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diff --git a/src/libslic3r/GCode/WipeTowerPrusaMM.cpp b/src/libslic3r/GCode/WipeTowerPrusaMM.cpp
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+/*
+
+TODO LIST
+---------
+
+1. cooling moves - DONE
+2. account for perimeter and finish_layer extrusions and subtract it from last wipe - DONE
+3. priming extrusions (last wipe must clear the color) - DONE
+4. Peter's wipe tower - layer's are not exactly square
+5. Peter's wipe tower - variable width for higher levels
+6. Peter's wipe tower - make sure it is not too sparse (apply max_bridge_distance and make last wipe longer)
+7. Peter's wipe tower - enable enhanced first layer adhesion
+
+*/
+
+#include "WipeTowerPrusaMM.hpp"
+
+#include <assert.h>
+#include <math.h>
+#include <iostream>
+#include <vector>
+#include <numeric>
+
+#include "Analyzer.hpp"
+
+#if defined(__linux) || defined(__GNUC__ )
+#include <strings.h>
+#endif /* __linux */
+
+#ifdef _MSC_VER
+#define strcasecmp _stricmp
+#endif
+
+
+namespace Slic3r
+{
+
+namespace PrusaMultiMaterial {
+
+class Writer
+{
+public:
+ Writer(float layer_height, float line_width) :
+ m_current_pos(std::numeric_limits<float>::max(), std::numeric_limits<float>::max()),
+ m_current_z(0.f),
+ m_current_feedrate(0.f),
+ m_layer_height(layer_height),
+ m_extrusion_flow(0.f),
+ m_preview_suppressed(false),
+ m_elapsed_time(0.f),
+ m_default_analyzer_line_width(line_width)
+ {
+ // adds tag for analyzer:
+ char buf[64];
+ sprintf(buf, ";%s%f\n", GCodeAnalyzer::Height_Tag.c_str(), m_layer_height); // don't rely on GCodeAnalyzer knowing the layer height - it knows nothing at priming
+ m_gcode += buf;
+ sprintf(buf, ";%s%d\n", GCodeAnalyzer::Extrusion_Role_Tag.c_str(), erWipeTower);
+ m_gcode += buf;
+ change_analyzer_line_width(line_width);
+ }
+
+ Writer& change_analyzer_line_width(float line_width) {
+ // adds tag for analyzer:
+ char buf[64];
+ sprintf(buf, ";%s%f\n", GCodeAnalyzer::Width_Tag.c_str(), line_width);
+ m_gcode += buf;
+ return *this;
+ }
+
+ Writer& set_initial_position(const WipeTower::xy &pos, float width = 0.f, float depth = 0.f, float internal_angle = 0.f) {
+ m_wipe_tower_width = width;
+ m_wipe_tower_depth = depth;
+ m_internal_angle = internal_angle;
+ m_start_pos = WipeTower::xy(pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle);
+ m_current_pos = pos;
+ return *this;
+ }
+
+ Writer& set_initial_tool(const unsigned int tool) { m_current_tool = tool; return *this; }
+
+ Writer& set_z(float z)
+ { m_current_z = z; return *this; }
+
+ Writer& set_extrusion_flow(float flow)
+ { m_extrusion_flow = flow; return *this; }
+
+ Writer& set_y_shift(float shift) {
+ m_current_pos.y -= shift-m_y_shift;
+ m_y_shift = shift;
+ return (*this);
+ }
+
+ // Suppress / resume G-code preview in Slic3r. Slic3r will have difficulty to differentiate the various
+ // filament loading and cooling moves from normal extrusion moves. Therefore the writer
+ // is asked to suppres output of some lines, which look like extrusions.
+ Writer& suppress_preview() { change_analyzer_line_width(0.f); m_preview_suppressed = true; return *this; }
+ Writer& resume_preview() { change_analyzer_line_width(m_default_analyzer_line_width); m_preview_suppressed = false; return *this; }
+
+ Writer& feedrate(float f)
+ {
+ if (f != m_current_feedrate)
+ m_gcode += "G1" + set_format_F(f) + "\n";
+ return *this;
+ }
+
+ const std::string& gcode() const { return m_gcode; }
+ const std::vector<WipeTower::Extrusion>& extrusions() const { return m_extrusions; }
+ float x() const { return m_current_pos.x; }
+ float y() const { return m_current_pos.y; }
+ const WipeTower::xy& pos() const { return m_current_pos; }
+ const WipeTower::xy start_pos_rotated() const { return m_start_pos; }
+ const WipeTower::xy pos_rotated() const { return WipeTower::xy(m_current_pos, 0.f, m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle); }
+ float elapsed_time() const { return m_elapsed_time; }
+ float get_and_reset_used_filament_length() { float temp = m_used_filament_length; m_used_filament_length = 0.f; return temp; }
+
+ // Extrude with an explicitely provided amount of extrusion.
+ Writer& extrude_explicit(float x, float y, float e, float f = 0.f, bool record_length = false)
+ {
+ if (x == m_current_pos.x && y == m_current_pos.y && e == 0.f && (f == 0.f || f == m_current_feedrate))
+ // Neither extrusion nor a travel move.
+ return *this;
+
+ float dx = x - m_current_pos.x;
+ float dy = y - m_current_pos.y;
+ double len = sqrt(dx*dx+dy*dy);
+ if (record_length)
+ m_used_filament_length += e;
+
+
+ // Now do the "internal rotation" with respect to the wipe tower center
+ WipeTower::xy rotated_current_pos(WipeTower::xy(m_current_pos,0.f,m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we are
+ WipeTower::xy rot(WipeTower::xy(x,y+m_y_shift).rotate(m_wipe_tower_width, m_wipe_tower_depth, m_internal_angle)); // this is where we want to go
+
+ if (! m_preview_suppressed && e > 0.f && len > 0.) {
+ // Width of a squished extrusion, corrected for the roundings of the squished extrusions.
+ // This is left zero if it is a travel move.
+ float width = float(double(e) * /*Filament_Area*/2.40528 / (len * m_layer_height));
+ // Correct for the roundings of a squished extrusion.
+ width += m_layer_height * float(1. - M_PI / 4.);
+ if (m_extrusions.empty() || m_extrusions.back().pos != rotated_current_pos)
+ m_extrusions.emplace_back(WipeTower::Extrusion(rotated_current_pos, 0, m_current_tool));
+ m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool));
+ }
+
+ m_gcode += "G1";
+ if (std::abs(rot.x - rotated_current_pos.x) > EPSILON)
+ m_gcode += set_format_X(rot.x);
+
+ if (std::abs(rot.y - rotated_current_pos.y) > EPSILON)
+ m_gcode += set_format_Y(rot.y);
+
+
+ if (e != 0.f)
+ m_gcode += set_format_E(e);
+
+ if (f != 0.f && f != m_current_feedrate)
+ m_gcode += set_format_F(f);
+
+ m_current_pos.x = x;
+ m_current_pos.y = y;
+
+ // Update the elapsed time with a rough estimate.
+ m_elapsed_time += ((len == 0) ? std::abs(e) : len) / m_current_feedrate * 60.f;
+ m_gcode += "\n";
+ return *this;
+ }
+
+ Writer& extrude_explicit(const WipeTower::xy &dest, float e, float f = 0.f, bool record_length = false)
+ { return extrude_explicit(dest.x, dest.y, e, f, record_length); }
+
+ // Travel to a new XY position. f=0 means use the current value.
+ Writer& travel(float x, float y, float f = 0.f)
+ { return extrude_explicit(x, y, 0.f, f); }
+
+ Writer& travel(const WipeTower::xy &dest, float f = 0.f)
+ { return extrude_explicit(dest.x, dest.y, 0.f, f); }
+
+ // Extrude a line from current position to x, y with the extrusion amount given by m_extrusion_flow.
+ Writer& extrude(float x, float y, float f = 0.f)
+ {
+ float dx = x - m_current_pos.x;
+ float dy = y - m_current_pos.y;
+ return extrude_explicit(x, y, sqrt(dx*dx+dy*dy) * m_extrusion_flow, f, true);
+ }
+
+ Writer& extrude(const WipeTower::xy &dest, const float f = 0.f)
+ { return extrude(dest.x, dest.y, f); }
+
+ Writer& rectangle(const WipeTower::xy& ld,float width,float height,const float f = 0.f)
+ {
+ WipeTower::xy corners[4];
+ corners[0] = ld;
+ corners[1] = WipeTower::xy(ld,width,0.f);
+ corners[2] = WipeTower::xy(ld,width,height);
+ corners[3] = WipeTower::xy(ld,0.f,height);
+ int index_of_closest = 0;
+ if (x()-ld.x > ld.x+width-x()) // closer to the right
+ index_of_closest = 1;
+ if (y()-ld.y > ld.y+height-y()) // closer to the top
+ index_of_closest = (index_of_closest==0 ? 3 : 2);
+
+ travel(corners[index_of_closest].x, y()); // travel to the closest corner
+ travel(x(),corners[index_of_closest].y);
+
+ int i = index_of_closest;
+ do {
+ ++i;
+ if (i==4) i=0;
+ extrude(corners[i], f);
+ } while (i != index_of_closest);
+ return (*this);
+ }
+
+ Writer& load(float e, float f = 0.f)
+ {
+ if (e == 0.f && (f == 0.f || f == m_current_feedrate))
+ return *this;
+ m_gcode += "G1";
+ if (e != 0.f)
+ m_gcode += set_format_E(e);
+ if (f != 0.f && f != m_current_feedrate)
+ m_gcode += set_format_F(f);
+ m_gcode += "\n";
+ return *this;
+ }
+
+ // Derectract while moving in the X direction.
+ // If |x| > 0, the feed rate relates to the x distance,
+ // otherwise the feed rate relates to the e distance.
+ Writer& load_move_x(float x, float e, float f = 0.f)
+ { return extrude_explicit(x, m_current_pos.y, e, f); }
+
+ Writer& retract(float e, float f = 0.f)
+ { return load(-e, f); }
+
+// Loads filament while also moving towards given points in x-axis (x feedrate is limited by cutting the distance short if necessary)
+ Writer& load_move_x_advanced(float farthest_x, float loading_dist, float loading_speed, float max_x_speed = 50.f)
+ {
+ float time = std::abs(loading_dist / loading_speed);
+ float x_speed = std::min(max_x_speed, std::abs(farthest_x - x()) / time);
+ float feedrate = 60.f * std::hypot(x_speed, loading_speed);
+
+ float end_point = x() + (farthest_x > x() ? 1.f : -1.f) * x_speed * time;
+ return extrude_explicit(end_point, y(), loading_dist, feedrate);
+ }
+
+ // Elevate the extruder head above the current print_z position.
+ Writer& z_hop(float hop, float f = 0.f)
+ {
+ m_gcode += std::string("G1") + set_format_Z(m_current_z + hop);
+ if (f != 0 && f != m_current_feedrate)
+ m_gcode += set_format_F(f);
+ m_gcode += "\n";
+ return *this;
+ }
+
+ // Lower the extruder head back to the current print_z position.
+ Writer& z_hop_reset(float f = 0.f)
+ { return z_hop(0, f); }
+
+ // Move to x1, +y_increment,
+ // extrude quickly amount e to x2 with feed f.
+ Writer& ram(float x1, float x2, float dy, float e0, float e, float f)
+ {
+ extrude_explicit(x1, m_current_pos.y + dy, e0, f, true);
+ extrude_explicit(x2, m_current_pos.y, e, 0.f, true);
+ return *this;
+ }
+
+ // Let the end of the pulled out filament cool down in the cooling tube
+ // by moving up and down and moving the print head left / right
+ // at the current Y position to spread the leaking material.
+ Writer& cool(float x1, float x2, float e1, float e2, float f)
+ {
+ extrude_explicit(x1, m_current_pos.y, e1, f);
+ extrude_explicit(x2, m_current_pos.y, e2);
+ return *this;
+ }
+
+ Writer& set_tool(int tool)
+ {
+ char buf[64];
+ sprintf(buf, "T%d\n", tool);
+ m_gcode += buf;
+ m_current_tool = tool;
+ return *this;
+ }
+
+ // Set extruder temperature, don't wait by default.
+ Writer& set_extruder_temp(int temperature, bool wait = false)
+ {
+ char buf[128];
+ sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature);
+ m_gcode += buf;
+ return *this;
+ };
+
+ // Wait for a period of time (seconds).
+ Writer& wait(float time)
+ {
+ if (time==0)
+ return *this;
+ char buf[128];
+ sprintf(buf, "G4 S%.3f\n", time);
+ m_gcode += buf;
+ return *this;
+ };
+
+ // Set speed factor override percentage.
+ Writer& speed_override(int speed)
+ {
+ char buf[128];
+ sprintf(buf, "M220 S%d\n", speed);
+ m_gcode += buf;
+ return *this;
+ };
+
+ // Set digital trimpot motor
+ Writer& set_extruder_trimpot(int current)
+ {
+ char buf[128];
+ sprintf(buf, "M907 E%d\n", current);
+ m_gcode += buf;
+ return *this;
+ };
+
+ Writer& flush_planner_queue()
+ {
+ m_gcode += "G4 S0\n";
+ return *this;
+ }
+
+ // Reset internal extruder counter.
+ Writer& reset_extruder()
+ {
+ m_gcode += "G92 E0\n";
+ return *this;
+ }
+
+ Writer& comment_with_value(const char *comment, int value)
+ {
+ char strvalue[64];
+ sprintf(strvalue, "%d", value);
+ m_gcode += std::string(";") + comment + strvalue + "\n";
+ return *this;
+ };
+
+
+ Writer& set_fan(unsigned int speed)
+ {
+ if (speed == m_last_fan_speed)
+ return *this;
+
+ if (speed == 0)
+ m_gcode += "M107\n";
+ else
+ {
+ m_gcode += "M106 S";
+ char buf[128];
+ sprintf(buf,"%u\n",(unsigned int)(255.0 * speed / 100.0));
+ m_gcode += buf;
+ }
+ m_last_fan_speed = speed;
+ return *this;
+ }
+
+ Writer& comment_material(WipeTowerPrusaMM::material_type material)
+ {
+ m_gcode += "; material : ";
+ switch (material)
+ {
+ case WipeTowerPrusaMM::PVA:
+ m_gcode += "#8 (PVA)";
+ break;
+ case WipeTowerPrusaMM::SCAFF:
+ m_gcode += "#5 (Scaffold)";
+ break;
+ case WipeTowerPrusaMM::FLEX:
+ m_gcode += "#4 (Flex)";
+ break;
+ default:
+ m_gcode += "DEFAULT (PLA)";
+ break;
+ }
+ m_gcode += "\n";
+ return *this;
+ };
+
+ Writer& append(const char *text) { m_gcode += text; return *this; }
+
+private:
+ WipeTower::xy m_start_pos;
+ WipeTower::xy m_current_pos;
+ float m_current_z;
+ float m_current_feedrate;
+ unsigned int m_current_tool;
+ float m_layer_height;
+ float m_extrusion_flow;
+ bool m_preview_suppressed;
+ std::string m_gcode;
+ std::vector<WipeTower::Extrusion> m_extrusions;
+ float m_elapsed_time;
+ float m_internal_angle = 0.f;
+ float m_y_shift = 0.f;
+ float m_wipe_tower_width = 0.f;
+ float m_wipe_tower_depth = 0.f;
+ float m_last_fan_speed = 0.f;
+ int current_temp = -1;
+ const float m_default_analyzer_line_width;
+ float m_used_filament_length = 0.f;
+
+ std::string set_format_X(float x)
+ {
+ char buf[64];
+ sprintf(buf, " X%.3f", x);
+ m_current_pos.x = x;
+ return buf;
+ }
+
+ std::string set_format_Y(float y) {
+ char buf[64];
+ sprintf(buf, " Y%.3f", y);
+ m_current_pos.y = y;
+ return buf;
+ }
+
+ std::string set_format_Z(float z) {
+ char buf[64];
+ sprintf(buf, " Z%.3f", z);
+ return buf;
+ }
+
+ std::string set_format_E(float e) {
+ char buf[64];
+ sprintf(buf, " E%.4f", e);
+ return buf;
+ }
+
+ std::string set_format_F(float f) {
+ char buf[64];
+ sprintf(buf, " F%d", int(floor(f + 0.5f)));
+ m_current_feedrate = f;
+ return buf;
+ }
+
+ Writer& operator=(const Writer &rhs);
+}; // class Writer
+
+}; // namespace PrusaMultiMaterial
+
+
+
+WipeTowerPrusaMM::material_type WipeTowerPrusaMM::parse_material(const char *name)
+{
+ if (strcasecmp(name, "PLA") == 0)
+ return PLA;
+ if (strcasecmp(name, "ABS") == 0)
+ return ABS;
+ if (strcasecmp(name, "PET") == 0)
+ return PET;
+ if (strcasecmp(name, "HIPS") == 0)
+ return HIPS;
+ if (strcasecmp(name, "FLEX") == 0)
+ return FLEX;
+ if (strcasecmp(name, "SCAFF") == 0)
+ return SCAFF;
+ if (strcasecmp(name, "EDGE") == 0)
+ return EDGE;
+ if (strcasecmp(name, "NGEN") == 0)
+ return NGEN;
+ if (strcasecmp(name, "PVA") == 0)
+ return PVA;
+ return INVALID;
+}
+
+
+// Returns gcode to prime the nozzles at the front edge of the print bed.
+WipeTower::ToolChangeResult WipeTowerPrusaMM::prime(
+ // print_z of the first layer.
+ float first_layer_height,
+ // Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object.
+ const std::vector<unsigned int> &tools,
+ // If true, the last priming are will be the same as the other priming areas, and the rest of the wipe will be performed inside the wipe tower.
+ // If false, the last priming are will be large enough to wipe the last extruder sufficiently.
+ bool last_wipe_inside_wipe_tower)
+{
+ this->set_layer(first_layer_height, first_layer_height, tools.size(), true, false);
+ this->m_current_tool = tools.front();
+
+ // The Prusa i3 MK2 has a working space of [0, -2.2] to [250, 210].
+ // Due to the XYZ calibration, this working space may shrink slightly from all directions,
+ // therefore the homing position is shifted inside the bed by 0.2 in the firmware to [0.2, -2.0].
+// box_coordinates cleaning_box(xy(0.5f, - 1.5f), m_wipe_tower_width, wipe_area);
+
+ const float prime_section_width = std::min(240.f / tools.size(), 60.f);
+ box_coordinates cleaning_box(xy(5.f, 0.01f + m_perimeter_width/2.f), prime_section_width, 100.f);
+
+ PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width);
+ writer.set_extrusion_flow(m_extrusion_flow)
+ .set_z(m_z_pos)
+ .set_initial_tool(m_current_tool)
+ .append(";--------------------\n"
+ "; CP PRIMING START\n")
+ .append(";--------------------\n")
+ .speed_override(100);
+
+ writer.set_initial_position(xy(0.f, 0.f)) // Always move to the starting position
+ .travel(cleaning_box.ld, 7200)
+ .set_extruder_trimpot(750); // Increase the extruder driver current to allow fast ramming.
+
+ for (size_t idx_tool = 0; idx_tool < tools.size(); ++ idx_tool) {
+ unsigned int tool = tools[idx_tool];
+ m_left_to_right = true;
+ toolchange_Change(writer, tool, m_filpar[tool].material); // Select the tool, set a speed override for soluble and flex materials.
+ toolchange_Load(writer, cleaning_box); // Prime the tool.
+ if (idx_tool + 1 == tools.size()) {
+ // Last tool should not be unloaded, but it should be wiped enough to become of a pure color.
+ toolchange_Wipe(writer, cleaning_box, wipe_volumes[tools[idx_tool-1]][tool]);
+ } else {
+ // Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
+ //writer.travel(writer.x(), writer.y() + m_perimeter_width, 7200);
+ toolchange_Wipe(writer, cleaning_box , 20.f);
+ box_coordinates box = cleaning_box;
+ box.translate(0.f, writer.y() - cleaning_box.ld.y + m_perimeter_width);
+ toolchange_Unload(writer, box , m_filpar[m_current_tool].material, m_filpar[tools[idx_tool + 1]].first_layer_temperature);
+ cleaning_box.translate(prime_section_width, 0.f);
+ writer.travel(cleaning_box.ld, 7200);
+ }
+ ++ m_num_tool_changes;
+ }
+
+ m_old_temperature = -1; // If the priming is turned off in config, the temperature changing commands will not actually appear
+ // in the output gcode - we should not remember emitting them (we will output them twice in the worst case)
+
+ // Reset the extruder current to a normal value.
+ writer.set_extruder_trimpot(550)
+ .feedrate(6000)
+ .flush_planner_queue()
+ .reset_extruder()
+ .append("; CP PRIMING END\n"
+ ";------------------\n"
+ "\n\n");
+
+ // so that tool_change() will know to extrude the wipe tower brim:
+ m_print_brim = true;
+
+ // Ask our writer about how much material was consumed:
+ m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
+
+ ToolChangeResult result;
+ result.priming = true;
+ result.print_z = this->m_z_pos;
+ result.layer_height = this->m_layer_height;
+ result.gcode = writer.gcode();
+ result.elapsed_time = writer.elapsed_time();
+ result.extrusions = writer.extrusions();
+ result.start_pos = writer.start_pos_rotated();
+ result.end_pos = writer.pos_rotated();
+ return result;
+}
+
+WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, bool last_in_layer)
+{
+ if ( m_print_brim )
+ return toolchange_Brim();
+
+ float wipe_area = 0.f;
+ bool last_change_in_layer = false;
+ float wipe_volume = 0.f;
+
+ // Finds this toolchange info
+ if (tool != (unsigned int)(-1))
+ {
+ for (const auto &b : m_layer_info->tool_changes)
+ if ( b.new_tool == tool ) {
+ wipe_volume = b.wipe_volume;
+ if (tool == m_layer_info->tool_changes.back().new_tool)
+ last_change_in_layer = true;
+ wipe_area = b.required_depth * m_layer_info->extra_spacing;
+ break;
+ }
+ }
+ else {
+ // Otherwise we are going to Unload only. And m_layer_info would be invalid.
+ }
+
+ box_coordinates cleaning_box(
+ xy(m_perimeter_width / 2.f, m_perimeter_width / 2.f),
+ m_wipe_tower_width - m_perimeter_width,
+ (tool != (unsigned int)(-1) ? /*m_layer_info->depth*/wipe_area+m_depth_traversed-0.5*m_perimeter_width
+ : m_wipe_tower_depth-m_perimeter_width));
+
+ PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width);
+ writer.set_extrusion_flow(m_extrusion_flow)
+ .set_z(m_z_pos)
+ .set_initial_tool(m_current_tool)
+ .set_y_shift(m_y_shift + (tool!=(unsigned int)(-1) && (m_current_shape == SHAPE_REVERSED && !m_peters_wipe_tower) ? m_layer_info->depth - m_layer_info->toolchanges_depth(): 0.f))
+ .append(";--------------------\n"
+ "; CP TOOLCHANGE START\n")
+ .comment_with_value(" toolchange #", m_num_tool_changes + 1) // the number is zero-based
+ .comment_material(m_filpar[m_current_tool].material)
+ .append(";--------------------\n")
+ .speed_override(100);
+
+ xy initial_position = cleaning_box.ld + WipeTower::xy(0.f,m_depth_traversed);
+ writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
+
+ // Increase the extruder driver current to allow fast ramming.
+ writer.set_extruder_trimpot(750);
+
+ // Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
+ if (tool != (unsigned int)-1){ // This is not the last change.
+ toolchange_Unload(writer, cleaning_box, m_filpar[m_current_tool].material,
+ m_is_first_layer ? m_filpar[tool].first_layer_temperature : m_filpar[tool].temperature);
+ toolchange_Change(writer, tool, m_filpar[tool].material); // Change the tool, set a speed override for soluble and flex materials.
+ toolchange_Load(writer, cleaning_box);
+ writer.travel(writer.x(),writer.y()-m_perimeter_width); // cooling and loading were done a bit down the road
+ toolchange_Wipe(writer, cleaning_box, wipe_volume); // Wipe the newly loaded filament until the end of the assigned wipe area.
+ ++ m_num_tool_changes;
+ } else
+ toolchange_Unload(writer, cleaning_box, m_filpar[m_current_tool].material, m_filpar[m_current_tool].temperature);
+
+ m_depth_traversed += wipe_area;
+
+ if (last_change_in_layer) {// draw perimeter line
+ writer.set_y_shift(m_y_shift);
+ if (m_peters_wipe_tower)
+ writer.rectangle(WipeTower::xy(0.f, 0.f),m_layer_info->depth + 3*m_perimeter_width,m_wipe_tower_depth);
+ else {
+ writer.rectangle(WipeTower::xy(0.f, 0.f),m_wipe_tower_width, m_layer_info->depth + m_perimeter_width);
+ if (layer_finished()) { // no finish_layer will be called, we must wipe the nozzle
+ writer.travel(writer.x()> m_wipe_tower_width / 2.f ? 0.f : m_wipe_tower_width, writer.y());
+ }
+ }
+ }
+
+ writer.set_extruder_trimpot(550) // Reset the extruder current to a normal value.
+ .feedrate(6000)
+ .flush_planner_queue()
+ .reset_extruder()
+ .append("; CP TOOLCHANGE END\n"
+ ";------------------\n"
+ "\n\n");
+
+ // Ask our writer about how much material was consumed:
+ m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
+
+ ToolChangeResult result;
+ result.priming = false;
+ result.print_z = this->m_z_pos;
+ result.layer_height = this->m_layer_height;
+ result.gcode = writer.gcode();
+ result.elapsed_time = writer.elapsed_time();
+ result.extrusions = writer.extrusions();
+ result.start_pos = writer.start_pos_rotated();
+ result.end_pos = writer.pos_rotated();
+ return result;
+}
+
+WipeTower::ToolChangeResult WipeTowerPrusaMM::toolchange_Brim(bool sideOnly, float y_offset)
+{
+ const box_coordinates wipeTower_box(
+ WipeTower::xy(0.f, 0.f),
+ m_wipe_tower_width,
+ m_wipe_tower_depth);
+
+ PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width);
+ writer.set_extrusion_flow(m_extrusion_flow * 1.1f)
+ .set_z(m_z_pos) // Let the writer know the current Z position as a base for Z-hop.
+ .set_initial_tool(m_current_tool)
+ .append(";-------------------------------------\n"
+ "; CP WIPE TOWER FIRST LAYER BRIM START\n");
+
+ xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 6.f, 0);
+ writer.set_initial_position(initial_position, m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
+
+ writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 6.f, 0), // Prime the extruder left of the wipe tower.
+ 1.5f * m_extrusion_flow * (wipeTower_box.lu.y - wipeTower_box.ld.y), 2400);
+
+ // The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
+ // Extrude 4 rounds of a brim around the future wipe tower.
+ box_coordinates box(wipeTower_box);
+ box.expand(m_perimeter_width);
+ for (size_t i = 0; i < 4; ++ i) {
+ writer.travel (box.ld, 7000)
+ .extrude(box.lu, 2100).extrude(box.ru)
+ .extrude(box.rd ).extrude(box.ld);
+ box.expand(m_perimeter_width);
+ }
+
+ writer.travel(wipeTower_box.ld, 7000); // Move to the front left corner.
+ writer.travel(wipeTower_box.rd) // Always wipe the nozzle with a long wipe to reduce stringing when moving away from the wipe tower.
+ .travel(wipeTower_box.ld);
+ writer.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
+ ";-----------------------------------\n");
+
+ m_print_brim = false; // Mark the brim as extruded
+
+ // Ask our writer about how much material was consumed:
+ m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
+
+ ToolChangeResult result;
+ result.priming = false;
+ result.print_z = this->m_z_pos;
+ result.layer_height = this->m_layer_height;
+ result.gcode = writer.gcode();
+ result.elapsed_time = writer.elapsed_time();
+ result.extrusions = writer.extrusions();
+ result.start_pos = writer.start_pos_rotated();
+ result.end_pos = writer.pos_rotated();
+ return result;
+}
+
+
+
+// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
+void WipeTowerPrusaMM::toolchange_Unload(
+ PrusaMultiMaterial::Writer &writer,
+ const box_coordinates &cleaning_box,
+ const material_type current_material,
+ const int new_temperature)
+{
+ float xl = cleaning_box.ld.x + 1.f * m_perimeter_width;
+ float xr = cleaning_box.rd.x - 1.f * m_perimeter_width;
+
+ const float line_width = m_perimeter_width * m_filpar[m_current_tool].ramming_line_width_multiplicator; // desired ramming line thickness
+ const float y_step = line_width * m_filpar[m_current_tool].ramming_step_multiplicator * m_extra_spacing; // spacing between lines in mm
+
+ writer.append("; CP TOOLCHANGE UNLOAD\n")
+ .change_analyzer_line_width(line_width);
+
+ unsigned i = 0; // iterates through ramming_speed
+ m_left_to_right = true; // current direction of ramming
+ float remaining = xr - xl ; // keeps track of distance to the next turnaround
+ float e_done = 0; // measures E move done from each segment
+
+ writer.travel(xl, cleaning_box.ld.y + m_depth_traversed + y_step/2.f ); // move to starting position
+
+ // if the ending point of the ram would end up in mid air, align it with the end of the wipe tower:
+ if (m_layer_info > m_plan.begin() && m_layer_info < m_plan.end() && (m_layer_info-1!=m_plan.begin() || !m_adhesion )) {
+
+ // this is y of the center of previous sparse infill border
+ float sparse_beginning_y = 0.f;
+ if (m_current_shape == SHAPE_REVERSED)
+ sparse_beginning_y += ((m_layer_info-1)->depth - (m_layer_info-1)->toolchanges_depth())
+ - ((m_layer_info)->depth-(m_layer_info)->toolchanges_depth()) ;
+ else
+ sparse_beginning_y += (m_layer_info-1)->toolchanges_depth() + m_perimeter_width;
+
+ //debugging:
+ /* float oldx = writer.x();
+ float oldy = writer.y();
+ writer.travel(xr,sparse_beginning_y);
+ writer.extrude(xr+5,writer.y());
+ writer.travel(oldx,oldy);*/
+
+ float sum_of_depths = 0.f;
+ for (const auto& tch : m_layer_info->tool_changes) { // let's find this toolchange
+ if (tch.old_tool == m_current_tool) {
+ sum_of_depths += tch.ramming_depth;
+ float ramming_end_y = sum_of_depths;
+ ramming_end_y -= (y_step/m_extra_spacing-m_perimeter_width) / 2.f; // center of final ramming line
+
+ // debugging:
+ /*float oldx = writer.x();
+ float oldy = writer.y();
+ writer.travel(xl,ramming_end_y);
+ writer.extrude(xl-15,writer.y());
+ writer.travel(oldx,oldy);*/
+
+ if ( (m_current_shape == SHAPE_REVERSED && ramming_end_y < sparse_beginning_y - 0.5f*m_perimeter_width ) ||
+ (m_current_shape == SHAPE_NORMAL && ramming_end_y > sparse_beginning_y + 0.5f*m_perimeter_width ) )
+ {
+ writer.extrude(xl + tch.first_wipe_line-1.f*m_perimeter_width,writer.y());
+ remaining -= tch.first_wipe_line-1.f*m_perimeter_width;
+ }
+ break;
+ }
+ sum_of_depths += tch.required_depth;
+ }
+ }
+
+ // now the ramming itself:
+ while (i < m_filpar[m_current_tool].ramming_speed.size())
+ {
+ const float x = volume_to_length(m_filpar[m_current_tool].ramming_speed[i] * 0.25f, line_width, m_layer_height);
+ const float e = m_filpar[m_current_tool].ramming_speed[i] * 0.25f / Filament_Area; // transform volume per sec to E move;
+ const float dist = std::min(x - e_done, remaining); // distance to travel for either the next 0.25s, or to the next turnaround
+ const float actual_time = dist/x * 0.25;
+ writer.ram(writer.x(), writer.x() + (m_left_to_right ? 1.f : -1.f) * dist, 0, 0, e * (dist / x), std::hypot(dist, e * (dist / x)) / (actual_time / 60.));
+ remaining -= dist;
+
+ if (remaining < WT_EPSILON) { // we reached a turning point
+ writer.travel(writer.x(), writer.y() + y_step, 7200);
+ m_left_to_right = !m_left_to_right;
+ remaining = xr - xl;
+ }
+ e_done += dist; // subtract what was actually done
+ if (e_done > x - WT_EPSILON) { // current segment finished
+ ++i;
+ e_done = 0;
+ }
+ }
+ WipeTower::xy end_of_ramming(writer.x(),writer.y());
+ writer.change_analyzer_line_width(m_perimeter_width); // so the next lines are not affected by ramming_line_width_multiplier
+
+ // Retraction:
+ float old_x = writer.x();
+ float turning_point = (!m_left_to_right ? xl : xr );
+ float total_retraction_distance = m_cooling_tube_retraction + m_cooling_tube_length/2.f - 15.f; // the 15mm is reserved for the first part after ramming
+ writer.suppress_preview()
+ .retract(15.f, m_filpar[m_current_tool].unloading_speed_start * 60.f) // feedrate 5000mm/min = 83mm/s
+ .retract(0.70f * total_retraction_distance, 1.0f * m_filpar[m_current_tool].unloading_speed * 60.f)
+ .retract(0.20f * total_retraction_distance, 0.5f * m_filpar[m_current_tool].unloading_speed * 60.f)
+ .retract(0.10f * total_retraction_distance, 0.3f * m_filpar[m_current_tool].unloading_speed * 60.f)
+
+ /*.load_move_x_advanced(turning_point, -15.f, 83.f, 50.f) // this is done at fixed speed
+ .load_move_x_advanced(old_x, -0.70f * total_retraction_distance, 1.0f * m_filpar[m_current_tool].unloading_speed)
+ .load_move_x_advanced(turning_point, -0.20f * total_retraction_distance, 0.5f * m_filpar[m_current_tool].unloading_speed)
+ .load_move_x_advanced(old_x, -0.10f * total_retraction_distance, 0.3f * m_filpar[m_current_tool].unloading_speed)
+ .travel(old_x, writer.y()) // in case previous move was shortened to limit feedrate*/
+ .resume_preview();
+ if (new_temperature != 0 && (new_temperature != m_old_temperature || m_is_first_layer) ) { // Set the extruder temperature, but don't wait.
+ // If the required temperature is the same as last time, don't emit the M104 again (if user adjusted the value, it would be reset)
+ // However, always change temperatures on the first layer (this is to avoid issues with priming lines turned off).
+ writer.set_extruder_temp(new_temperature, false);
+ m_old_temperature = new_temperature;
+ }
+
+ // Cooling:
+ const int& number_of_moves = m_filpar[m_current_tool].cooling_moves;
+ if (number_of_moves > 0) {
+ const float& initial_speed = m_filpar[m_current_tool].cooling_initial_speed;
+ const float& final_speed = m_filpar[m_current_tool].cooling_final_speed;
+
+ float speed_inc = (final_speed - initial_speed) / (2.f * number_of_moves - 1.f);
+
+ writer.suppress_preview()
+ .travel(writer.x(), writer.y() + y_step);
+ old_x = writer.x();
+ turning_point = xr-old_x > old_x-xl ? xr : xl;
+ for (int i=0; i<number_of_moves; ++i) {
+ float speed = initial_speed + speed_inc * 2*i;
+ writer.load_move_x_advanced(turning_point, m_cooling_tube_length, speed);
+ speed += speed_inc;
+ writer.load_move_x_advanced(old_x, -m_cooling_tube_length, speed);
+ }
+ }
+
+ // let's wait is necessary:
+ writer.wait(m_filpar[m_current_tool].delay);
+ // we should be at the beginning of the cooling tube again - let's move to parking position:
+ writer.retract(-m_cooling_tube_length/2.f+m_parking_pos_retraction-m_cooling_tube_retraction, 2000);
+
+ // this is to align ramming and future wiping extrusions, so the future y-steps can be uniform from the start:
+ // the perimeter_width will later be subtracted, it is there to not load while moving over just extruded material
+ writer.travel(end_of_ramming.x, end_of_ramming.y + (y_step/m_extra_spacing-m_perimeter_width) / 2.f + m_perimeter_width, 2400.f);
+
+ writer.resume_preview()
+ .flush_planner_queue();
+}
+
+// Change the tool, set a speed override for soluble and flex materials.
+void WipeTowerPrusaMM::toolchange_Change(
+ PrusaMultiMaterial::Writer &writer,
+ const unsigned int new_tool,
+ material_type new_material)
+{
+ // Ask the writer about how much of the old filament we consumed:
+ m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
+
+ // Speed override for the material. Go slow for flex and soluble materials.
+ int speed_override;
+ switch (new_material) {
+ case PVA: speed_override = (m_z_pos < 0.80f) ? 60 : 80; break;
+ case SCAFF: speed_override = 35; break;
+ case FLEX: speed_override = 35; break;
+ default: speed_override = 100;
+ }
+ writer.set_tool(new_tool)
+ .speed_override(speed_override)
+ .flush_planner_queue();
+ m_current_tool = new_tool;
+}
+
+
+
+void WipeTowerPrusaMM::toolchange_Load(
+ PrusaMultiMaterial::Writer &writer,
+ const box_coordinates &cleaning_box)
+{
+ float xl = cleaning_box.ld.x + m_perimeter_width * 0.75f;
+ float xr = cleaning_box.rd.x - m_perimeter_width * 0.75f;
+ float oldx = writer.x(); // the nozzle is in place to do the first wiping moves, we will remember the position
+
+ // Load the filament while moving left / right, so the excess material will not create a blob at a single position.
+ float turning_point = ( oldx-xl < xr-oldx ? xr : xl );
+ float edist = m_parking_pos_retraction+m_extra_loading_move;
+
+ writer.append("; CP TOOLCHANGE LOAD\n")
+ .suppress_preview()
+ /*.load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Acceleration
+ .load_move_x_advanced(oldx, 0.5f * edist, m_filpar[m_current_tool].loading_speed) // Fast phase
+ .load_move_x_advanced(turning_point, 0.2f * edist, 0.3f * m_filpar[m_current_tool].loading_speed) // Slowing down
+ .load_move_x_advanced(oldx, 0.1f * edist, 0.1f * m_filpar[m_current_tool].loading_speed) // Super slow*/
+
+ .load(0.2f * edist, 60.f * m_filpar[m_current_tool].loading_speed_start)
+ .load_move_x_advanced(turning_point, 0.7f * edist, m_filpar[m_current_tool].loading_speed) // Fast phase
+ .load_move_x_advanced(oldx, 0.1f * edist, 0.1f * m_filpar[m_current_tool].loading_speed) // Super slow*/
+
+ .travel(oldx, writer.y()) // in case last move was shortened to limit x feedrate
+ .resume_preview();
+
+ // Reset the extruder current to the normal value.
+ writer.set_extruder_trimpot(550);
+}
+
+
+
+
+// Wipe the newly loaded filament until the end of the assigned wipe area.
+void WipeTowerPrusaMM::toolchange_Wipe(
+ PrusaMultiMaterial::Writer &writer,
+ const box_coordinates &cleaning_box,
+ float wipe_volume)
+{
+ // Increase flow on first layer, slow down print.
+ writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f))
+ .append("; CP TOOLCHANGE WIPE\n");
+ float wipe_coeff = m_is_first_layer ? 0.5f : 1.f;
+ const float& xl = cleaning_box.ld.x;
+ const float& xr = cleaning_box.rd.x;
+
+ // Variables x_to_wipe and traversed_x are here to be able to make sure it always wipes at least
+ // the ordered volume, even if it means violating the box. This can later be removed and simply
+ // wipe until the end of the assigned area.
+
+ float x_to_wipe = volume_to_length(wipe_volume, m_perimeter_width, m_layer_height);
+ float dy = m_extra_spacing*m_perimeter_width;
+ float wipe_speed = 1600.f;
+
+ // if there is less than 2.5*m_perimeter_width to the edge, advance straightaway (there is likely a blob anyway)
+ if ((m_left_to_right ? xr-writer.x() : writer.x()-xl) < 2.5f*m_perimeter_width) {
+ writer.travel((m_left_to_right ? xr-m_perimeter_width : xl+m_perimeter_width),writer.y()+dy);
+ m_left_to_right = !m_left_to_right;
+ }
+
+ // now the wiping itself:
+ for (int i = 0; true; ++i) {
+ if (i!=0) {
+ if (wipe_speed < 1610.f) wipe_speed = 1800.f;
+ else if (wipe_speed < 1810.f) wipe_speed = 2200.f;
+ else if (wipe_speed < 2210.f) wipe_speed = 4200.f;
+ else wipe_speed = std::min(4800.f, wipe_speed + 50.f);
+ }
+
+ float traversed_x = writer.x();
+ if (m_left_to_right)
+ writer.extrude(xr - (i % 4 == 0 ? 0 : 1.5*m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
+ else
+ writer.extrude(xl + (i % 4 == 1 ? 0 : 1.5*m_perimeter_width), writer.y(), wipe_speed * wipe_coeff);
+
+ if (writer.y()+EPSILON > cleaning_box.lu.y-0.5f*m_perimeter_width)
+ break; // in case next line would not fit
+
+ traversed_x -= writer.x();
+ x_to_wipe -= fabs(traversed_x);
+ if (x_to_wipe < WT_EPSILON) {
+ writer.travel(m_left_to_right ? xl + 1.5*m_perimeter_width : xr - 1.5*m_perimeter_width, writer.y(), 7200);
+ break;
+ }
+ // stepping to the next line:
+ writer.extrude(writer.x() + (i % 4 == 0 ? -1.f : (i % 4 == 1 ? 1.f : 0.f)) * 1.5*m_perimeter_width, writer.y() + dy);
+ m_left_to_right = !m_left_to_right;
+ }
+
+ // this is neither priming nor not the last toolchange on this layer - we are going back to the model - wipe the nozzle
+ if (m_layer_info != m_plan.end() && m_current_tool != m_layer_info->tool_changes.back().new_tool) {
+ m_left_to_right = !m_left_to_right;
+ writer.travel(writer.x(), writer.y() - dy)
+ .travel(m_left_to_right ? m_wipe_tower_width : 0.f, writer.y());
+ }
+
+ writer.set_extrusion_flow(m_extrusion_flow); // Reset the extrusion flow.
+}
+
+
+
+
+WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer()
+{
+ // This should only be called if the layer is not finished yet.
+ // Otherwise the caller would likely travel to the wipe tower in vain.
+ assert(! this->layer_finished());
+
+ PrusaMultiMaterial::Writer writer(m_layer_height, m_perimeter_width);
+ writer.set_extrusion_flow(m_extrusion_flow)
+ .set_z(m_z_pos)
+ .set_initial_tool(m_current_tool)
+ .set_y_shift(m_y_shift - (m_current_shape == SHAPE_REVERSED && !m_peters_wipe_tower ? m_layer_info->toolchanges_depth() : 0.f))
+ .append(";--------------------\n"
+ "; CP EMPTY GRID START\n")
+ .comment_with_value(" layer #", m_num_layer_changes + 1);
+
+ // Slow down on the 1st layer.
+ float speed_factor = m_is_first_layer ? 0.5f : 1.f;
+ float current_depth = m_layer_info->depth - m_layer_info->toolchanges_depth();
+ box_coordinates fill_box(xy(m_perimeter_width, m_depth_traversed + m_perimeter_width),
+ m_wipe_tower_width - 2 * m_perimeter_width, current_depth-m_perimeter_width);
+
+
+ writer.set_initial_position((m_left_to_right ? fill_box.ru : fill_box.lu), // so there is never a diagonal travel
+ m_wipe_tower_width, m_wipe_tower_depth, m_internal_rotation);
+
+ box_coordinates box = fill_box;
+ for (int i=0;i<2;++i) {
+ if (m_layer_info->toolchanges_depth() < WT_EPSILON) { // there were no toolchanges on this layer
+ if (i==0) box.expand(m_perimeter_width);
+ else box.expand(-m_perimeter_width);
+ }
+ else i=2; // only draw the inner perimeter, outer has been already drawn by tool_change(...)
+ writer.rectangle(box.ld,box.rd.x-box.ld.x,box.ru.y-box.rd.y,2900*speed_factor);
+ }
+
+ // we are in one of the corners, travel to ld along the perimeter:
+ if (writer.x() > fill_box.ld.x+EPSILON) writer.travel(fill_box.ld.x,writer.y());
+ if (writer.y() > fill_box.ld.y+EPSILON) writer.travel(writer.x(),fill_box.ld.y);
+
+ if (m_is_first_layer && m_adhesion) {
+ // Extrude a dense infill at the 1st layer to improve 1st layer adhesion of the wipe tower.
+ box.expand(-m_perimeter_width/2.f);
+ int nsteps = int(floor((box.lu.y - box.ld.y) / (2*m_perimeter_width)));
+ float step = (box.lu.y - box.ld.y) / nsteps;
+ writer.travel(box.ld-xy(m_perimeter_width/2.f,m_perimeter_width/2.f));
+ if (nsteps >= 0)
+ for (int i = 0; i < nsteps; ++i) {
+ writer.extrude(box.ld.x+m_perimeter_width/2.f, writer.y() + 0.5f * step);
+ writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y());
+ writer.extrude(box.rd.x - m_perimeter_width / 2.f, writer.y() + 0.5f * step);
+ writer.extrude(box.ld.x + m_perimeter_width / 2.f, writer.y());
+ }
+ writer.travel(box.rd.x-m_perimeter_width/2.f,writer.y()); // wipe the nozzle
+ }
+ else { // Extrude a sparse infill to support the material to be printed above.
+ const float dy = (fill_box.lu.y - fill_box.ld.y - m_perimeter_width);
+ const float left = fill_box.lu.x+2*m_perimeter_width;
+ const float right = fill_box.ru.x - 2 * m_perimeter_width;
+ if (dy > m_perimeter_width)
+ {
+ // Extrude an inverse U at the left of the region.
+ writer.travel(fill_box.ld + xy(m_perimeter_width * 2, 0.f))
+ .extrude(fill_box.lu + xy(m_perimeter_width * 2, 0.f), 2900 * speed_factor);
+
+ const int n = 1+(right-left)/(m_bridging);
+ const float dx = (right-left)/n;
+ for (int i=1;i<=n;++i) {
+ float x=left+dx*i;
+ writer.travel(x,writer.y());
+ writer.extrude(x,i%2 ? fill_box.rd.y : fill_box.ru.y);
+ }
+ writer.travel(left,writer.y(),7200); // wipes the nozzle before moving away from the wipe tower
+ }
+ else
+ writer.travel(right,writer.y(),7200); // wipes the nozzle before moving away from the wipe tower
+ }
+ writer.append("; CP EMPTY GRID END\n"
+ ";------------------\n\n\n\n\n\n\n");
+
+ m_depth_traversed = m_wipe_tower_depth-m_perimeter_width;
+
+ // Ask our writer about how much material was consumed:
+ m_used_filament_length[m_current_tool] += writer.get_and_reset_used_filament_length();
+
+ ToolChangeResult result;
+ result.priming = false;
+ result.print_z = this->m_z_pos;
+ result.layer_height = this->m_layer_height;
+ result.gcode = writer.gcode();
+ result.elapsed_time = writer.elapsed_time();
+ result.extrusions = writer.extrusions();
+ result.start_pos = writer.start_pos_rotated();
+ result.end_pos = writer.pos_rotated();
+ return result;
+}
+
+// Appends a toolchange into m_plan and calculates neccessary depth of the corresponding box
+void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool, bool brim, float wipe_volume)
+{
+ assert(m_plan.back().z <= z_par + WT_EPSILON ); // refuses to add a layer below the last one
+
+ if (m_plan.empty() || m_plan.back().z + WT_EPSILON < z_par) // if we moved to a new layer, we'll add it to m_plan first
+ m_plan.push_back(WipeTowerInfo(z_par, layer_height_par));
+
+ if (brim) { // this toolchange prints brim - we must add it to m_plan, but not to count its depth
+ m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool));
+ return;
+ }
+
+ if (old_tool==new_tool) // new layer without toolchanges - we are done
+ return;
+
+ // this is an actual toolchange - let's calculate depth to reserve on the wipe tower
+ float depth = 0.f;
+ float width = m_wipe_tower_width - 3*m_perimeter_width;
+ float length_to_extrude = volume_to_length(0.25f * std::accumulate(m_filpar[old_tool].ramming_speed.begin(), m_filpar[old_tool].ramming_speed.end(), 0.f),
+ m_perimeter_width * m_filpar[old_tool].ramming_line_width_multiplicator,
+ layer_height_par);
+ depth = (int(length_to_extrude / width) + 1) * (m_perimeter_width * m_filpar[old_tool].ramming_line_width_multiplicator * m_filpar[old_tool].ramming_step_multiplicator);
+ float ramming_depth = depth;
+ length_to_extrude = width*((length_to_extrude / width)-int(length_to_extrude / width)) - width;
+ float first_wipe_line = -length_to_extrude;
+ length_to_extrude += volume_to_length(wipe_volume, m_perimeter_width, layer_height_par);
+ length_to_extrude = std::max(length_to_extrude,0.f);
+
+ depth += (int(length_to_extrude / width) + 1) * m_perimeter_width;
+ depth *= m_extra_spacing;
+
+ m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool, depth, ramming_depth, first_wipe_line, wipe_volume));
+}
+
+
+
+void WipeTowerPrusaMM::plan_tower()
+{
+ // Calculate m_wipe_tower_depth (maximum depth for all the layers) and propagate depths downwards
+ m_wipe_tower_depth = 0.f;
+ for (auto& layer : m_plan)
+ layer.depth = 0.f;
+
+ for (int layer_index = m_plan.size() - 1; layer_index >= 0; --layer_index)
+ {
+ float this_layer_depth = std::max(m_plan[layer_index].depth, m_plan[layer_index].toolchanges_depth());
+ m_plan[layer_index].depth = this_layer_depth;
+
+ if (this_layer_depth > m_wipe_tower_depth - m_perimeter_width)
+ m_wipe_tower_depth = this_layer_depth + m_perimeter_width;
+
+ for (int i = layer_index - 1; i >= 0 ; i--)
+ {
+ if (m_plan[i].depth - this_layer_depth < 2*m_perimeter_width )
+ m_plan[i].depth = this_layer_depth;
+ }
+ }
+}
+
+void WipeTowerPrusaMM::save_on_last_wipe()
+{
+ for (m_layer_info=m_plan.begin();m_layer_info<m_plan.end();++m_layer_info) {
+ set_layer(m_layer_info->z, m_layer_info->height, 0, m_layer_info->z == m_plan.front().z, m_layer_info->z == m_plan.back().z);
+ if (m_layer_info->tool_changes.size()==0) // we have no way to save anything on an empty layer
+ continue;
+
+ for (const auto &toolchange : m_layer_info->tool_changes)
+ tool_change(toolchange.new_tool, false);
+
+ float width = m_wipe_tower_width - 3*m_perimeter_width; // width we draw into
+ float length_to_save = 2*(m_wipe_tower_width+m_wipe_tower_depth) + (!layer_finished() ? finish_layer().total_extrusion_length_in_plane() : 0.f);
+ float length_to_wipe = volume_to_length(m_layer_info->tool_changes.back().wipe_volume,
+ m_perimeter_width,m_layer_info->height) - m_layer_info->tool_changes.back().first_wipe_line - length_to_save;
+
+ length_to_wipe = std::max(length_to_wipe,0.f);
+ float depth_to_wipe = m_perimeter_width * (std::floor(length_to_wipe/width) + ( length_to_wipe > 0.f ? 1.f : 0.f ) ) * m_extra_spacing;
+
+ //depth += (int(length_to_extrude / width) + 1) * m_perimeter_width;
+ m_layer_info->tool_changes.back().required_depth = m_layer_info->tool_changes.back().ramming_depth + depth_to_wipe;
+ }
+}
+
+// Processes vector m_plan and calls respective functions to generate G-code for the wipe tower
+// Resulting ToolChangeResults are appended into vector "result"
+void WipeTowerPrusaMM::generate(std::vector<std::vector<WipeTower::ToolChangeResult>> &result)
+{
+ if (m_plan.empty())
+
+ return;
+
+ m_extra_spacing = 1.f;
+
+ plan_tower();
+ for (int i=0;i<5;++i) {
+ save_on_last_wipe();
+ plan_tower();
+ }
+
+ if (m_peters_wipe_tower)
+ make_wipe_tower_square();
+
+ m_layer_info = m_plan.begin();
+ m_current_tool = (unsigned int)(-2); // we don't know which extruder to start with - we'll set it according to the first toolchange
+ for (auto& used : m_used_filament_length) // reset used filament stats
+ used = 0.f;
+
+ std::vector<WipeTower::ToolChangeResult> layer_result;
+ for (auto layer : m_plan)
+ {
+ set_layer(layer.z,layer.height,0,layer.z == m_plan.front().z,layer.z == m_plan.back().z);
+ if (m_peters_wipe_tower)
+ m_internal_rotation += 90.f;
+ else
+ m_internal_rotation += 180.f;
+
+ if (!m_peters_wipe_tower && m_layer_info->depth < m_wipe_tower_depth - m_perimeter_width)
+ m_y_shift = (m_wipe_tower_depth-m_layer_info->depth-m_perimeter_width)/2.f;
+
+ for (const auto &toolchange : layer.tool_changes) {
+ if (m_current_tool == (unsigned int)(-2))
+ m_current_tool = toolchange.old_tool;
+ layer_result.emplace_back(tool_change(toolchange.new_tool, false));
+ }
+
+ if (! layer_finished()) {
+ auto finish_layer_toolchange = finish_layer();
+ if ( ! layer.tool_changes.empty() ) { // we will merge it to the last toolchange
+ auto& last_toolchange = layer_result.back();
+ if (last_toolchange.end_pos != finish_layer_toolchange.start_pos) {
+ char buf[2048]; // Add a travel move from tc1.end_pos to tc2.start_pos.
+ sprintf(buf, "G1 X%.3f Y%.3f F7200\n", finish_layer_toolchange.start_pos.x, finish_layer_toolchange.start_pos.y);
+ last_toolchange.gcode += buf;
+ }
+ last_toolchange.gcode += finish_layer_toolchange.gcode;
+ last_toolchange.extrusions.insert(last_toolchange.extrusions.end(), finish_layer_toolchange.extrusions.begin(), finish_layer_toolchange.extrusions.end());
+ last_toolchange.end_pos = finish_layer_toolchange.end_pos;
+ }
+ else
+ layer_result.emplace_back(std::move(finish_layer_toolchange));
+ }
+
+ result.emplace_back(std::move(layer_result));
+ m_is_first_layer = false;
+ }
+}
+
+void WipeTowerPrusaMM::make_wipe_tower_square()
+{
+ const float width = m_wipe_tower_width - 3 * m_perimeter_width;
+ const float depth = m_wipe_tower_depth - m_perimeter_width;
+ // area that we actually print into is width*depth
+ float side = sqrt(depth * width);
+
+ m_wipe_tower_width = side + 3 * m_perimeter_width;
+ m_wipe_tower_depth = side + 2 * m_perimeter_width;
+ // For all layers, find how depth changed and update all toolchange depths
+ for (auto &lay : m_plan)
+ {
+ side = sqrt(lay.depth * width);
+ float width_ratio = width / side;
+
+ //lay.extra_spacing = width_ratio;
+ for (auto &tch : lay.tool_changes)
+ tch.required_depth *= width_ratio;
+ }
+
+ plan_tower(); // propagates depth downwards again (width has changed)
+ for (auto& lay : m_plan) // depths set, now the spacing
+ lay.extra_spacing = lay.depth / lay.toolchanges_depth();
+}
+
+}; // namespace Slic3r
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-10 15:45:35 +0300