diff options
author | Enrico Turri <enricoturri@seznam.cz> | 2018-01-05 11:46:09 +0300 |
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committer | Enrico Turri <enricoturri@seznam.cz> | 2018-01-05 11:46:09 +0300 |
commit | 69e3ea6581da8377976429adf7f3992ab73774eb (patch) | |
tree | ab7948382cdacf52aa266c53ea21b554cb80ae38 | |
parent | 3f57e202354068db118d6de406cf6b3bf7b7856d (diff) |
GCodeTimeEstimator - simulate firmware st_synchronize() for commands G4, G92, M1
-rw-r--r-- | xs/src/libslic3r/GCodeTimeEstimator.cpp | 1748 | ||||
-rw-r--r-- | xs/src/libslic3r/GCodeTimeEstimator.hpp | 502 |
2 files changed, 1143 insertions, 1107 deletions
diff --git a/xs/src/libslic3r/GCodeTimeEstimator.cpp b/xs/src/libslic3r/GCodeTimeEstimator.cpp index 601fc544f..cc1461db6 100644 --- a/xs/src/libslic3r/GCodeTimeEstimator.cpp +++ b/xs/src/libslic3r/GCodeTimeEstimator.cpp @@ -20,976 +20,1006 @@ static const float PREVIOUS_FEEDRATE_THRESHOLD = 0.0001f; namespace Slic3r { - void GCodeTimeEstimator::Feedrates::reset() - { - feedrate = 0.0f; - safe_feedrate = 0.0f; - ::memset(axis_feedrate, 0, Num_Axis * sizeof(float)); - ::memset(abs_axis_feedrate, 0, Num_Axis * sizeof(float)); - } - - float GCodeTimeEstimator::Block::Trapezoid::acceleration_time(float acceleration) const - { - return acceleration_time_from_distance(feedrate.entry, accelerate_until, acceleration); - } - - float GCodeTimeEstimator::Block::Trapezoid::cruise_time() const - { - return (feedrate.cruise != 0.0f) ? cruise_distance() / feedrate.cruise : 0.0f; - } - - float GCodeTimeEstimator::Block::Trapezoid::deceleration_time(float acceleration) const - { - return acceleration_time_from_distance(feedrate.cruise, (distance - decelerate_after), -acceleration); - } - - float GCodeTimeEstimator::Block::Trapezoid::cruise_distance() const - { - return decelerate_after - accelerate_until; - } - - float GCodeTimeEstimator::Block::Trapezoid::acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration) - { - return (acceleration != 0.0f) ? (speed_from_distance(initial_feedrate, distance, acceleration) - initial_feedrate) / acceleration : 0.0f; - } - - float GCodeTimeEstimator::Block::Trapezoid::speed_from_distance(float initial_feedrate, float distance, float acceleration) - { - return ::sqrt(sqr(initial_feedrate) + 2.0f * acceleration * distance); - } - - float 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 : std::abs(delta_pos[E]); - } - - float GCodeTimeEstimator::Block::is_extruder_only_move() const - { - return (delta_pos[X] == 0.0f) && (delta_pos[Y] == 0.0f) && (delta_pos[Z] == 0.0f) && (delta_pos[E] != 0.0f); - } - - float GCodeTimeEstimator::Block::is_travel_move() const - { - return delta_pos[E] == 0.0f; - } - - float GCodeTimeEstimator::Block::acceleration_time() const - { - return trapezoid.acceleration_time(acceleration); - } - - float GCodeTimeEstimator::Block::cruise_time() const - { - return trapezoid.cruise_time(); - } - - float GCodeTimeEstimator::Block::deceleration_time() const - { - return trapezoid.deceleration_time(acceleration); - } - - float GCodeTimeEstimator::Block::cruise_distance() const - { - return trapezoid.cruise_distance(); - } - - void GCodeTimeEstimator::Block::calculate_trapezoid() - { - float distance = move_length(); - - trapezoid.distance = distance; - trapezoid.feedrate = feedrate; - - float accelerate_distance = estimate_acceleration_distance(feedrate.entry, feedrate.cruise, acceleration); - float decelerate_distance = estimate_acceleration_distance(feedrate.cruise, feedrate.exit, -acceleration); - float cruise_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 (cruise_distance < 0.0f) - { - accelerate_distance = clamp(0.0f, distance, intersection_distance(feedrate.entry, feedrate.exit, acceleration, distance)); - cruise_distance = 0.0f; - trapezoid.feedrate.cruise = Trapezoid::speed_from_distance(feedrate.entry, accelerate_distance, acceleration); - } - - trapezoid.accelerate_until = accelerate_distance; - trapezoid.decelerate_after = accelerate_distance + cruise_distance; - } - - float GCodeTimeEstimator::Block::max_allowable_speed(float acceleration, float target_velocity, float distance) - { - return ::sqrt(sqr(target_velocity) - 2.0f * acceleration * distance); - } - - float 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 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); - } - - GCodeTimeEstimator::GCodeTimeEstimator() - { - reset(); - set_default(); - } - - void GCodeTimeEstimator::calculate_time_from_text(const std::string& gcode) - { - _parser.parse_buffer(gcode, - [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) + void GCodeTimeEstimator::Feedrates::reset() + { + feedrate = 0.0f; + safe_feedrate = 0.0f; + ::memset(axis_feedrate, 0, Num_Axis * sizeof(float)); + ::memset(abs_axis_feedrate, 0, Num_Axis * sizeof(float)); + } + + float GCodeTimeEstimator::Block::Trapezoid::acceleration_time(float acceleration) const + { + return acceleration_time_from_distance(feedrate.entry, accelerate_until, acceleration); + } + + float GCodeTimeEstimator::Block::Trapezoid::cruise_time() const + { + return (feedrate.cruise != 0.0f) ? cruise_distance() / feedrate.cruise : 0.0f; + } + + float GCodeTimeEstimator::Block::Trapezoid::deceleration_time(float acceleration) const + { + return acceleration_time_from_distance(feedrate.cruise, (distance - decelerate_after), -acceleration); + } + + float GCodeTimeEstimator::Block::Trapezoid::cruise_distance() const + { + return decelerate_after - accelerate_until; + } + + float GCodeTimeEstimator::Block::Trapezoid::acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration) + { + return (acceleration != 0.0f) ? (speed_from_distance(initial_feedrate, distance, acceleration) - initial_feedrate) / acceleration : 0.0f; + } + + float GCodeTimeEstimator::Block::Trapezoid::speed_from_distance(float initial_feedrate, float distance, float acceleration) + { + return ::sqrt(sqr(initial_feedrate) + 2.0f * acceleration * distance); + } + + float 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 : std::abs(delta_pos[E]); + } + + float GCodeTimeEstimator::Block::is_extruder_only_move() const + { + return (delta_pos[X] == 0.0f) && (delta_pos[Y] == 0.0f) && (delta_pos[Z] == 0.0f) && (delta_pos[E] != 0.0f); + } + + float GCodeTimeEstimator::Block::is_travel_move() const + { + return delta_pos[E] == 0.0f; + } + + float GCodeTimeEstimator::Block::acceleration_time() const + { + return trapezoid.acceleration_time(acceleration); + } + + float GCodeTimeEstimator::Block::cruise_time() const + { + return trapezoid.cruise_time(); + } + + float GCodeTimeEstimator::Block::deceleration_time() const + { + return trapezoid.deceleration_time(acceleration); + } + + float GCodeTimeEstimator::Block::cruise_distance() const + { + return trapezoid.cruise_distance(); + } + + void GCodeTimeEstimator::Block::calculate_trapezoid() + { + float distance = move_length(); + + trapezoid.distance = distance; + trapezoid.feedrate = feedrate; + + float accelerate_distance = estimate_acceleration_distance(feedrate.entry, feedrate.cruise, acceleration); + float decelerate_distance = estimate_acceleration_distance(feedrate.cruise, feedrate.exit, -acceleration); + float cruise_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 (cruise_distance < 0.0f) + { + accelerate_distance = clamp(0.0f, distance, intersection_distance(feedrate.entry, feedrate.exit, acceleration, distance)); + cruise_distance = 0.0f; + trapezoid.feedrate.cruise = Trapezoid::speed_from_distance(feedrate.entry, accelerate_distance, acceleration); + } + + trapezoid.accelerate_until = accelerate_distance; + trapezoid.decelerate_after = accelerate_distance + cruise_distance; + } + + float GCodeTimeEstimator::Block::max_allowable_speed(float acceleration, float target_velocity, float distance) + { + return ::sqrt(sqr(target_velocity) - 2.0f * acceleration * distance); + } + + float 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 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); + } + + GCodeTimeEstimator::GCodeTimeEstimator() + { + reset(); + set_default(); + } + + void GCodeTimeEstimator::calculate_time_from_text(const std::string& gcode) + { + reset(); + + _parser.parse_buffer(gcode, + [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) { this->_process_gcode_line(reader, line); }); - _calculate_time(); - reset(); - } - - void GCodeTimeEstimator::calculate_time_from_file(const std::string& file) - { - _parser.parse_file(file, boost::bind(&GCodeTimeEstimator::_process_gcode_line, this, _1, _2)); - _calculate_time(); - reset(); - } - - void GCodeTimeEstimator::calculate_time_from_lines(const std::vector<std::string>& gcode_lines) - { - auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) - { this->_process_gcode_line(reader, line); }; - for (const std::string& line : gcode_lines) - _parser.parse_line(line, action); - _calculate_time(); - reset(); - } - - void GCodeTimeEstimator::add_gcode_line(const std::string& gcode_line) - { - PROFILE_FUNC(); - _parser.parse_line(gcode_line, - [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) + + _reset(); + } + + void GCodeTimeEstimator::calculate_time_from_file(const std::string& file) + { + reset(); + + _parser.parse_file(file, boost::bind(&GCodeTimeEstimator::_process_gcode_line, this, _1, _2)); + _calculate_time(); + + _reset(); + } + + void GCodeTimeEstimator::calculate_time_from_lines(const std::vector<std::string>& gcode_lines) + { + reset(); + + auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) + { this->_process_gcode_line(reader, line); }; + for (const std::string& line : gcode_lines) + _parser.parse_line(line, action); + _calculate_time(); + + _reset(); + } + + void GCodeTimeEstimator::add_gcode_line(const std::string& gcode_line) + { + PROFILE_FUNC(); + _parser.parse_line(gcode_line, + [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) { this->_process_gcode_line(reader, line); }); - } - - void GCodeTimeEstimator::add_gcode_block(const char *ptr) - { - PROFILE_FUNC(); - GCodeReader::GCodeLine gline; - auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) - { this->_process_gcode_line(reader, line); }; - for (; *ptr != 0;) { - gline.reset(); - ptr = _parser.parse_line(ptr, gline, action); - } - } - - void GCodeTimeEstimator::calculate_time() - { - PROFILE_FUNC(); - _calculate_time(); - _reset(); - } - - void GCodeTimeEstimator::set_axis_position(EAxis axis, float position) - { - _state.axis[axis].position = position; - } - - void GCodeTimeEstimator::set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec) - { - _state.axis[axis].max_feedrate = feedrate_mm_sec; - } - - void GCodeTimeEstimator::set_axis_max_acceleration(EAxis axis, float acceleration) - { - _state.axis[axis].max_acceleration = acceleration; - } - - void GCodeTimeEstimator::set_axis_max_jerk(EAxis axis, float jerk) - { - _state.axis[axis].max_jerk = jerk; - } - - float GCodeTimeEstimator::get_axis_position(EAxis axis) const - { - return _state.axis[axis].position; - } - - float GCodeTimeEstimator::get_axis_max_feedrate(EAxis axis) const - { - return _state.axis[axis].max_feedrate; - } - - float GCodeTimeEstimator::get_axis_max_acceleration(EAxis axis) const - { - return _state.axis[axis].max_acceleration; - } - - float GCodeTimeEstimator::get_axis_max_jerk(EAxis axis) const - { - return _state.axis[axis].max_jerk; - } - - void GCodeTimeEstimator::set_feedrate(float feedrate_mm_sec) - { - _state.feedrate = feedrate_mm_sec; - } - - float GCodeTimeEstimator::get_feedrate() const - { - return _state.feedrate; - } - - void GCodeTimeEstimator::set_acceleration(float acceleration_mm_sec2) - { - _state.acceleration = acceleration_mm_sec2; - } - - float GCodeTimeEstimator::get_acceleration() const - { - return _state.acceleration; - } - - void GCodeTimeEstimator::set_retract_acceleration(float acceleration_mm_sec2) - { - _state.retract_acceleration = acceleration_mm_sec2; - } - - float GCodeTimeEstimator::get_retract_acceleration() const - { - return _state.retract_acceleration; - } - - void GCodeTimeEstimator::set_minimum_feedrate(float feedrate_mm_sec) - { - _state.minimum_feedrate = feedrate_mm_sec; - } - - float GCodeTimeEstimator::get_minimum_feedrate() const - { - return _state.minimum_feedrate; - } - - void GCodeTimeEstimator::set_minimum_travel_feedrate(float feedrate_mm_sec) - { - _state.minimum_travel_feedrate = feedrate_mm_sec; - } - - float GCodeTimeEstimator::get_minimum_travel_feedrate() const - { - return _state.minimum_travel_feedrate; - } - - void GCodeTimeEstimator::set_dialect(GCodeTimeEstimator::EDialect dialect) - { - _state.dialect = dialect; - } - - GCodeTimeEstimator::EDialect GCodeTimeEstimator::get_dialect() const - { - return _state.dialect; - } - - void GCodeTimeEstimator::set_units(GCodeTimeEstimator::EUnits units) - { - _state.units = units; - } - - GCodeTimeEstimator::EUnits GCodeTimeEstimator::get_units() const - { - return _state.units; - } - - void GCodeTimeEstimator::set_positioning_xyz_type(GCodeTimeEstimator::EPositioningType type) - { - _state.positioning_xyz_type = type; - } - - GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_positioning_xyz_type() const - { - return _state.positioning_xyz_type; - } - - void GCodeTimeEstimator::set_positioning_e_type(GCodeTimeEstimator::EPositioningType type) - { - _state.positioning_e_type = type; - } - - GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_positioning_e_type() const - { - return _state.positioning_e_type; - } - - void GCodeTimeEstimator::add_additional_time(float timeSec) - { - _state.additional_time += timeSec; - } - - void GCodeTimeEstimator::set_additional_time(float timeSec) - { - _state.additional_time = timeSec; - } - - float GCodeTimeEstimator::get_additional_time() const - { - return _state.additional_time; - } - - void GCodeTimeEstimator::set_default() - { - set_units(Millimeters); - set_dialect(Unknown); - set_positioning_xyz_type(Absolute); - set_positioning_e_type(Relative); - - set_feedrate(DEFAULT_FEEDRATE); - set_acceleration(DEFAULT_ACCELERATION); - set_retract_acceleration(DEFAULT_RETRACT_ACCELERATION); - set_minimum_feedrate(DEFAULT_MINIMUM_FEEDRATE); - set_minimum_travel_feedrate(DEFAULT_MINIMUM_TRAVEL_FEEDRATE); - - 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]); - } - } - - void GCodeTimeEstimator::reset() - { - _blocks.clear(); - _reset(); - } - - float GCodeTimeEstimator::get_time() const - { - return _time; - } - - std::string GCodeTimeEstimator::get_time_hms() const - { - float timeinsecs = get_time(); - int hours = (int)(timeinsecs / 3600.0f); - timeinsecs -= (float)hours * 3600.0f; - int minutes = (int)(timeinsecs / 60.0f); - timeinsecs -= (float)minutes * 60.0f; - - char buffer[64]; - if (hours > 0) - ::sprintf(buffer, "%dh %dm %ds", hours, minutes, (int)timeinsecs); - else if (minutes > 0) - ::sprintf(buffer, "%dm %ds", minutes, (int)timeinsecs); - else - ::sprintf(buffer, "%ds", (int)timeinsecs); - - return buffer; - } - - void GCodeTimeEstimator::_reset() - { - _curr.reset(); - _prev.reset(); - - set_axis_position(X, 0.0f); - set_axis_position(Y, 0.0f); - set_axis_position(Z, 0.0f); - - set_additional_time(0.0f); - } - - void GCodeTimeEstimator::_calculate_time() - { - _forward_pass(); - _reverse_pass(); - _recalculate_trapezoids(); - - _time = get_additional_time(); - - for (const Block& block : _blocks) - { - _time += block.acceleration_time(); - _time += block.cruise_time(); - _time += block.deceleration_time(); - } - } - - void GCodeTimeEstimator::_process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line) - { - PROFILE_FUNC(); - std::string cmd = line.cmd(); - if (cmd.length() > 1) - { - switch (::toupper(cmd[0])) - { - case 'G': - { - switch (::atoi(&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; + void GCodeTimeEstimator::add_gcode_block(const char *ptr) + { + PROFILE_FUNC(); + GCodeReader::GCodeLine gline; + auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line) + { this->_process_gcode_line(reader, line); }; + for (; *ptr != 0;) { + gline.reset(); + ptr = _parser.parse_line(ptr, gline, action); } - case 'M': - { - switch (::atoi(&cmd[1])) - { - case 82: // Set extruder to absolute mode - { - _processM82(line); - break; - } - case 83: // Set extruder to relative mode - { - _processM83(line); - break; - } - case 109: // Set Extruder Temperature and Wait - { - _processM109(line); - break; - } - case 201: // Set max printing acceleration - { - _processM201(line); - break; - } - case 203: // Set maximum feedrate - { - _processM203(line); - break; - } - case 204: // Set default acceleration - { - _processM204(line); - break; - } - case 205: // Advanced settings - { - _processM205(line); - break; - } - case 566: // Set allowable instantaneous speed change - { - _processM566(line); - break; - } - } + } - break; - } - } + void GCodeTimeEstimator::calculate_time() + { + PROFILE_FUNC(); + _calculate_time(); + _reset(); + } + + void GCodeTimeEstimator::set_axis_position(EAxis axis, float position) + { + _state.axis[axis].position = position; } - } - // Returns the new absolute position on the given axis in dependence of the given parameters - float axis_absolute_position_from_G1_line(GCodeTimeEstimator::EAxis axis, const GCodeReader::GCodeLine& lineG1, GCodeTimeEstimator::EUnits units, GCodeTimeEstimator::EPositioningType type, float current_absolute_position) - { - float lengthsScaleFactor = (units == GCodeTimeEstimator::Inches) ? INCHES_TO_MM : 1.0f; - if (lineG1.has(Slic3r::Axis(axis))) + void GCodeTimeEstimator::set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec) { - float ret = lineG1.value(Slic3r::Axis(axis)) * lengthsScaleFactor; - return (type == GCodeTimeEstimator::Absolute) ? ret : current_absolute_position + ret; + _state.axis[axis].max_feedrate = feedrate_mm_sec; } - else - return current_absolute_position; - } - void GCodeTimeEstimator::_processG1(const GCodeReader::GCodeLine& line) - { - // updates axes positions from line - EUnits units = get_units(); - float new_pos[Num_Axis]; - for (unsigned char a = X; a < Num_Axis; ++a) + void GCodeTimeEstimator::set_axis_max_acceleration(EAxis axis, float acceleration) { - new_pos[a] = axis_absolute_position_from_G1_line((EAxis)a, line, units, (a == E) ? get_positioning_e_type() : get_positioning_xyz_type(), get_axis_position((EAxis)a)); + _state.axis[axis].max_acceleration = acceleration; } - // updates feedrate from line, if present - if (line.has_f()) - set_feedrate(std::max(line.f() * MMMIN_TO_MMSEC, get_minimum_feedrate())); + void GCodeTimeEstimator::set_axis_max_jerk(EAxis axis, float jerk) + { + _state.axis[axis].max_jerk = jerk; + } + + float GCodeTimeEstimator::get_axis_position(EAxis axis) const + { + return _state.axis[axis].position; + } + + float GCodeTimeEstimator::get_axis_max_feedrate(EAxis axis) const + { + return _state.axis[axis].max_feedrate; + } + + float GCodeTimeEstimator::get_axis_max_acceleration(EAxis axis) const + { + return _state.axis[axis].max_acceleration; + } - // fills block data - Block block; + float GCodeTimeEstimator::get_axis_max_jerk(EAxis axis) const + { + return _state.axis[axis].max_jerk; + } - // calculates block movement deltas - float max_abs_delta = 0.0f; - for (unsigned char a = X; a < Num_Axis; ++a) + void GCodeTimeEstimator::set_feedrate(float feedrate_mm_sec) { - block.delta_pos[a] = new_pos[a] - get_axis_position((EAxis)a); - max_abs_delta = std::max(max_abs_delta, std::abs(block.delta_pos[a])); + _state.feedrate = feedrate_mm_sec; } - // is it a move ? - if (max_abs_delta == 0.0f) - return; + float GCodeTimeEstimator::get_feedrate() const + { + return _state.feedrate; + } - // calculates block feedrate - _curr.feedrate = std::max(get_feedrate(), block.is_travel_move() ? get_minimum_travel_feedrate() : get_minimum_feedrate()); + void GCodeTimeEstimator::set_acceleration(float acceleration_mm_sec2) + { + _state.acceleration = acceleration_mm_sec2; + } - float distance = block.move_length(); - float invDistance = 1.0f / distance; + float GCodeTimeEstimator::get_acceleration() const + { + return _state.acceleration; + } - float min_feedrate_factor = 1.0f; - for (unsigned char a = X; a < Num_Axis; ++a) + void GCodeTimeEstimator::set_retract_acceleration(float acceleration_mm_sec2) { - _curr.axis_feedrate[a] = _curr.feedrate * block.delta_pos[a] * invDistance; - _curr.abs_axis_feedrate[a] = std::abs(_curr.axis_feedrate[a]); - if (_curr.abs_axis_feedrate[a] > 0.0f) - min_feedrate_factor = std::min(min_feedrate_factor, get_axis_max_feedrate((EAxis)a) / _curr.abs_axis_feedrate[a]); + _state.retract_acceleration = acceleration_mm_sec2; } - - block.feedrate.cruise = min_feedrate_factor * _curr.feedrate; - for (unsigned char a = X; a < Num_Axis; ++a) + float GCodeTimeEstimator::get_retract_acceleration() const { - _curr.axis_feedrate[a] *= min_feedrate_factor; - _curr.abs_axis_feedrate[a] *= min_feedrate_factor; + return _state.retract_acceleration; } - // calculates block acceleration - float acceleration = block.is_extruder_only_move() ? get_retract_acceleration() : get_acceleration(); + void GCodeTimeEstimator::set_minimum_feedrate(float feedrate_mm_sec) + { + _state.minimum_feedrate = feedrate_mm_sec; + } + + float GCodeTimeEstimator::get_minimum_feedrate() const + { + return _state.minimum_feedrate; + } - for (unsigned char a = X; a < Num_Axis; ++a) + void GCodeTimeEstimator::set_minimum_travel_feedrate(float feedrate_mm_sec) { - float axis_max_acceleration = get_axis_max_acceleration((EAxis)a); - if (acceleration * std::abs(block.delta_pos[a]) * invDistance > axis_max_acceleration) - acceleration = axis_max_acceleration; + _state.minimum_travel_feedrate = feedrate_mm_sec; } - block.acceleration = acceleration; + float GCodeTimeEstimator::get_minimum_travel_feedrate() const + { + return _state.minimum_travel_feedrate; + } - // calculates block exit feedrate - _curr.safe_feedrate = block.feedrate.cruise; + void GCodeTimeEstimator::set_dialect(GCodeTimeEstimator::EDialect dialect) + { + _state.dialect = dialect; + } - for (unsigned char a = X; a < Num_Axis; ++a) + GCodeTimeEstimator::EDialect GCodeTimeEstimator::get_dialect() const { - float axis_max_jerk = get_axis_max_jerk((EAxis)a); - if (_curr.abs_axis_feedrate[a] > axis_max_jerk) - _curr.safe_feedrate = std::min(_curr.safe_feedrate, axis_max_jerk); + return _state.dialect; } - block.feedrate.exit = _curr.safe_feedrate; + void GCodeTimeEstimator::set_units(GCodeTimeEstimator::EUnits units) + { + _state.units = units; + } - // calculates block entry feedrate - float vmax_junction = _curr.safe_feedrate; - if (!_blocks.empty() && (_prev.feedrate > PREVIOUS_FEEDRATE_THRESHOLD)) + GCodeTimeEstimator::EUnits GCodeTimeEstimator::get_units() const { - bool prev_speed_larger = _prev.feedrate > block.feedrate.cruise; - float smaller_speed_factor = prev_speed_larger ? (block.feedrate.cruise / _prev.feedrate) : (_prev.feedrate / block.feedrate.cruise); - // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting. - vmax_junction = prev_speed_larger ? block.feedrate.cruise : _prev.feedrate; + return _state.units; + } - float v_factor = 1.0f; - bool limited = false; + void GCodeTimeEstimator::set_positioning_xyz_type(GCodeTimeEstimator::EPositioningType type) + { + _state.positioning_xyz_type = type; + } - for (unsigned char a = X; a < Num_Axis; ++a) - { - // Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop. - float v_exit = _prev.axis_feedrate[a]; - float v_entry = _curr.axis_feedrate[a]; + GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_positioning_xyz_type() const + { + return _state.positioning_xyz_type; + } - if (prev_speed_larger) - v_exit *= smaller_speed_factor; + void GCodeTimeEstimator::set_positioning_e_type(GCodeTimeEstimator::EPositioningType type) + { + _state.positioning_e_type = type; + } - if (limited) - { - v_exit *= v_factor; - v_entry *= v_factor; - } + GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_positioning_e_type() const + { + return _state.positioning_e_type; + } + + void GCodeTimeEstimator::add_additional_time(float timeSec) + { + _state.additional_time += timeSec; + } + + void GCodeTimeEstimator::set_additional_time(float timeSec) + { + _state.additional_time = timeSec; + } + + float GCodeTimeEstimator::get_additional_time() const + { + return _state.additional_time; + } - // Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction. - float jerk = - (v_exit > v_entry) ? - (((v_entry > 0.0f) || (v_exit < 0.0f)) ? - // coasting - (v_exit - v_entry) : - // axis reversal - std::max(v_exit, -v_entry)) : - // v_exit <= v_entry - (((v_entry < 0.0f) || (v_exit > 0.0f)) ? - // coasting - (v_entry - v_exit) : - // axis reversal - std::max(-v_exit, v_entry)); - - float axis_max_jerk = get_axis_max_jerk((EAxis)a); - if (jerk > axis_max_jerk) + void GCodeTimeEstimator::set_default() + { + set_units(Millimeters); + set_dialect(Unknown); + set_positioning_xyz_type(Absolute); + set_positioning_e_type(Relative); + + set_feedrate(DEFAULT_FEEDRATE); + set_acceleration(DEFAULT_ACCELERATION); + set_retract_acceleration(DEFAULT_RETRACT_ACCELERATION); + set_minimum_feedrate(DEFAULT_MINIMUM_FEEDRATE); + set_minimum_travel_feedrate(DEFAULT_MINIMUM_TRAVEL_FEEDRATE); + + for (unsigned char a = X; a < Num_Axis; ++a) { - v_factor *= axis_max_jerk / jerk; - limited = true; + 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]); } - } + } - if (limited) - vmax_junction *= v_factor; + void GCodeTimeEstimator::reset() + { + _time = 0.0f; + _reset(); + } - // Now the transition velocity is known, which maximizes the shared exit / entry velocity while - // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints. - float vmax_junction_threshold = vmax_junction * 0.99f; + float GCodeTimeEstimator::get_time() const + { + return _time; + } - // Not coasting. The machine will stop and start the movements anyway, better to start the segment from start. - if ((_prev.safe_feedrate > vmax_junction_threshold) && (_curr.safe_feedrate > vmax_junction_threshold)) - vmax_junction = _curr.safe_feedrate; + std::string GCodeTimeEstimator::get_time_hms() const + { + float timeinsecs = get_time(); + int hours = (int)(timeinsecs / 3600.0f); + timeinsecs -= (float)hours * 3600.0f; + int minutes = (int)(timeinsecs / 60.0f); + timeinsecs -= (float)minutes * 60.0f; + + char buffer[64]; + if (hours > 0) + ::sprintf(buffer, "%dh %dm %ds", hours, minutes, (int)timeinsecs); + else if (minutes > 0) + ::sprintf(buffer, "%dm %ds", minutes, (int)timeinsecs); + else + ::sprintf(buffer, "%ds", (int)timeinsecs); + + return buffer; } - float v_allowable = Block::max_allowable_speed(-acceleration, _curr.safe_feedrate, distance); - block.feedrate.entry = std::min(vmax_junction, v_allowable); + void GCodeTimeEstimator::_reset() + { + _blocks.clear(); - block.max_entry_speed = vmax_junction; - block.flags.nominal_length = (block.feedrate.cruise <= v_allowable); - block.flags.recalculate = true; - block.safe_feedrate = _curr.safe_feedrate; + _curr.reset(); + _prev.reset(); - // calculates block trapezoid - block.calculate_trapezoid(); + set_axis_position(X, 0.0f); + set_axis_position(Y, 0.0f); + set_axis_position(Z, 0.0f); - // updates previous - _prev = _curr; + set_additional_time(0.0f); + } - // updates axis positions - for (unsigned char a = X; a < Num_Axis; ++a) + void GCodeTimeEstimator::_calculate_time() { - set_axis_position((EAxis)a, new_pos[a]); + _forward_pass(); + _reverse_pass(); + _recalculate_trapezoids(); + + _time += get_additional_time(); + + for (const Block& block : _blocks) + { + _time += block.acceleration_time(); + _time += block.cruise_time(); + _time += block.deceleration_time(); + } + } + + void GCodeTimeEstimator::_process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line) + { + PROFILE_FUNC(); + std::string cmd = line.cmd(); + if (cmd.length() > 1) + { + switch (::toupper(cmd[0])) + { + case 'G': + { + switch (::atoi(&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(&cmd[1])) + { + case 1: // Sleep or Conditional stop + { + _processM1(line); + break; + } + case 82: // Set extruder to absolute mode + { + _processM82(line); + break; + } + case 83: // Set extruder to relative mode + { + _processM83(line); + break; + } + case 109: // Set Extruder Temperature and Wait + { + _processM109(line); + break; + } + case 201: // Set max printing acceleration + { + _processM201(line); + break; + } + case 203: // Set maximum feedrate + { + _processM203(line); + break; + } + case 204: // Set default acceleration + { + _processM204(line); + break; + } + case 205: // Advanced settings + { + _processM205(line); + break; + } + case 566: // Set allowable instantaneous speed change + { + _processM566(line); + break; + } + } + + break; + } + } + } } - // adds block to blocks list - _blocks.emplace_back(block); - } + // Returns the new absolute position on the given axis in dependence of the given parameters + float axis_absolute_position_from_G1_line(GCodeTimeEstimator::EAxis axis, const GCodeReader::GCodeLine& lineG1, GCodeTimeEstimator::EUnits units, GCodeTimeEstimator::EPositioningType type, float current_absolute_position) + { + float lengthsScaleFactor = (units == GCodeTimeEstimator::Inches) ? INCHES_TO_MM : 1.0f; + if (lineG1.has(Slic3r::Axis(axis))) + { + float ret = lineG1.value(Slic3r::Axis(axis)) * lengthsScaleFactor; + return (type == GCodeTimeEstimator::Absolute) ? ret : current_absolute_position + ret; + } + else + return current_absolute_position; + } + + void GCodeTimeEstimator::_processG1(const GCodeReader::GCodeLine& line) + { + // updates axes positions from line + EUnits units = get_units(); + float new_pos[Num_Axis]; + for (unsigned char a = X; a < Num_Axis; ++a) + { + new_pos[a] = axis_absolute_position_from_G1_line((EAxis)a, line, units, (a == E) ? get_positioning_e_type() : get_positioning_xyz_type(), get_axis_position((EAxis)a)); + } - void GCodeTimeEstimator::_processG4(const GCodeReader::GCodeLine& line) - { - EDialect dialect = get_dialect(); + // updates feedrate from line, if present + if (line.has_f()) + set_feedrate(std::max(line.f() * MMMIN_TO_MMSEC, get_minimum_feedrate())); - float value; - if (line.has_value('P', value)) - add_additional_time(value * MILLISEC_TO_SEC); + // 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, std::abs(block.delta_pos[a])); + } + + // is it a move ? + if (max_abs_delta == 0.0f) + return; + + // calculates block feedrate + _curr.feedrate = std::max(get_feedrate(), block.is_travel_move() ? get_minimum_travel_feedrate() : get_minimum_feedrate()); + + float distance = block.move_length(); + float invDistance = 1.0f / distance; + + float min_feedrate_factor = 1.0f; + for (unsigned char a = X; a < Num_Axis; ++a) + { + _curr.axis_feedrate[a] = _curr.feedrate * block.delta_pos[a] * invDistance; + _curr.abs_axis_feedrate[a] = std::abs(_curr.axis_feedrate[a]); + if (_curr.abs_axis_feedrate[a] > 0.0f) + min_feedrate_factor = std::min(min_feedrate_factor, get_axis_max_feedrate((EAxis)a) / _curr.abs_axis_feedrate[a]); + } + + block.feedrate.cruise = min_feedrate_factor * _curr.feedrate; + + for (unsigned char a = X; a < Num_Axis; ++a) + { + _curr.axis_feedrate[a] *= min_feedrate_factor; + _curr.abs_axis_feedrate[a] *= min_feedrate_factor; + } + + // calculates block acceleration + float acceleration = block.is_extruder_only_move() ? get_retract_acceleration() : get_acceleration(); + + for (unsigned char a = X; a < Num_Axis; ++a) + { + float axis_max_acceleration = get_axis_max_acceleration((EAxis)a); + if (acceleration * std::abs(block.delta_pos[a]) * invDistance > axis_max_acceleration) + acceleration = axis_max_acceleration; + } + + block.acceleration = acceleration; + + // calculates block exit feedrate + _curr.safe_feedrate = block.feedrate.cruise; + + for (unsigned char a = X; a < Num_Axis; ++a) + { + float axis_max_jerk = get_axis_max_jerk((EAxis)a); + if (_curr.abs_axis_feedrate[a] > axis_max_jerk) + _curr.safe_feedrate = std::min(_curr.safe_feedrate, axis_max_jerk); + } + + block.feedrate.exit = _curr.safe_feedrate; + + // calculates block entry feedrate + float vmax_junction = _curr.safe_feedrate; + if (!_blocks.empty() && (_prev.feedrate > PREVIOUS_FEEDRATE_THRESHOLD)) + { + bool prev_speed_larger = _prev.feedrate > block.feedrate.cruise; + float smaller_speed_factor = prev_speed_larger ? (block.feedrate.cruise / _prev.feedrate) : (_prev.feedrate / block.feedrate.cruise); + // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting. + vmax_junction = prev_speed_larger ? block.feedrate.cruise : _prev.feedrate; + + float v_factor = 1.0f; + bool limited = false; + + for (unsigned char a = X; a < Num_Axis; ++a) + { + // Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop. + float v_exit = _prev.axis_feedrate[a]; + float v_entry = _curr.axis_feedrate[a]; + + if (prev_speed_larger) + v_exit *= smaller_speed_factor; + + if (limited) + { + v_exit *= v_factor; + v_entry *= v_factor; + } + + // Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction. + float jerk = + (v_exit > v_entry) ? + (((v_entry > 0.0f) || (v_exit < 0.0f)) ? + // coasting + (v_exit - v_entry) : + // axis reversal + std::max(v_exit, -v_entry)) : + // v_exit <= v_entry + (((v_entry < 0.0f) || (v_exit > 0.0f)) ? + // coasting + (v_entry - v_exit) : + // axis reversal + std::max(-v_exit, v_entry)); + + float axis_max_jerk = get_axis_max_jerk((EAxis)a); + if (jerk > axis_max_jerk) + { + v_factor *= axis_max_jerk / jerk; + limited = true; + } + } + + if (limited) + vmax_junction *= v_factor; + + // Now the transition velocity is known, which maximizes the shared exit / entry velocity while + // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints. + float vmax_junction_threshold = vmax_junction * 0.99f; + + // Not coasting. The machine will stop and start the movements anyway, better to start the segment from start. + if ((_prev.safe_feedrate > vmax_junction_threshold) && (_curr.safe_feedrate > vmax_junction_threshold)) + vmax_junction = _curr.safe_feedrate; + } + + float v_allowable = Block::max_allowable_speed(-acceleration, _curr.safe_feedrate, distance); + block.feedrate.entry = std::min(vmax_junction, v_allowable); + + block.max_entry_speed = vmax_junction; + block.flags.nominal_length = (block.feedrate.cruise <= v_allowable); + block.flags.recalculate = true; + block.safe_feedrate = _curr.safe_feedrate; + + // calculates block trapezoid + block.calculate_trapezoid(); + + // updates previous + _prev = _curr; + + // 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.emplace_back(block); + } - // see: http://reprap.org/wiki/G-code#G4:_Dwell - if ((dialect == Repetier) || - (dialect == Marlin) || - (dialect == Smoothieware) || - (dialect == RepRapFirmware)) + void GCodeTimeEstimator::_processG4(const GCodeReader::GCodeLine& line) { - if (line.has_value('S', value)) - add_additional_time(value); + EDialect dialect = get_dialect(); + + float value; + if (line.has_value('P', value)) + add_additional_time(value * MILLISEC_TO_SEC); + + // see: http://reprap.org/wiki/G-code#G4:_Dwell + if ((dialect == Repetier) || + (dialect == Marlin) || + (dialect == Smoothieware) || + (dialect == RepRapFirmware)) + { + if (line.has_value('S', value)) + add_additional_time(value); + } + + _simulate_st_synchronize(); + } + + void GCodeTimeEstimator::_processG20(const GCodeReader::GCodeLine& line) + { + set_units(Inches); + } + + void GCodeTimeEstimator::_processG21(const GCodeReader::GCodeLine& line) + { + set_units(Millimeters); } - } - void GCodeTimeEstimator::_processG20(const GCodeReader::GCodeLine& line) - { - set_units(Inches); - } + void GCodeTimeEstimator::_processG28(const GCodeReader::GCodeLine& line) + { + // TODO + } + + void GCodeTimeEstimator::_processG90(const GCodeReader::GCodeLine& line) + { + set_positioning_xyz_type(Absolute); + } - void GCodeTimeEstimator::_processG21(const GCodeReader::GCodeLine& line) - { - set_units(Millimeters); - } + void GCodeTimeEstimator::_processG91(const GCodeReader::GCodeLine& line) + { + // TODO: THERE ARE DIALECT VARIANTS - void GCodeTimeEstimator::_processG28(const GCodeReader::GCodeLine& line) - { - // TODO - } + set_positioning_xyz_type(Relative); + } - void GCodeTimeEstimator::_processG90(const GCodeReader::GCodeLine& line) - { - set_positioning_xyz_type(Absolute); - } + void GCodeTimeEstimator::_processG92(const GCodeReader::GCodeLine& line) + { + float lengthsScaleFactor = (get_units() == Inches) ? INCHES_TO_MM : 1.0f; + bool anyFound = false; - void GCodeTimeEstimator::_processG91(const GCodeReader::GCodeLine& line) - { - // TODO: THERE ARE DIALECT VARIANTS + if (line.has_x()) + { + set_axis_position(X, line.x() * lengthsScaleFactor); + anyFound = true; + } - set_positioning_xyz_type(Relative); - } + if (line.has_y()) + { + set_axis_position(Y, line.y() * lengthsScaleFactor); + anyFound = true; + } - void GCodeTimeEstimator::_processM82(const GCodeReader::GCodeLine& line) - { - set_positioning_e_type(Absolute); - } + if (line.has_z()) + { + set_axis_position(Z, line.z() * lengthsScaleFactor); + anyFound = true; + } - void GCodeTimeEstimator::_processM83(const GCodeReader::GCodeLine& line) - { - set_positioning_e_type(Relative); - } + if (line.has_e()) + { + set_axis_position(E, line.e() * lengthsScaleFactor); + anyFound = true; + } + else + _simulate_st_synchronize(); - void GCodeTimeEstimator::_processG92(const GCodeReader::GCodeLine& line) - { - float lengthsScaleFactor = (get_units() == Inches) ? INCHES_TO_MM : 1.0f; - bool anyFound = false; + if (!anyFound) + { + for (unsigned char a = X; a < Num_Axis; ++a) + { + set_axis_position((EAxis)a, 0.0f); + } + } + } - if (line.has_x()) + void GCodeTimeEstimator::_processM1(const GCodeReader::GCodeLine& line) { - set_axis_position(X, line.x() * lengthsScaleFactor); - anyFound = true; + _simulate_st_synchronize(); } - if (line.has_y()) + void GCodeTimeEstimator::_processM82(const GCodeReader::GCodeLine& line) { - set_axis_position(Y, line.y() * lengthsScaleFactor); - anyFound = true; + set_positioning_e_type(Absolute); } - if (line.has_z()) + void GCodeTimeEstimator::_processM83(const GCodeReader::GCodeLine& line) { - set_axis_position(Z, line.z() * lengthsScaleFactor); - anyFound = true; + set_positioning_e_type(Relative); } - if (line.has_e()) + void GCodeTimeEstimator::_processM109(const GCodeReader::GCodeLine& line) { - set_axis_position(E, line.e() * lengthsScaleFactor); - anyFound = true; + // TODO } - if (!anyFound) + void GCodeTimeEstimator::_processM201(const GCodeReader::GCodeLine& line) { - for (unsigned char a = X; a < Num_Axis; ++a) - { - set_axis_position((EAxis)a, 0.0f); - } + EDialect dialect = get_dialect(); + + // see http://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration + float factor = ((dialect != RepRapFirmware) && (get_units() == GCodeTimeEstimator::Inches)) ? INCHES_TO_MM : 1.0f; + + if (line.has_x()) + set_axis_max_acceleration(X, line.x() * factor); + + if (line.has_y()) + set_axis_max_acceleration(Y, line.y() * factor); + + if (line.has_z()) + set_axis_max_acceleration(Z, line.z() * factor); + + if (line.has_e()) + set_axis_max_acceleration(E, line.e() * factor); } - } - void GCodeTimeEstimator::_processM109(const GCodeReader::GCodeLine& line) - { - // TODO - } + void 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; - void GCodeTimeEstimator::_processM201(const GCodeReader::GCodeLine& line) - { - EDialect dialect = get_dialect(); + if (line.has_x()) + set_axis_max_feedrate(X, line.x() * factor); - // see http://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration - float factor = ((dialect != RepRapFirmware) && (get_units() == GCodeTimeEstimator::Inches)) ? INCHES_TO_MM : 1.0f; + if (line.has_y()) + set_axis_max_feedrate(Y, line.y() * factor); - if (line.has_x()) - set_axis_max_acceleration(X, line.x() * factor); + if (line.has_z()) + set_axis_max_feedrate(Z, line.z() * factor); - if (line.has_y()) - set_axis_max_acceleration(Y, line.y() * factor); + if (line.has_e()) + set_axis_max_feedrate(E, line.e() * factor); + } + + void GCodeTimeEstimator::_processM204(const GCodeReader::GCodeLine& line) + { + float value; + if (line.has_value('S', value)) + set_acceleration(value); + + if (line.has_value('T', value)) + set_retract_acceleration(value); + } - if (line.has_z()) - set_axis_max_acceleration(Z, line.z() * factor); + void GCodeTimeEstimator::_processM205(const GCodeReader::GCodeLine& line) + { + if (line.has_x()) + { + float max_jerk = line.x(); + set_axis_max_jerk(X, max_jerk); + set_axis_max_jerk(Y, max_jerk); + } - if (line.has_e()) - set_axis_max_acceleration(E, line.e() * factor); - } + if (line.has_y()) + set_axis_max_jerk(Y, line.y()); - void GCodeTimeEstimator::_processM203(const GCodeReader::GCodeLine& line) - { - EDialect dialect = get_dialect(); + if (line.has_z()) + set_axis_max_jerk(Z, line.z()); - // see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate - if (dialect == Repetier) - return; + if (line.has_e()) + set_axis_max_jerk(E, line.e()); - // see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate - float factor = (dialect == Marlin) ? 1.0f : MMMIN_TO_MMSEC; + float value; + if (line.has_value('S', value)) + set_minimum_feedrate(value); + + if (line.has_value('T', value)) + set_minimum_travel_feedrate(value); + } - if (line.has_x()) - set_axis_max_feedrate(X, line.x() * factor); + void GCodeTimeEstimator::_processM566(const GCodeReader::GCodeLine& line) + { + if (line.has_x()) + set_axis_max_jerk(X, line.x() * MMMIN_TO_MMSEC); - if (line.has_y()) - set_axis_max_feedrate(Y, line.y() * factor); + if (line.has_y()) + set_axis_max_jerk(Y, line.y() * MMMIN_TO_MMSEC); - if (line.has_z()) - set_axis_max_feedrate(Z, line.z() * factor); + if (line.has_z()) + set_axis_max_jerk(Z, line.z() * MMMIN_TO_MMSEC); - if (line.has_e()) - set_axis_max_feedrate(E, line.e() * factor); - } + if (line.has_e()) + set_axis_max_jerk(E, line.e() * MMMIN_TO_MMSEC); + } - void GCodeTimeEstimator::_processM204(const GCodeReader::GCodeLine& line) - { - float value; - if (line.has_value('S', value)) - set_acceleration(value); + void GCodeTimeEstimator::_simulate_st_synchronize() + { + _calculate_time(); + _reset(); + } - if (line.has_value('T', value)) - set_retract_acceleration(value); - } + void GCodeTimeEstimator::_forward_pass() + { + if (_blocks.size() > 1) + { + for (unsigned int i = 0; i < (unsigned int)_blocks.size() - 1; ++i) + { + _planner_forward_pass_kernel(_blocks[i], _blocks[i + 1]); + } + } + } - void GCodeTimeEstimator::_processM205(const GCodeReader::GCodeLine& line) - { - if (line.has_x()) + void GCodeTimeEstimator::_reverse_pass() { - float max_jerk = line.x(); - set_axis_max_jerk(X, max_jerk); - set_axis_max_jerk(Y, max_jerk); + if (_blocks.size() > 1) + { + for (int i = (int)_blocks.size() - 1; i >= 1; --i) + { + _planner_reverse_pass_kernel(_blocks[i - 1], _blocks[i]); + } + } } - if (line.has_y()) - set_axis_max_jerk(Y, line.y()); + void GCodeTimeEstimator::_planner_forward_pass_kernel(Block& prev, Block& curr) + { + // If the previous block is an acceleration block, but it is not long enough to complete the + // full speed change within the block, we need to adjust the entry speed accordingly. Entry + // speeds have already been reset, maximized, and reverse planned by reverse planner. + // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. + if (!prev.flags.nominal_length) + { + if (prev.feedrate.entry < curr.feedrate.entry) + { + float entry_speed = std::min(curr.feedrate.entry, Block::max_allowable_speed(-prev.acceleration, prev.feedrate.entry, prev.move_length())); + + // Check for junction speed change + if (curr.feedrate.entry != entry_speed) + { + curr.feedrate.entry = entry_speed; + curr.flags.recalculate = true; + } + } + } + } - if (line.has_z()) - set_axis_max_jerk(Z, line.z()); - - if (line.has_e()) - set_axis_max_jerk(E, line.e()); - - float value; - if (line.has_value('S', value)) - set_minimum_feedrate(value); - - if (line.has_value('T', value)) - set_minimum_travel_feedrate(value); - } - - void GCodeTimeEstimator::_processM566(const GCodeReader::GCodeLine& line) - { - if (line.has_x()) - set_axis_max_jerk(X, line.x() * MMMIN_TO_MMSEC); - - if (line.has_y()) - set_axis_max_jerk(Y, line.y() * MMMIN_TO_MMSEC); - - if (line.has_z()) - set_axis_max_jerk(Z, line.z() * MMMIN_TO_MMSEC); - - if (line.has_e()) - set_axis_max_jerk(E, line.e() * MMMIN_TO_MMSEC); - } - - void GCodeTimeEstimator::_forward_pass() - { - if (_blocks.size() > 1) - { - for (unsigned int i = 0; i < (unsigned int)_blocks.size() - 1; ++i) - { - _planner_forward_pass_kernel(_blocks[i], _blocks[i + 1]); - } - } - } - - void GCodeTimeEstimator::_reverse_pass() - { - if (_blocks.size() > 1) - { - for (int i = (int)_blocks.size() - 1; i >= 1; --i) - { - _planner_reverse_pass_kernel(_blocks[i - 1], _blocks[i]); - } - } - } - - void GCodeTimeEstimator::_planner_forward_pass_kernel(Block& prev, Block& curr) - { - // If the previous block is an acceleration block, but it is not long enough to complete the - // full speed change within the block, we need to adjust the entry speed accordingly. Entry - // speeds have already been reset, maximized, and reverse planned by reverse planner. - // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. - if (!prev.flags.nominal_length) - { - if (prev.feedrate.entry < curr.feedrate.entry) - { - float entry_speed = std::min(curr.feedrate.entry, Block::max_allowable_speed(-prev.acceleration, prev.feedrate.entry, prev.move_length())); - - // Check for junction speed change - if (curr.feedrate.entry != entry_speed) - { - curr.feedrate.entry = entry_speed; - curr.flags.recalculate = true; - } - } - } - } - - void GCodeTimeEstimator::_planner_reverse_pass_kernel(Block& curr, Block& next) - { - // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. - // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and - // check for maximum allowable speed reductions to ensure maximum possible planned speed. - if (curr.feedrate.entry != curr.max_entry_speed) - { - // If nominal length true, max junction speed is guaranteed to be reached. Only compute - // for max allowable speed if block is decelerating and nominal length is false. - if (!curr.flags.nominal_length && (curr.max_entry_speed > next.feedrate.entry)) - curr.feedrate.entry = std::min(curr.max_entry_speed, Block::max_allowable_speed(-curr.acceleration, next.feedrate.entry, curr.move_length())); - else - curr.feedrate.entry = curr.max_entry_speed; - - curr.flags.recalculate = true; - } - } - - void GCodeTimeEstimator::_recalculate_trapezoids() - { - Block* curr = nullptr; - Block* next = nullptr; - - for (Block& b : _blocks) - { - curr = next; - next = &b; - - if (curr != nullptr) - { - // Recalculate if current block entry or exit junction speed has changed. - if (curr->flags.recalculate || next->flags.recalculate) + void GCodeTimeEstimator::_planner_reverse_pass_kernel(Block& curr, Block& next) + { + // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. + // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and + // check for maximum allowable speed reductions to ensure maximum possible planned speed. + if (curr.feedrate.entry != curr.max_entry_speed) { - // NOTE: Entry and exit factors always > 0 by all previous logic operations. - Block block = *curr; - block.feedrate.exit = next->feedrate.entry; - block.calculate_trapezoid(); - curr->trapezoid = block.trapezoid; - curr->flags.recalculate = false; // Reset current only to ensure next trapezoid is computed + // If nominal length true, max junction speed is guaranteed to be reached. Only compute + // for max allowable speed if block is decelerating and nominal length is false. + if (!curr.flags.nominal_length && (curr.max_entry_speed > next.feedrate.entry)) + curr.feedrate.entry = std::min(curr.max_entry_speed, Block::max_allowable_speed(-curr.acceleration, next.feedrate.entry, curr.move_length())); + else + curr.feedrate.entry = curr.max_entry_speed; + + curr.flags.recalculate = true; } - } } - // Last/newest block in buffer. Always recalculated. - if (next != nullptr) + void GCodeTimeEstimator::_recalculate_trapezoids() { - Block block = *next; - block.feedrate.exit = next->safe_feedrate; - block.calculate_trapezoid(); - next->trapezoid = block.trapezoid; - next->flags.recalculate = false; + Block* curr = nullptr; + Block* next = nullptr; + + for (Block& b : _blocks) + { + curr = next; + next = &b; + + if (curr != nullptr) + { + // Recalculate if current block entry or exit junction speed has changed. + if (curr->flags.recalculate || next->flags.recalculate) + { + // NOTE: Entry and exit factors always > 0 by all previous logic operations. + Block block = *curr; + block.feedrate.exit = next->feedrate.entry; + block.calculate_trapezoid(); + curr->trapezoid = block.trapezoid; + curr->flags.recalculate = false; // Reset current only to ensure next trapezoid is computed + } + } + } + + // Last/newest block in buffer. Always recalculated. + if (next != nullptr) + { + Block block = *next; + block.feedrate.exit = next->safe_feedrate; + block.calculate_trapezoid(); + next->trapezoid = block.trapezoid; + next->flags.recalculate = false; + } } - } } diff --git a/xs/src/libslic3r/GCodeTimeEstimator.hpp b/xs/src/libslic3r/GCodeTimeEstimator.hpp index 1f912b462..2ec283da7 100644 --- a/xs/src/libslic3r/GCodeTimeEstimator.hpp +++ b/xs/src/libslic3r/GCodeTimeEstimator.hpp @@ -6,310 +6,316 @@ namespace Slic3r { - class GCodeTimeEstimator - { - public: - enum EUnits : unsigned char + class GCodeTimeEstimator { - Millimeters, - Inches - }; + public: + enum EUnits : unsigned char + { + Millimeters, + Inches + }; + + enum EAxis : unsigned char + { + X, + Y, + Z, + E, + Num_Axis + }; + + enum EDialect : unsigned char + { + Unknown, + Marlin, + Repetier, + Smoothieware, + RepRapFirmware, + Teacup, + Num_Dialects + }; + + enum EPositioningType : unsigned char + { + Absolute, + Relative + }; + + private: + struct Axis + { + float position; // mm + float max_feedrate; // mm/s + float max_acceleration; // mm/s^2 + float max_jerk; // mm/s + }; + + struct Feedrates + { + float feedrate; // mm/s + float axis_feedrate[Num_Axis]; // mm/s + float abs_axis_feedrate[Num_Axis]; // mm/s + float safe_feedrate; // mm/s + + void reset(); + }; + + struct State + { + EDialect dialect; + EUnits units; + EPositioningType positioning_xyz_type; + EPositioningType positioning_e_type; + Axis axis[Num_Axis]; + float feedrate; // mm/s + float acceleration; // mm/s^2 + float retract_acceleration; // mm/s^2 + float additional_time; // s + float minimum_feedrate; // mm/s + float minimum_travel_feedrate; // mm/s + }; + + public: + struct Block + { + struct FeedrateProfile + { + float entry; // mm/s + float cruise; // mm/s + float exit; // mm/s + }; + + struct Trapezoid + { + float distance; // mm + float accelerate_until; // mm + float decelerate_after; // mm + FeedrateProfile feedrate; + + float acceleration_time(float acceleration) const; + float cruise_time() const; + float deceleration_time(float acceleration) const; + float cruise_distance() const; + + // This function gives the time needed to accelerate from an initial speed to reach a final distance. + static float acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration); + + // This function gives the final speed while accelerating at the given constant acceleration from the given initial speed along the given distance. + static float speed_from_distance(float initial_feedrate, float distance, float acceleration); + }; + + struct Flags + { + bool recalculate; + bool nominal_length; + }; + + Flags flags; + + float delta_pos[Num_Axis]; // mm + float acceleration; // mm/s^2 + float max_entry_speed; // mm/s + float safe_feedrate; // mm/s + + FeedrateProfile feedrate; + Trapezoid trapezoid; + + // Returns the length of the move covered by this block, in mm + float move_length() const; + + // Returns true if this block is a retract/unretract move only + float is_extruder_only_move() const; + + // Returns true if this block is a move with no extrusion + float is_travel_move() const; + + // Returns the time spent accelerating toward cruise speed, in seconds + float acceleration_time() const; + + // Returns the time spent at cruise speed, in seconds + float cruise_time() const; + + // Returns the time spent decelerating from cruise speed, in seconds + float deceleration_time() const; + + // Returns the distance covered at cruise speed, in mm + float cruise_distance() const; - enum EAxis : unsigned char - { - X, - Y, - Z, - E, - Num_Axis - }; + // Calculates this block's trapezoid + void calculate_trapezoid(); - enum EDialect : unsigned char - { - Unknown, - Marlin, - Repetier, - Smoothieware, - RepRapFirmware, - Teacup, - Num_Dialects - }; + // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the + // acceleration within the allotted distance. + static float max_allowable_speed(float acceleration, float target_velocity, float distance); - enum EPositioningType : unsigned char - { - Absolute, - Relative - }; + // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the given acceleration: + static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration); - private: - struct Axis - { - float position; // mm - float max_feedrate; // mm/s - float max_acceleration; // mm/s^2 - float max_jerk; // mm/s - }; + // This function gives you the point at which you must start braking (at the rate of -acceleration) if + // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after + // a total travel of distance. This can be used to compute the intersection point between acceleration and + // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) + static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance); + }; - struct Feedrates - { - float feedrate; // mm/s - float axis_feedrate[Num_Axis]; // mm/s - float abs_axis_feedrate[Num_Axis]; // mm/s - float safe_feedrate; // mm/s + typedef std::vector<Block> BlocksList; - void reset(); - }; + private: + GCodeReader _parser; + State _state; + Feedrates _curr; + Feedrates _prev; + BlocksList _blocks; + float _time; // s - struct State - { - EDialect dialect; - EUnits units; - EPositioningType positioning_xyz_type; - EPositioningType positioning_e_type; - Axis axis[Num_Axis]; - float feedrate; // mm/s - float acceleration; // mm/s^2 - float retract_acceleration; // mm/s^2 - float additional_time; // s - float minimum_feedrate; // mm/s - float minimum_travel_feedrate; // mm/s - }; - - public: - struct Block - { - struct FeedrateProfile - { - float entry; // mm/s - float cruise; // mm/s - float exit; // mm/s - }; + public: + GCodeTimeEstimator(); - struct Trapezoid - { - float distance; // mm - float accelerate_until; // mm - float decelerate_after; // mm - FeedrateProfile feedrate; + // Calculates the time estimate from the given gcode in string format + void calculate_time_from_text(const std::string& gcode); - float acceleration_time(float acceleration) const; - float cruise_time() const; - float deceleration_time(float acceleration) const; - float cruise_distance() const; + // Calculates the time estimate from the gcode contained in the file with the given filename + void calculate_time_from_file(const std::string& file); - // This function gives the time needed to accelerate from an initial speed to reach a final distance. - static float acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration); + // Calculates the time estimate from the gcode contained in given list of gcode lines + void calculate_time_from_lines(const std::vector<std::string>& gcode_lines); - // This function gives the final speed while accelerating at the given constant acceleration from the given initial speed along the given distance. - static float speed_from_distance(float initial_feedrate, float distance, float acceleration); - }; + // Adds the given gcode line + void add_gcode_line(const std::string& gcode_line); - struct Flags - { - bool recalculate; - bool nominal_length; - }; + void add_gcode_block(const char *ptr); + void add_gcode_block(const std::string &str) { this->add_gcode_block(str.c_str()); } - Flags flags; + // Calculates the time estimate from the gcode lines added using add_gcode_line() + void calculate_time(); - float delta_pos[Num_Axis]; // mm - float acceleration; // mm/s^2 - float max_entry_speed; // mm/s - float safe_feedrate; // mm/s + // Set current position on the given axis with the given value + void set_axis_position(EAxis axis, float position); - FeedrateProfile feedrate; - Trapezoid trapezoid; + void set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec); + void set_axis_max_acceleration(EAxis axis, float acceleration); + void set_axis_max_jerk(EAxis axis, float jerk); - // Returns the length of the move covered by this block, in mm - float move_length() const; + // Returns current position on the given axis + float get_axis_position(EAxis axis) const; - // Returns true if this block is a retract/unretract move only - float is_extruder_only_move() const; + float get_axis_max_feedrate(EAxis axis) const; + float get_axis_max_acceleration(EAxis axis) const; + float get_axis_max_jerk(EAxis axis) const; - // Returns true if this block is a move with no extrusion - float is_travel_move() const; + void set_feedrate(float feedrate_mm_sec); + float get_feedrate() const; - // Returns the time spent accelerating toward cruise speed, in seconds - float acceleration_time() const; + void set_acceleration(float acceleration_mm_sec2); + float get_acceleration() const; - // Returns the time spent at cruise speed, in seconds - float cruise_time() const; + void set_retract_acceleration(float acceleration_mm_sec2); + float get_retract_acceleration() const; - // Returns the time spent decelerating from cruise speed, in seconds - float deceleration_time() const; + void set_minimum_feedrate(float feedrate_mm_sec); + float get_minimum_feedrate() const; - // Returns the distance covered at cruise speed, in mm - float cruise_distance() const; + void set_minimum_travel_feedrate(float feedrate_mm_sec); + float get_minimum_travel_feedrate() const; - // Calculates this block's trapezoid - void calculate_trapezoid(); - - // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the - // acceleration within the allotted distance. - static float max_allowable_speed(float acceleration, float target_velocity, float distance); - - // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the given acceleration: - static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration); - - // This function gives you the point at which you must start braking (at the rate of -acceleration) if - // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after - // a total travel of distance. This can be used to compute the intersection point between acceleration and - // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) - static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance); - }; + void set_dialect(EDialect dialect); + EDialect get_dialect() const; - typedef std::vector<Block> BlocksList; + void set_units(EUnits units); + EUnits get_units() const; - private: - GCodeReader _parser; - State _state; - Feedrates _curr; - Feedrates _prev; - BlocksList _blocks; - float _time; // s + void set_positioning_xyz_type(EPositioningType type); + EPositioningType get_positioning_xyz_type() const; - public: - GCodeTimeEstimator(); + void set_positioning_e_type(EPositioningType type); + EPositioningType get_positioning_e_type() const; - // Calculates the time estimate from the given gcode in string format - void calculate_time_from_text(const std::string& gcode); + void add_additional_time(float timeSec); + void set_additional_time(float timeSec); + float get_additional_time() const; - // Calculates the time estimate from the gcode contained in the file with the given filename - void calculate_time_from_file(const std::string& file); + void set_default(); - // Calculates the time estimate from the gcode contained in given list of gcode lines - void calculate_time_from_lines(const std::vector<std::string>& gcode_lines); + // Call this method before to start adding lines using add_gcode_line() when reusing an instance of GCodeTimeEstimator + void reset(); - // Adds the given gcode line - void add_gcode_line(const std::string& gcode_line); + // Returns the estimated time, in seconds + float get_time() const; - void add_gcode_block(const char *ptr); - void add_gcode_block(const std::string &str) { this->add_gcode_block(str.c_str()); } + // Returns the estimated time, in format HHh MMm SSs + std::string get_time_hms() const; - // Calculates the time estimate from the gcode lines added using add_gcode_line() - void calculate_time(); + private: + void _reset(); - // Set current position on the given axis with the given value - void set_axis_position(EAxis axis, float position); + // Calculates the time estimate + void _calculate_time(); - void set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec); - void set_axis_max_acceleration(EAxis axis, float acceleration); - void set_axis_max_jerk(EAxis axis, float jerk); + // Processes the given gcode line + void _process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line); - // Returns current position on the given axis - float get_axis_position(EAxis axis) const; + // Move + void _processG1(const GCodeReader::GCodeLine& line); - float get_axis_max_feedrate(EAxis axis) const; - float get_axis_max_acceleration(EAxis axis) const; - float get_axis_max_jerk(EAxis axis) const; + // Dwell + void _processG4(const GCodeReader::GCodeLine& line); - void set_feedrate(float feedrate_mm_sec); - float get_feedrate() const; + // Set Units to Inches + void _processG20(const GCodeReader::GCodeLine& line); - void set_acceleration(float acceleration_mm_sec2); - float get_acceleration() const; + // Set Units to Millimeters + void _processG21(const GCodeReader::GCodeLine& line); - void set_retract_acceleration(float acceleration_mm_sec2); - float get_retract_acceleration() const; + // Move to Origin (Home) + void _processG28(const GCodeReader::GCodeLine& line); - void set_minimum_feedrate(float feedrate_mm_sec); - float get_minimum_feedrate() const; + // Set to Absolute Positioning + void _processG90(const GCodeReader::GCodeLine& line); - void set_minimum_travel_feedrate(float feedrate_mm_sec); - float get_minimum_travel_feedrate() const; + // Set to Relative Positioning + void _processG91(const GCodeReader::GCodeLine& line); - void set_dialect(EDialect dialect); - EDialect get_dialect() const; + // Set Position + void _processG92(const GCodeReader::GCodeLine& line); - void set_units(EUnits units); - EUnits get_units() const; + // Sleep or Conditional stop + void _processM1(const GCodeReader::GCodeLine& line); - void set_positioning_xyz_type(EPositioningType type); - EPositioningType get_positioning_xyz_type() const; + // Set extruder to absolute mode + void _processM82(const GCodeReader::GCodeLine& line); - void set_positioning_e_type(EPositioningType type); - EPositioningType get_positioning_e_type() const; + // Set extruder to relative mode + void _processM83(const GCodeReader::GCodeLine& line); - void add_additional_time(float timeSec); - void set_additional_time(float timeSec); - float get_additional_time() const; + // Set Extruder Temperature and Wait + void _processM109(const GCodeReader::GCodeLine& line); - void set_default(); + // Set max printing acceleration + void _processM201(const GCodeReader::GCodeLine& line); - // Call this method before to start adding lines using add_gcode_line() when reusing an instance of GCodeTimeEstimator - void reset(); + // Set maximum feedrate + void _processM203(const GCodeReader::GCodeLine& line); - // Returns the estimated time, in seconds - float get_time() const; + // Set default acceleration + void _processM204(const GCodeReader::GCodeLine& line); - // Returns the estimated time, in format HHh MMm SSs - std::string get_time_hms() const; + // Advanced settings + void _processM205(const GCodeReader::GCodeLine& line); - private: - void _reset(); + // Set allowable instantaneous speed change + void _processM566(const GCodeReader::GCodeLine& line); - // Calculates the time estimate - void _calculate_time(); + // Simulates firmware st_synchronize() call + void _simulate_st_synchronize(); - // Processes the given gcode line - void _process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line); + void _forward_pass(); + void _reverse_pass(); - // Move - void _processG1(const GCodeReader::GCodeLine& line); + void _planner_forward_pass_kernel(Block& prev, Block& curr); + void _planner_reverse_pass_kernel(Block& curr, Block& next); - // Dwell - void _processG4(const GCodeReader::GCodeLine& line); - - // Set Units to Inches - void _processG20(const GCodeReader::GCodeLine& line); - - // Set Units to Millimeters - void _processG21(const GCodeReader::GCodeLine& line); - - // Move to Origin (Home) - void _processG28(const GCodeReader::GCodeLine& line); - - // Set to Absolute Positioning - void _processG90(const GCodeReader::GCodeLine& line); - - // Set to Relative Positioning - void _processG91(const GCodeReader::GCodeLine& line); - - // Set Position - void _processG92(const GCodeReader::GCodeLine& line); - - // Set extruder to absolute mode - void _processM82(const GCodeReader::GCodeLine& line); - - // Set extruder to relative mode - void _processM83(const GCodeReader::GCodeLine& line); - - // Set Extruder Temperature and Wait - void _processM109(const GCodeReader::GCodeLine& line); - - // Set max printing acceleration - void _processM201(const GCodeReader::GCodeLine& line); - - // Set maximum feedrate - void _processM203(const GCodeReader::GCodeLine& line); - - // Set default acceleration - void _processM204(const GCodeReader::GCodeLine& line); - - // Advanced settings - void _processM205(const GCodeReader::GCodeLine& line); - - // Set allowable instantaneous speed change - void _processM566(const GCodeReader::GCodeLine& line); - - void _forward_pass(); - void _reverse_pass(); - - void _planner_forward_pass_kernel(Block& prev, Block& curr); - void _planner_reverse_pass_kernel(Block& curr, Block& next); - - void _recalculate_trapezoids(); - }; + void _recalculate_trapezoids(); + }; } /* namespace Slic3r */ |