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Jalapeno/snapmaker z skip #14060

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Jalapeno/snapmaker z skip #14060

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d0ca392
#13420 GCodeWriter separate XYZ_EPSILON consistent with XYZF_EXPORT_D…
jalapenopuzzle Jan 26, 2025
5cd1602
#13420 GCodeWriter fix maintenance of from/m_pos position change get_…
jalapenopuzzle Jan 26, 2025
2699020
#13420 GCodeWriter Correct Z speed too high and add unit tests
jalapenopuzzle Feb 2, 2025
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21 changes: 9 additions & 12 deletions src/libslic3r/GCode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1276,7 +1276,7 @@ void GCodeGenerator::_do_export(Print& print, GCodeOutputStream &file, Thumbnail
file.write(this->retract_and_wipe());
file.write(m_label_objects.maybe_stop_instance());
const double last_z{this->writer().get_position().z()};
file.write(this->writer().get_travel_to_z_gcode(last_z, "ensure z position"));
file.write(this->writer().travel_to_z_force(last_z, "ensure z position"));
const Vec3crd from{to_3d(*this->last_position, scaled(this->m_last_layer_z))};
const Vec3crd to{0, 0, scaled(this->m_last_layer_z)};
file.write(this->travel_to(from, to, ExtrusionRole::None, "move to origin position for next object", [](){return "";}));
Expand Down Expand Up @@ -2245,7 +2245,7 @@ std::string GCodeGenerator::generate_ramping_layer_change_gcode(
const Polyline &xy_path,
const double initial_elevation,
const GCode::Impl::Travels::ElevatedTravelParams &elevation_params
) const {
) {
using namespace GCode::Impl::Travels;

const std::vector<double> ensure_points_at_distances = linspace(
Expand All @@ -2263,7 +2263,7 @@ std::string GCodeGenerator::generate_ramping_layer_change_gcode(
for (const Vec3crd &point : travel) {
const Vec3d gcode_point{this->point_to_gcode(point)};
travel_gcode += this->m_writer
.get_travel_to_xyz_gcode(gcode_point, "layer change");
.travel_to_xyz_force(gcode_point, "layer change");
}
return travel_gcode;
}
Expand Down Expand Up @@ -2970,11 +2970,8 @@ std::string GCodeGenerator::change_layer(
gcode += this->retract_and_wipe();
}
if (!first_layer) {
// travel_to_z is not used as it may not generate the travel if the writter z == print_z.
gcode += this->writer().get_travel_to_z_gcode(print_z, "simple layer change");
Vec3d position{this->writer().get_position()};
position.z() = print_z;
this->writer().update_position(position);
// travel_to_z is not used as it may not generate the travel if the writer z == print_z.
gcode += this->writer().travel_to_z_force(print_z, "simple layer change");
}
}

Expand Down Expand Up @@ -3229,15 +3226,15 @@ std::string GCodeGenerator::travel_to_first_position(const Vec3crd& point, const
if (EXTRUDER_CONFIG(retract_length) > 0 && !this->last_position) {
if (!this->last_position || EXTRUDER_CONFIG(retract_before_travel) < (this->point_to_gcode(*this->last_position) - gcode_point.head<2>()).norm()) {
gcode += this->writer().retract();
gcode += this->writer().get_travel_to_z_gcode(from_z + lift, "lift");
gcode += this->writer().travel_to_z_force(from_z + lift, "lift");
}
}

const std::string comment{"move to first layer point"};

gcode += insert_gcode();
gcode += this->writer().get_travel_to_xy_gcode(gcode_point.head<2>(), comment);
gcode += this->writer().get_travel_to_z_gcode(gcode_point.z(), comment);
gcode += this->writer().travel_to_xy_force(gcode_point.head<2>(), comment);
gcode += this->writer().travel_to_z_force(gcode_point.z(), comment);

this->m_avoid_crossing_perimeters.reset_once_modifiers();
this->last_position = point.head<2>();
Expand Down Expand Up @@ -3293,7 +3290,7 @@ std::string GCodeGenerator::_extrude(
gcode += this->retract_and_wipe();
gcode += m_writer.multiple_extruders ? "" : m_label_objects.maybe_change_instance(m_writer);
gcode += this->m_writer.travel_to_xy(this->point_to_gcode(path.front().point), comment);
gcode += this->m_writer.get_travel_to_z_gcode(z, comment);
gcode += this->m_writer.travel_to_z_force(z, comment);
} else if ( this->last_position != path.front().point) {
std::string comment = "move to first ";
comment += description;
Expand Down
2 changes: 1 addition & 1 deletion src/libslic3r/GCode.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,7 @@ class GCodeGenerator {
const Polyline &xy_path,
const double initial_elevation,
const GCode::Impl::Travels::ElevatedTravelParams &elevation_params
) const;
);

std::vector<GCode::ExtrusionOrder::ExtruderExtrusions> get_sorted_extrusions(
const Print &print,
Expand Down
72 changes: 44 additions & 28 deletions src/libslic3r/GCode/GCodeWriter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -295,19 +295,25 @@ std::string GCodeWriter::set_speed(double F, const std::string_view comment, con
return w.string();
}

std::string GCodeWriter::get_travel_to_xy_gcode(const Vec2d &point, const std::string_view comment) const
std::string GCodeWriter::travel_to_xy_force(const Vec2d &point, const std::string_view comment)
{
GCodeG1Formatter w;
w.emit_xy(point);
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(this->config.gcode_comments, comment);
m_pos.head<2>() = point.head<2>();
return w.string();
}

std::string GCodeWriter::travel_to_xy(const Vec2d &point, const std::string_view comment)
{
m_pos.head<2>() = point.head<2>();
return this->get_travel_to_xy_gcode(point, comment);
if (std::abs(point.x() - m_pos.x()) < GCodeFormatter::XYZ_EPSILON
&& std::abs(point.y() - m_pos.y()) < GCodeFormatter::XYZ_EPSILON)
{
return "";
} else {
return this->travel_to_xy_force(point, comment);
}
}

std::string GCodeWriter::travel_to_xy_G2G3IJ(const Vec2d &point, const Vec2d &ij, const bool ccw, const std::string_view comment)
Expand All @@ -329,51 +335,60 @@ std::string GCodeWriter::travel_to_xy_G2G3IJ(const Vec2d &point, const Vec2d &ij

std::string GCodeWriter::travel_to_xyz(const Vec3d &to, const std::string_view comment)
{
if (std::abs(to.x() - m_pos.x()) < EPSILON && std::abs(to.y() - m_pos.y()) < EPSILON) {
return this->travel_to_z(to.z(), comment);
} else if (std::abs(to.z() - m_pos.z()) < EPSILON) {
return this->travel_to_xy(to.head<2>(), comment);
if (std::abs(to.x() - m_pos.x()) < GCodeFormatter::XYZ_EPSILON
&& std::abs(to.y() - m_pos.y()) < GCodeFormatter::XYZ_EPSILON
&& std::abs(to.z() - m_pos.z()) < GCodeFormatter::XYZ_EPSILON)
{
return "";
} else if (
std::abs(to.x() - m_pos.x()) < GCodeFormatter::XYZ_EPSILON
&& std::abs(to.y() - m_pos.y()) < GCodeFormatter::XYZ_EPSILON)
{
return this->travel_to_z_force(to.z(), comment);
} else if (
std::abs(to.z() - m_pos.z()) < GCodeFormatter::XYZ_EPSILON)
{
return this->travel_to_xy_force(to.head<2>(), comment);
} else {
std::string result{this->get_travel_to_xyz_gcode(to, comment)};
m_pos = to;
return result;
return this->travel_to_xyz_force(to, comment);
}
}

std::string GCodeWriter::get_travel_to_xyz_gcode(const Vec3d &to, const std::string_view comment) const {
std::string GCodeWriter::travel_to_xyz_force(const Vec3d &to, const std::string_view comment) {
GCodeG1Formatter w;
w.emit_xyz(to);

double speed_z = this->config.travel_speed_z.value;
if (speed_z == 0.)
speed_z = this->config.travel_speed.value;

const double distance_xy{(to.head<2>() - m_pos.head<2>()).norm()};
const double distnace_z{std::abs(to.z() - m_pos.z())};
const double time_z = distnace_z / speed_z;
const double time_xy = distance_xy / this->config.travel_speed.value;
const double factor = time_z > 0 ? time_xy / time_z : 1;
if (factor < 1) {
w.emit_f(std::floor((this->config.travel_speed.value * factor + (1 - factor) * speed_z) * 60.0));
} else {
w.emit_f(this->config.travel_speed.value * 60.0);
double speed = this->config.travel_speed.value;
const double speed_z = this->config.travel_speed_z.value;

if (speed_z) {
const Vec3d move{to - m_pos};
const double distance{move.norm()};
const double abs_unit_vector_z{std::abs(move.z())/distance};
// De-compose speed into z vector component according to the movement unit vector.
const double speed_vector_z{abs_unit_vector_z * speed};
if (speed_vector_z > speed_z) {
// Re-compute speed so that the z component is exactly speed_z.
speed = speed_z / abs_unit_vector_z;
}
}
w.emit_f(speed * 60.0);

w.emit_comment(this->config.gcode_comments, comment);
m_pos = to;
return w.string();
}

std::string GCodeWriter::travel_to_z(double z, const std::string_view comment)
{
if (std::abs(m_pos.z() - z) < EPSILON) {
if (std::abs(m_pos.z() - z) < GCodeFormatter::XYZ_EPSILON) {
return "";
} else {
m_pos.z() = z;
return this->get_travel_to_z_gcode(z, comment);
return this->travel_to_z_force(z, comment);
}
}

std::string GCodeWriter::get_travel_to_z_gcode(double z, const std::string_view comment) const
std::string GCodeWriter::travel_to_z_force(double z, const std::string_view comment)
{
double speed = this->config.travel_speed_z.value;
if (speed == 0.)
Expand All @@ -383,6 +398,7 @@ std::string GCodeWriter::get_travel_to_z_gcode(double z, const std::string_view
w.emit_z(z);
w.emit_f(speed * 60.0);
w.emit_comment(this->config.gcode_comments, comment);
m_pos.z() = z;
return w.string();
}

Expand Down
44 changes: 33 additions & 11 deletions src/libslic3r/GCode/GCodeWriter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,27 +74,46 @@ class GCodeWriter {
std::string toolchange(unsigned int extruder_id);
std::string set_speed(double F, const std::string_view comment = {}, const std::string_view cooling_marker = {}) const;

std::string get_travel_to_xy_gcode(const Vec2d &point, const std::string_view comment) const;
std::string travel_to_xy(const Vec2d &point, const std::string_view comment = {});
std::string travel_to_xy_G2G3IJ(const Vec2d &point, const Vec2d &ij, const bool ccw, const std::string_view comment = {});

/**
* @brief Return gcode with all three axis defined. Optionally adds feedrate.
* @brief Return gcode to travel to the specified point.
* Feed rate is computed based on the vector (to - m_pos).
* Maintains the internal m_pos position.
* Movements less than XYZ_EPSILON generate no output.
*
* Feedrate is added the starting point "from" is specified.
*
* @param from Optional starting point of the travel.
* @param to Where to travel to.
* @param comment Description of the travel purpose.
*/
std::string get_travel_to_xyz_gcode(const Vec3d &to, const std::string_view comment) const;
std::string travel_to_xyz(const Vec3d &to, const std::string_view comment = {});
std::string get_travel_to_z_gcode(double z, const std::string_view comment) const;
std::string travel_to_xy(const Vec2d &point, const std::string_view comment = {});
std::string travel_to_z(double z, const std::string_view comment = {});

std::string travel_to_xy_G2G3IJ(const Vec2d &point, const Vec2d &ij, const bool ccw, const std::string_view comment = {});

/**
* @brief Generate G-Code to travel to the specified point unconditionally.
* Feed rate is computed based on the vector (to - m_pos).
* Maintains the internal m_pos position.
* The distance test XYZ_EPSILON is not performed.
* @param to The point to travel to.
* @param comment Description of the travel purpose.
*/
std::string travel_to_xyz_force(const Vec3d &to, const std::string_view comment = {});
std::string travel_to_xy_force(const Vec2d &point, const std::string_view comment = {});
std::string travel_to_z_force(double z, const std::string_view comment = {});

/**
* @brief Generate G-Code to move to the specified point while extruding.
* Maintains the internal m_pos position.
* The distance test XYZ_EPSILON is not performed.
* @param point The point to move to.
* @param dE The E-steps to extrude while moving.
* @param comment Description of the movement purpose.
*/
std::string extrude_to_xy(const Vec2d &point, double dE, const std::string_view comment = {});
std::string extrude_to_xyz(const Vec3d &point, double dE, const std::string_view comment = {});

std::string extrude_to_xy_G2G3IJ(const Vec2d &point, const Vec2d &ij, const bool ccw, double dE, const std::string_view comment);
// std::string extrude_to_xyz(const Vec3d &point, double dE, const std::string_view comment = {});

std::string retract(bool before_wipe = false);
std::string retract_for_toolchange(bool before_wipe = false);
std::string unretract();
Expand Down Expand Up @@ -176,6 +195,9 @@ class GCodeFormatter {
static constexpr const std::array<double, 10> pow_10 { 1., 10., 100., 1000., 10000., 100000., 1000000., 10000000., 100000000., 1000000000.};
static constexpr const std::array<double, 10> pow_10_inv{1./1., 1./10., 1./100., 1./1000., 1./10000., 1./100000., 1./1000000., 1./10000000., 1./100000000., 1./1000000000.};

// Compute XYZ_EPSILON based on XYZF_EXPORT_DIGITS
static constexpr double XYZ_EPSILON = pow_10_inv[XYZF_EXPORT_DIGITS];

// Quantize doubles to a resolution of the G-code.
static double quantize(double v, size_t ndigits) { return std::round(v * pow_10[ndigits]) * pow_10_inv[ndigits]; }
static double quantize_xyzf(double v) { return quantize(v, XYZF_EXPORT_DIGITS); }
Expand Down
7 changes: 2 additions & 5 deletions src/libslic3r/GCode/WipeTowerIntegration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ std::string WipeTowerIntegration::append_tcr(GCodeGenerator &gcodegen, const Wip
);
} else {
gcode += gcodegen.writer().travel_to_xy(gcodegen.point_to_gcode(xy_point), comment);
gcode += gcodegen.writer().get_travel_to_z_gcode(z, comment);
gcode += gcodegen.writer().travel_to_z_force(z, comment);
}
}
gcode += gcodegen.unretract();
Expand All @@ -100,10 +100,7 @@ std::string WipeTowerIntegration::append_tcr(GCodeGenerator &gcodegen, const Wip
gcodegen.m_wipe.reset_path(); // We don't want wiping on the ramming lines.
toolchange_gcode_str = gcodegen.set_extruder(new_extruder_id, tcr.print_z); // TODO: toolchange_z vs print_z
if (gcodegen.config().wipe_tower) {
deretraction_str += gcodegen.writer().get_travel_to_z_gcode(z, "restore layer Z");
Vec3d position{gcodegen.writer().get_position()};
position.z() = z;
gcodegen.writer().update_position(position);
deretraction_str += gcodegen.writer().travel_to_z_force(z, "restore layer Z");
deretraction_str += gcodegen.unretract();
}
}
Expand Down
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