer.extruder()->id] = std::pair<size_t, size_t>(0, print.config.skirts.value);
skirt_loops_per_extruder[first_extruder_id] = std::pair<size_t, size_t>(0, print.config.skirts.value);
}
// Group extrusions by an extruder, then by an object, an island and a region.
@ -684,12 +733,12 @@ void GCode::process_layer(
// Don't change extruder if the extruder is set to 0. Use the current extruder instead.
bool single_extruder =
(object.config.support_material_extruder.value == object.config.support_material_interface_extruder.value ||
(object.config.support_material_extruder.value == int(m_writer.extruder()->id) && object.config.support_material_interface_extruder.value == 0) ||
(object.config.support_material_interface_extruder.value == int(m_writer.extruder()->id) && object.config.support_material_extruder.value == 0));
(object.config.support_material_extruder.value == int(first_extruder_id) && object.config.support_material_interface_extruder.value == 0) ||
(object.config.support_material_interface_extruder.value == int(first_extruder_id) && object.config.support_material_extruder.value == 0));
// Assign an extruder to the base.
ObjectByExtruder &obj = object_by_extruder(
by_extruder,
(object.config.support_material_extruder == 0) ? m_writer.extruder()->id : (object.config.support_material_extruder - 1),
(object.config.support_material_extruder == 0) ? first_extruder_id : (object.config.support_material_extruder - 1),
&layer_to_print - layers.data(),
layers.size());
obj.support = &support_layer.support_fills;
@ -697,7 +746,7 @@ void GCode::process_layer(
if (! single_extruder) {
ObjectByExtruder &obj_interface = object_by_extruder(
by_extruder,
(object.config.support_material_interface_extruder == 0) ? m_writer.extruder()->id : (object.config.support_material_interface_extruder - 1),
(object.config.support_material_interface_extruder == 0) ? first_extruder_id : (object.config.support_material_interface_extruder - 1),
&layer_to_print - layers.data(),
layers.size());
obj_interface.support = &support_layer.support_fills;
@ -793,31 +842,14 @@ void GCode::process_layer(
}
} // for objects
// Tweak extruder ordering to save toolchanges.
std::vector<unsigned int> extruders;
extruders.reserve(by_extruder.size());
for (const auto &ex : by_extruder)
extruders.push_back(ex.first);
if (extrude_skirt) {
// Merge with the skirt extruders.
for (const auto &ex : skirt_loops_per_extruder)
extruders.push_back(ex.first);
sort_remove_duplicates(extruders);
}
// Reorder the extruders, so that the last used extruder is at the front.
for (size_t i = 1; i < extruders.size(); ++ i)
if (extruders[i] == m_writer.extruder()->id) {
// Move the last extruder to the front.
memmove(extruders.data() + 1, extruders.data(), i * sizeof(unsigned int));
extruders.front() = m_writer.extruder()->id;
break;
}
// 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 : extruders)
for (unsigned int extruder_id : layer_tools.extruders)
{
gcode += this->set_extruder(extruder_id);
//FIXME here will come the priming tower call.
if (m_wipe_tower && ! m_wipe_tower->finished() && extruder_id == layer_tools.extruders.back())
// Last extruder change on the layer or no extruder change at all.
m_wipe_tower->close_layer();
if (extrude_skirt) {
auto loops_it = skirt_loops_per_extruder.find(extruder_id);
@ -1675,7 +1707,7 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
this->set_last_pos(path.last_point());
if (m_config.cooling)
m_elapsed_time += path_length / F * 60;
m_elapsed_time += path_length / F * 60.f;
return gcode;
}
@ -1814,21 +1846,39 @@ std::string GCode::set_extruder(unsigned int extruder_id)
gcode += pp.process(m_config.toolchange_gcode.value) + '\n';
}
// 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 (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);
}
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();
// 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;
// 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
{