T1 and M702 C are now evaluated by the time estimator to add the new

"filament_load_time" and "filament_unload_time" values to match
the MK3 MMU2 behavior.

Emitting of the remaining times into the output G-code was made optional
through a new "remaining_times" configuration value, so the firmware
flavors and versions, which do not know the M73 code, will not complain.

Configuration changes:

The wipe tower default position was shifted inwards after the wipe tower
coordinate reference point was changed from the center to the left front
corner.

Added the "filament_load_time" and "filament_unload_time" values
to the MK3 MMU filament profiles.

Enabled "remaining_times" for the MK2.5, MK3 and MK3MMU2 printers.

7 files changed, 118 insertions, 6 deletions

diff --git a/xs/src/libslic3r/GCode.cpp b/xs/src/libslic3r/GCode.cpp
index 1c1eeee6f..7edd55077 100644
--- a/xs/src/libslic3r/GCode.cpp
+++ b/xs/src/libslic3r/GCode.cpp
@@ -440,10 +440,9 @@ void GCode::do_export(Print *print, const char *path, GCodePreviewData *preview_
     }
     fclose(file);
 
-    if (print->config.gcode_flavor.value == gcfMarlin)
+    if (print->config.remaining_times.value)
     {
         m_normal_time_estimator.post_process_remaining_times(path_tmp, 60.0f);
-
         if (m_silent_time_estimator_enabled)
             m_silent_time_estimator.post_process_remaining_times(path_tmp, 60.0f);
     }
@@ -525,8 +524,13 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data)
             m_silent_time_estimator.set_axis_max_jerk(GCodeTimeEstimator::Y, print.config.machine_max_jerk_y.values[1]);
             m_silent_time_estimator.set_axis_max_jerk(GCodeTimeEstimator::Z, print.config.machine_max_jerk_z.values[1]);
             m_silent_time_estimator.set_axis_max_jerk(GCodeTimeEstimator::E, print.config.machine_max_jerk_e.values[1]);
+            m_silent_time_estimator.set_filament_load_times(print.config.filament_load_time.values);
+            m_silent_time_estimator.set_filament_unload_times(print.config.filament_unload_time.values);
         }
     }
+    // Filament load / unload times are not specific to a firmware flavor. Let anybody use it if they find it useful.
+    m_normal_time_estimator.set_filament_load_times(print.config.filament_load_time.values);
+    m_normal_time_estimator.set_filament_unload_times(print.config.filament_unload_time.values);
 
     // resets analyzer
     m_analyzer.reset();
diff --git a/xs/src/libslic3r/GCodeReader.cpp b/xs/src/libslic3r/GCodeReader.cpp
index 965b7ef8e..79b6ed970 100644
--- a/xs/src/libslic3r/GCodeReader.cpp
+++ b/xs/src/libslic3r/GCodeReader.cpp
@@ -114,6 +114,28 @@ void GCodeReader::parse_file(const std::string &file, callback_t callback)
         this->parse_line(line, callback);
 }
 
+bool GCodeReader::GCodeLine::has(char axis) const
+{
+    const char *c = m_raw.c_str();
+    // Skip the whitespaces.
+    c = skip_whitespaces(c);
+    // Skip the command.
+    c = skip_word(c);
+    // Up to the end of line or comment.
+    while (! is_end_of_gcode_line(*c)) {
+        // Skip whitespaces.
+        c = skip_whitespaces(c);
+        if (is_end_of_gcode_line(*c))
+            break;
+        // Check the name of the axis.
+        if (*c == axis)
+            return true;
+        // Skip the rest of the word.
+        c = skip_word(c);
+    }
+    return false;
+}
+
 bool GCodeReader::GCodeLine::has_value(char axis, float &value) const
 {
     const char *c = m_raw.c_str();
diff --git a/xs/src/libslic3r/GCodeReader.hpp b/xs/src/libslic3r/GCodeReader.hpp
index 102cbd27a..84ed89a7c 100644
--- a/xs/src/libslic3r/GCodeReader.hpp
+++ b/xs/src/libslic3r/GCodeReader.hpp
@@ -27,6 +27,7 @@ public:
 
         bool  has(Axis axis) const { return (m_mask & (1 << int(axis))) != 0; }
         float value(Axis axis) const { return m_axis[axis]; }
+        bool  has(char axis) const;
         bool  has_value(char axis, float &value) const;
         float new_Z(const GCodeReader &reader) const { return this->has(Z) ? this->z() : reader.z(); }
         float new_E(const GCodeReader &reader) const { return this->has(E) ? this->e() : reader.e(); }
diff --git a/xs/src/libslic3r/GCodeTimeEstimator.cpp b/xs/src/libslic3r/GCodeTimeEstimator.cpp
index 877695f39..b51692fc6 100644
--- a/xs/src/libslic3r/GCodeTimeEstimator.cpp
+++ b/xs/src/libslic3r/GCodeTimeEstimator.cpp
@@ -469,6 +469,40 @@ namespace Slic3r {
         return _state.minimum_travel_feedrate;
     }
 
+    void GCodeTimeEstimator::set_filament_load_times(const std::vector<double> &filament_load_times)
+    {
+        _state.filament_load_times.clear();
+        for (double t : filament_load_times)
+            _state.filament_load_times.push_back(t);
+    }
+
+    void GCodeTimeEstimator::set_filament_unload_times(const std::vector<double> &filament_unload_times)
+    {
+        _state.filament_unload_times.clear();
+        for (double t : filament_unload_times)
+            _state.filament_unload_times.push_back(t);
+    }
+
+    float GCodeTimeEstimator::get_filament_load_time(unsigned int id_extruder)
+    {
+        return
+            (_state.filament_load_times.empty() || id_extruder == _state.extruder_id_unloaded) ? 
+                0 :
+                (_state.filament_load_times.size() <= id_extruder) ?
+                    _state.filament_load_times.front() : 
+                    _state.filament_load_times[id_extruder];
+    }
+
+    float GCodeTimeEstimator::get_filament_unload_time(unsigned int id_extruder)
+    {
+        return
+            (_state.filament_unload_times.empty() || id_extruder == _state.extruder_id_unloaded) ? 
+                0 :
+                (_state.filament_unload_times.size() <= id_extruder) ?
+                    _state.filament_unload_times.front() : 
+                    _state.filament_unload_times[id_extruder];
+    }
+
     void GCodeTimeEstimator::set_extrude_factor_override_percentage(float percentage)
     {
         _state.extrude_factor_override_percentage = percentage;
@@ -547,7 +581,9 @@ namespace Slic3r {
 
     void GCodeTimeEstimator::reset_extruder_id()
     {
-        _state.extruder_id = 0;
+        // Set the initial extruder ID to unknown. For the multi-material setup it means
+        // that all the filaments are parked in the MMU and no filament is loaded yet.
+        _state.extruder_id = _state.extruder_id_unloaded;
     }
 
     void GCodeTimeEstimator::add_additional_time(float timeSec)
@@ -590,6 +626,9 @@ namespace Slic3r {
             set_axis_max_acceleration(axis, DEFAULT_AXIS_MAX_ACCELERATION[a]);
             set_axis_max_jerk(axis, DEFAULT_AXIS_MAX_JERK[a]);
         }
+
+        _state.filament_load_times.clear();
+        _state.filament_unload_times.clear();
     }
 
     void GCodeTimeEstimator::reset()
@@ -794,6 +833,11 @@ namespace Slic3r {
                             _processM566(line);
                             break;
                         }
+                    case 702: // MK3 MMU2: Process the final filament unload.
+                        {
+                            _processM702(line);
+                            break;
+                        }
                     }
 
                     break;
@@ -1258,6 +1302,19 @@ namespace Slic3r {
             set_axis_max_jerk(E, line.e() * MMMIN_TO_MMSEC);
     }
 
+    void GCodeTimeEstimator::_processM702(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        if (line.has('C')) {
+            // MK3 MMU2 specific M code:
+            // M702 C is expected to be sent by the custom end G-code when finalizing a print.
+            // The MK3 unit shall unload and park the active filament into the MMU2 unit.
+            add_additional_time(get_filament_unload_time(get_extruder_id()));
+            reset_extruder_id();
+            _simulate_st_synchronize();
+        }
+    }
+
     void GCodeTimeEstimator::_processT(const GCodeReader::GCodeLine& line)
     {
         std::string cmd = line.cmd();
@@ -1266,9 +1323,12 @@ namespace Slic3r {
             unsigned int id = (unsigned int)::strtol(cmd.substr(1).c_str(), nullptr, 10);
             if (get_extruder_id() != id)
             {
+                // Specific to the MK3 MMU2: The initial extruder ID is set to -1 indicating
+                // that the filament is parked in the MMU2 unit and there is nothing to be unloaded yet.
+                add_additional_time(get_filament_unload_time(get_extruder_id()));
                 set_extruder_id(id);
-
-                // ADD PROCESSING HERE
+                add_additional_time(get_filament_load_time(get_extruder_id()));
+                _simulate_st_synchronize();
             }
         }
     }
diff --git a/xs/src/libslic3r/GCodeTimeEstimator.hpp b/xs/src/libslic3r/GCodeTimeEstimator.hpp
index f6194a170..1fa74e304 100644
--- a/xs/src/libslic3r/GCodeTimeEstimator.hpp
+++ b/xs/src/libslic3r/GCodeTimeEstimator.hpp
@@ -79,7 +79,14 @@ namespace Slic3r {
             float minimum_feedrate;             // mm/s
             float minimum_travel_feedrate;      // mm/s
             float extrude_factor_override_percentage;
+            // Additional load / unload times for a filament exchange sequence.
+            std::vector<float> filament_load_times;
+            std::vector<float> filament_unload_times;
             unsigned int g1_line_id;
+            // extruder_id is currently used to correctly calculate filament load / unload times 
+            // into the total print time. This is currently only really used by the MK3 MMU2:
+            // Extruder id (-1) means no filament is loaded yet, all the filaments are parked in the MK3 MMU2 unit.
+            static const unsigned int extruder_id_unloaded = (unsigned int)-1;
             unsigned int extruder_id;
         };
 
@@ -282,6 +289,11 @@ namespace Slic3r {
         void set_minimum_travel_feedrate(float feedrate_mm_sec);
         float get_minimum_travel_feedrate() const;
 
+        void set_filament_load_times(const std::vector<double> &filament_load_times);
+        void set_filament_unload_times(const std::vector<double> &filament_unload_times);
+        float get_filament_load_time(unsigned int id_extruder);
+        float get_filament_unload_time(unsigned int id_extruder);
+
         void set_extrude_factor_override_percentage(float percentage);
         float get_extrude_factor_override_percentage() const;
 
@@ -388,6 +400,9 @@ namespace Slic3r {
         // Set allowable instantaneous speed change
         void _processM566(const GCodeReader::GCodeLine& line);
 
+        // Unload the current filament into the MK3 MMU2 unit at the end of print.
+        void _processM702(const GCodeReader::GCodeLine& line);
+
         // Processes T line (Select Tool)
         void _processT(const GCodeReader::GCodeLine& line);
 
diff --git a/xs/src/libslic3r/PrintConfig.cpp b/xs/src/libslic3r/PrintConfig.cpp
index 1035951eb..fe1a75739 100644
--- a/xs/src/libslic3r/PrintConfig.cpp
+++ b/xs/src/libslic3r/PrintConfig.cpp
@@ -920,8 +920,16 @@ PrintConfigDef::PrintConfigDef()
     def->min = 0;
     def->default_value = new ConfigOptionFloat(0.3);
 
+    def = this->add("remaining_times", coBool);
+    def->label = L("Supports remaining times");
+    def->tooltip = L("Emit M73 P[percent printed] R[remaining time in seconds] at 1 minute"
+                     " intervals into the G-code to let the firmware show accurate remaining time."
+                     " As of now only the Prusa i3 MK3 firmware recognizes M73."
+                     " Also the i3 MK3 firmware supports M73 Qxx Sxx for the silent mode.");
+    def->default_value = new ConfigOptionBool(false);
+
 	def = this->add("silent_mode", coBool);
-	def->label = L("Support silent mode");
+	def->label = L("Supports silent mode");
 	def->tooltip = L("Set silent mode for the G-code flavor");
 	def->default_value = new ConfigOptionBool(true);
 
diff --git a/xs/src/libslic3r/PrintConfig.hpp b/xs/src/libslic3r/PrintConfig.hpp
index 602f1f0aa..b18603d87 100644
--- a/xs/src/libslic3r/PrintConfig.hpp
+++ b/xs/src/libslic3r/PrintConfig.hpp
@@ -566,6 +566,7 @@ public:
     ConfigOptionFloat               cooling_tube_retraction;
     ConfigOptionFloat               cooling_tube_length;
     ConfigOptionFloat               parking_pos_retraction;
+    ConfigOptionBool                remaining_times;
     ConfigOptionBool                silent_mode;
     ConfigOptionFloat               extra_loading_move;
 
@@ -631,6 +632,7 @@ protected:
         OPT_PTR(cooling_tube_retraction);
         OPT_PTR(cooling_tube_length);
         OPT_PTR(parking_pos_retraction);
+        OPT_PTR(remaining_times);
         OPT_PTR(silent_mode);
         OPT_PTR(extra_loading_move);
     }