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#ifndef TIME_ESTIMATE_H
#define TIME_ESTIMATE_H
#include <stdint.h>
#include <vector>
/**
The TimeEstimateCalculator class generates a estimate of printing time calculated with acceleration in mind.
Some of this code has been addapted from the Marlin sources.
*/
class TimeEstimateCalculator
{
public:
const static unsigned int NUM_AXIS = 4;
const static unsigned int X_AXIS = 0;
const static unsigned int Y_AXIS = 1;
const static unsigned int Z_AXIS = 2;
const static unsigned int E_AXIS = 3;
class Position
{
public:
Position() {for(unsigned int n=0;n<NUM_AXIS;n++) axis[n] = 0;}
Position(double x, double y, double z, double e) {axis[0] = x;axis[1] = y;axis[2] = z;axis[3] = e;}
double axis[NUM_AXIS];
double& operator[](const int n) { return axis[n]; }
};
class Block
{
public:
bool recalculate_flag;
double accelerate_until;
double decelerate_after;
double initial_feedrate;
double final_feedrate;
double entry_speed;
double max_entry_speed;
bool nominal_length_flag;
double nominal_feedrate;
double maxTravel;
double distance;
double acceleration;
Position delta;
Position absDelta;
};
private:
Position previous_feedrate;
double previous_nominal_feedrate;
Position currentPosition;
std::vector<Block> blocks;
public:
void setPosition(Position newPos);
void plan(Position newPos, double feedRate);
void reset();
double calculate();
private:
void reverse_pass();
void forward_pass();
void recalculate_trapezoids();
void calculate_trapezoid_for_block(Block *block, double entry_factor, double exit_factor);
void planner_reverse_pass_kernel(Block *previous, Block *current, Block *next);
void planner_forward_pass_kernel(Block *previous, Block *current, Block *next);
};
#endif//TIME_ESTIMATE_H
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