time estimator wip

1 files changed, 584 insertions, 0 deletions

diff --git a/xs/src/libslic3r/GCodeTimeEstimator.cpp b/xs/src/libslic3r/GCodeTimeEstimator.cpp
index c6fa353b4..b75745757 100644
--- a/xs/src/libslic3r/GCodeTimeEstimator.cpp
+++ b/xs/src/libslic3r/GCodeTimeEstimator.cpp
@@ -2,8 +2,592 @@
 #include <boost/bind.hpp>
 #include <cmath>
 
+//###########################################################################################################
+#include <fstream>
+static const std::string AXIS_STR = "XYZE";
+static const float MMMIN_TO_MMSEC = 1.0f / 60.0f;
+static const float MILLISEC_TO_SEC = 0.001f;
+static const float INCHES_TO_MM = 25.4f;
+static const float DEFAULT_FEEDRATE = 0.0f; // <<<<<<<<< FIND A PROPER VALUE
+static const float DEFAULT_ACCELERATION = 3000.0f;
+static const float DEFAULT_AXIS_MAX_FEEDRATE[] = { 600.0f, 600.0f, 40.0f, 25.0f };
+static const float DEFAULT_AXIS_MAX_ACCELERATION[] = { 9000.0f, 9000.0f, 100.0f, 10000.0f };
+
+static const float DEFAULT_AXIS_MAX_JERK[] = { 10.0f, 10.0f, 0.2f, 2.5f }; // from firmware
+// static const float DEFAULT_AXIS_MAX_JERK[] = { 20.0f, 20.0f, 0.4f, 5.0f }; / from CURA
+
+static const float MINIMUM_FEEDRATE = 0.01f;
+static const float MINIMUM_PLANNER_SPEED = 0.05f; // <<<<<<<< WHAT IS THIS ???
+static const float FEEDRATE_THRESHOLD = 0.0001f;
+//###########################################################################################################
+
 namespace Slic3r {
 
+//###########################################################################################################
+  float My_GCodeTimeEstimator::Block::move_length() const
+  {
+    float length = ::sqrt(sqr(delta_pos[X]) + sqr(delta_pos[Y]) + sqr(delta_pos[Z]));
+    return (length > 0.0f) ? length : ::abs(delta_pos[E]);
+  }
+
+  void My_GCodeTimeEstimator::Block::calculate_trapezoid()
+  {
+    float accelerate_distance = estimate_acceleration_distance(entry_feedrate, feedrate, acceleration);
+    float decelerate_distance = estimate_acceleration_distance(feedrate, exit_feedrate, -acceleration);
+
+    float distance = move_length();
+
+    float plateau_distance = distance - accelerate_distance - decelerate_distance;
+
+    // Not enough space to reach the nominal feedrate.
+    // This means no cruising, and we'll have to use intersection_distance() to calculate when to abort acceleration 
+    // and start braking in order to reach the exit_feedrate exactly at the end of this block.
+    if (plateau_distance < 0.0f)
+    {
+      accelerate_distance = clamp(0.0f, distance, intersection_distance(entry_feedrate, exit_feedrate, acceleration, distance));
+      plateau_distance = 0.0f;
+    }
+
+    trapezoid.distance = distance;
+    trapezoid.accelerate_until = accelerate_distance;
+    trapezoid.decelerate_after = accelerate_distance + plateau_distance;
+    trapezoid.entry_feedrate = entry_feedrate;
+    trapezoid.exit_feedrate = exit_feedrate;
+  }
+
+  float My_GCodeTimeEstimator::Block::max_allowable_speed(float acceleration, float target_velocity, float distance)
+  {
+    return ::sqrt(sqr(target_velocity) - 2.0f * acceleration * distance);
+  }
+
+  float My_GCodeTimeEstimator::Block::estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+  {
+    return (acceleration == 0.0f) ? 0.0f : (sqr(target_rate) - sqr(initial_rate)) / (2.0f * acceleration);
+  }
+
+  float My_GCodeTimeEstimator::Block::intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
+  {
+    return (acceleration == 0.0f) ? 0.0f : (2.0f * acceleration * distance - sqr(initial_rate) + sqr(final_rate)) / (4.0f * acceleration);
+  }
+
+  float My_GCodeTimeEstimator::Block::acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration)
+  {
+    float discriminant = sqr(initial_feedrate) + 2.0f * acceleration * distance;
+
+    // If discriminant is negative, we're moving in the wrong direction.
+    // Making the discriminant 0 then gives the extremum of the parabola instead of the intersection.
+    discriminant = std::max(0.0f, discriminant);
+    return (-initial_feedrate + ::sqrt(discriminant)) / acceleration;
+  }
+
+  My_GCodeTimeEstimator::My_GCodeTimeEstimator()
+  {
+  }
+
+  void My_GCodeTimeEstimator::parse(const std::string& gcode)
+  {
+    _reset();
+    GCodeReader::parse(gcode, boost::bind(&My_GCodeTimeEstimator::_process_gcode_line, this, _1, _2));
+  }
+
+  void My_GCodeTimeEstimator::parse_file(const std::string& file)
+  {
+    _reset();
+    GCodeReader::parse_file(file, boost::bind(&My_GCodeTimeEstimator::_process_gcode_line, this, _1, _2));
+  }
+
+  void My_GCodeTimeEstimator::calculate_time()
+  {
+    _time = get_additional_time();
+
+    for (const Block& block : _blocks)
+    {
+      const Block::Trapezoid& trapezoid = block.trapezoid;
+      float plateau_distance = trapezoid.decelerate_after - trapezoid.accelerate_until;
+
+      _time += Block::acceleration_time_from_distance(block.entry_feedrate, trapezoid.accelerate_until, block.acceleration);
+      _time += plateau_distance / block.feedrate;
+      _time += Block::acceleration_time_from_distance(block.exit_feedrate, (trapezoid.distance - trapezoid.decelerate_after), block.acceleration);
+    }
+  }
+
+  void My_GCodeTimeEstimator::set_axis_position(EAxis axis, float position)
+  {
+    _state.axis[axis].position = position;
+  }
+
+  void My_GCodeTimeEstimator::set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec)
+  {
+    _state.axis[axis].max_feedrate = feedrate_mm_sec;
+  }
+
+  void My_GCodeTimeEstimator::set_axis_max_acceleration(EAxis axis, float acceleration)
+  {
+    _state.axis[axis].max_acceleration = acceleration;
+  }
+
+  void My_GCodeTimeEstimator::set_axis_max_jerk(EAxis axis, float jerk)
+  {
+    _state.axis[axis].max_jerk = jerk;
+  }
+
+  float My_GCodeTimeEstimator::get_axis_position(EAxis axis) const
+  {
+    return _state.axis[axis].position;
+  }
+
+  float My_GCodeTimeEstimator::get_axis_max_feedrate(EAxis axis) const
+  {
+    return _state.axis[axis].max_feedrate;
+  }
+
+  float My_GCodeTimeEstimator::get_axis_max_acceleration(EAxis axis) const
+  {
+    return _state.axis[axis].max_acceleration;
+  }
+
+  float My_GCodeTimeEstimator::get_axis_max_jerk(EAxis axis) const
+  {
+    return _state.axis[axis].max_jerk;
+  }
+
+  void My_GCodeTimeEstimator::set_feedrate(float feedrate_mm_sec)
+  {
+    _state.feedrate = std::max(feedrate_mm_sec, MINIMUM_FEEDRATE);
+  }
+
+  float My_GCodeTimeEstimator::get_feedrate() const
+  {
+    return _state.feedrate;
+  }
+
+  void My_GCodeTimeEstimator::set_acceleration(float acceleration)
+  {
+    _state.acceleration = acceleration;
+  }
+
+  float My_GCodeTimeEstimator::get_acceleration() const
+  {
+    return _state.acceleration;
+  }
+
+  void My_GCodeTimeEstimator::set_dialect(My_GCodeTimeEstimator::EDialect dialect)
+  {
+    _state.dialect = dialect;
+  }
+
+  My_GCodeTimeEstimator::EDialect My_GCodeTimeEstimator::get_dialect() const
+  {
+    return _state.dialect;
+  }
+
+  void My_GCodeTimeEstimator::set_units(My_GCodeTimeEstimator::EUnits units)
+  {
+    _state.units = units;
+  }
+
+  My_GCodeTimeEstimator::EUnits My_GCodeTimeEstimator::get_units() const
+  {
+    return _state.units;
+  }
+
+  void My_GCodeTimeEstimator::set_positioningType(My_GCodeTimeEstimator::EPositioningType type)
+  {
+    _state.positioningType = type;
+  }
+
+  My_GCodeTimeEstimator::EPositioningType My_GCodeTimeEstimator::get_positioningType() const
+  {
+    return _state.positioningType;
+  }
+
+  void My_GCodeTimeEstimator::add_additional_time(float timeSec)
+  {
+    _state.additional_time += timeSec;
+  }
+
+  float My_GCodeTimeEstimator::get_additional_time() const
+  {
+    return _state.additional_time;
+  }
+
+  void My_GCodeTimeEstimator::set_default()
+  {
+    set_units(Millimeters);
+    set_dialect(Unknown);
+    set_positioningType(Absolute);
+
+    set_feedrate(DEFAULT_FEEDRATE);
+    set_acceleration(DEFAULT_ACCELERATION);
+
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      EAxis axis = (EAxis)a;
+      set_axis_max_feedrate(axis, DEFAULT_AXIS_MAX_FEEDRATE[a]);
+      set_axis_max_acceleration(axis, DEFAULT_AXIS_MAX_ACCELERATION[a]);
+      set_axis_max_jerk(axis, DEFAULT_AXIS_MAX_JERK[a]);
+    }
+  }
+
+  float My_GCodeTimeEstimator::get_time() const
+  {
+    return _time;
+  }
+
+  const My_GCodeTimeEstimator::BlocksList& My_GCodeTimeEstimator::get_blocks() const
+  {
+    return _blocks;
+  }
+
+//  void My_GCodeTimeEstimator::print_counters() const
+//  {
+//    std::cout << std::endl;
+//    for (const CmdToCounterMap::value_type& counter : _cmdCounters)
+//    {
+//      std::cout << counter.first << " : " << counter.second << std::endl;
+//    }
+//  }
+
+  void My_GCodeTimeEstimator::_reset()
+  {
+//    _cmdCounters.clear();
+
+    _blocks.clear();
+
+    set_default();
+    set_axis_position(X, 0.0f);
+    set_axis_position(Y, 0.0f);
+    set_axis_position(Z, 0.0f);
+
+    _state.additional_time = 0.0f;
+  }
+
+  void My_GCodeTimeEstimator::_process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line)
+  {
+    if (line.cmd.length() > 1)
+    {
+      switch (line.cmd[0])
+      {
+      case 'G':
+        {
+          switch (::atoi(&line.cmd[1]))
+          {
+          case 1: // Move
+            {
+              _processG1(line);
+              break;
+            }
+          case 4: // Dwell
+            {
+              _processG4(line);
+              break;
+            }
+          case 20: // Set Units to Inches
+            {
+              _processG20(line);
+              break;
+            }
+          case 21: // Set Units to Millimeters
+            {
+              _processG21(line);
+              break;
+            }
+          case 28: // Move to Origin (Home)
+            {
+              _processG28(line);
+              break;
+            }
+          case 90: // Set to Absolute Positioning
+            {
+              _processG90(line);
+              break;
+            }
+          case 91: // Set to Relative Positioning
+            {
+              _processG91(line);
+              break;
+            }
+          case 92: // Set Position
+            {
+              _processG92(line);
+              break;
+            }
+          }
+
+          break;
+        }
+      case 'M':
+        {
+          switch (::atoi(&line.cmd[1]))
+          {
+          case 109: // Set Extruder Temperature and Wait
+            {
+              _processM109(line);
+              break;
+            }
+          case 203: // Set maximum feedrate
+            {
+              _processM203(line);
+              break;
+            }
+          case 204: // Set default acceleration
+            {
+              _processM204(line);
+              break;
+            }
+          case 566: // Set allowable instantaneous speed change
+            {
+              _processM566(line);
+              break;
+            }
+          }
+
+          break;
+        }
+      }
+
+//      CmdToCounterMap::iterator it = _cmdCounters.find(line.cmd);
+//      if (it == _cmdCounters.end())
+//        _cmdCounters.insert(CmdToCounterMap::value_type(line.cmd, 1));
+//      else
+//        ++it->second;
+    }
+  }
+
+  void My_GCodeTimeEstimator::_processG1(const GCodeReader::GCodeLine& line)
+  {
+    float lengthsScaleFactor = (get_units() == Inches) ? INCHES_TO_MM : 1.0f;
+
+    // gets position changes from line, if present
+    float new_pos[Num_Axis];
+
+    if (get_positioningType() == Absolute)
+    {
+      for (unsigned char a = X; a < Num_Axis; ++a)
+      {
+        new_pos[a] = line.has(AXIS_STR[a]) ? line.get_float(AXIS_STR[a]) * lengthsScaleFactor : get_axis_position((EAxis)a);
+      }
+    }
+    else // get_positioningType() == Relative
+    {
+      for (unsigned char a = X; a < Num_Axis; ++a)
+      {
+        new_pos[a] = get_axis_position((EAxis)a);
+        new_pos[a] += (line.has(AXIS_STR[a]) ? line.get_float(AXIS_STR[a]) * lengthsScaleFactor : 0.0f);
+      }
+    }
+
+    // updates feedrate from line, if present
+    if (line.has('F'))
+      set_feedrate(line.get_float('F') * MMMIN_TO_MMSEC);
+
+    // fills block data
+    Block block;
+
+    // calculates block movement deltas
+    float max_abs_delta = 0.0f;
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      block.delta_pos[a] = new_pos[a] - get_axis_position((EAxis)a);
+      max_abs_delta = std::max(max_abs_delta, ::abs(block.delta_pos[a]));
+    }
+
+    // is it a move ?
+    if (max_abs_delta == 0.0f)
+      return;
+
+    // calculates block feedrate
+    float feedrate = get_feedrate();
+
+    float distance = block.move_length();
+    float invDistance = 1.0f / distance;
+
+    float axis_feedrate[Num_Axis];
+    float min_feedrate_factor = 1.0f;
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      axis_feedrate[a] = feedrate * ::abs(block.delta_pos[a]) * invDistance;
+      if (axis_feedrate[a] > 0.0f)
+        min_feedrate_factor = std::min(min_feedrate_factor, get_axis_max_feedrate((EAxis)a) / axis_feedrate[a]);
+    }
+    
+    block.feedrate = min_feedrate_factor * feedrate;
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      axis_feedrate[a] *= min_feedrate_factor;
+    }
+
+    // calculates block acceleration
+    float acceleration = get_acceleration();
+
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      float axis_max_acceleration = get_axis_max_acceleration((EAxis)a);
+      if (acceleration * ::abs(block.delta_pos[a]) * invDistance > axis_max_acceleration)
+        acceleration = axis_max_acceleration;
+    }
+
+    block.acceleration = acceleration;
+
+    // calculates block exit feedrate
+    float exit_feedrate = block.feedrate;
+
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      float half_axis_max_jerk = 0.5f * get_axis_max_jerk((EAxis)a);
+      if (axis_feedrate[a] > half_axis_max_jerk)
+        exit_feedrate = std::min(exit_feedrate, half_axis_max_jerk);
+    }
+
+    block.exit_feedrate = exit_feedrate;
+
+    // calculates block entry feedrate
+    float vmax_junction = exit_feedrate;
+    if (!_blocks.empty() && (_prev.feedrate > FEEDRATE_THRESHOLD))
+    {
+      vmax_junction = block.feedrate;
+      float vmax_junction_factor = 1.0f;
+
+      for (unsigned char a = X; a < Num_Axis; ++a)
+      {
+        float abs_delta_axis_feedrate = ::abs(axis_feedrate[a] - _prev.axis_feedrate[a]);
+        float axis_max_jerk = get_axis_max_jerk((EAxis)a);
+        if (abs_delta_axis_feedrate > axis_max_jerk)
+          vmax_junction_factor = std::min(vmax_junction_factor, axis_max_jerk / abs_delta_axis_feedrate);
+      }
+
+      // limit vmax to not exceed previous feedrate
+      vmax_junction = std::min(_prev.feedrate, vmax_junction * vmax_junction_factor);
+    }
+
+    block.entry_feedrate = std::min(vmax_junction, Block::max_allowable_speed(-acceleration, MINIMUM_PLANNER_SPEED, distance));
+
+    // calculates block trapezoid
+    block.calculate_trapezoid();
+
+    // updates previous cache
+    _prev.feedrate = feedrate;
+    for (unsigned char a = X; a < Num_Axis; ++a)
+    {
+      _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)
 {