// G92 - Position register: Set the specified axes positions to the given position
// Sets the position of the state machine and the bot. NB: There are two methods of forming the G92 command:
private void set_position(GCodeLine line)
{
double x = 0, y = 0, z = 0, a = 0;
if (GCodeUtil.TryFindParamNum(line.Parameters, "X", ref x))
{
CurPosition.x = x;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "Y", ref y))
{
CurPosition.y = y;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "Z", ref z))
{
CurPosition.z = z;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "A", ref a))
{
ExtrusionA = a;
listener.CustomCommand(
(int)CustomListenerCommands.ResetExtruder, GCodeUtil.Extrude(a));
// reset our state
in_travel = in_extrude = in_retract = false;
}
// E is "current" stepper (A for single extruder)
double e = 0;
if (GCodeUtil.TryFindParamNum(line.Parameters, "E", ref e))
{
ExtrusionA = e;
listener.CustomCommand(
(int)CustomListenerCommands.ResetExtruder, GCodeUtil.Extrude(e));
// reset our state
in_travel = in_extrude = in_retract = false;
}
}
public void Calculate(Vector3d vStartPos, double fStartA, bool alreadyInRetract = false)
{
double curA = fStartA;
Vector3d curPos = vStartPos;
double curRate = 0;
bool inRetract = alreadyInRetract;
// filter paths
List <IToolpath> allPaths = new List <IToolpath>();
foreach (IToolpath p in Paths)
{
if (p is LinearToolpath3 <T> || p is ResetExtruderPathHack)
{
allPaths.Add(p);
}
}
int N = allPaths.Count;
LinearToolpath3 <T> prev_path = null;
for (int pi = 0; pi < N; ++pi)
{
if (allPaths[pi] is ResetExtruderPathHack)
{
curA = 0;
continue;
}
var path = allPaths[pi] as LinearToolpath3 <T>;
if (path == null)
{
throw new Exception("Invalid path type!");
}
if (!(path.Type == ToolpathTypes.Deposition || path.Type == ToolpathTypes.PlaneChange || path.Type == ToolpathTypes.Travel))
{
throw new Exception("Unknown path type!");
}
// if we are travelling between two extrusion paths, and neither is support,
// and the travel distance is very short,then we will skip the retract.
// [TODO] should only do this on interior travels. We should determine that upstream and set a flag on travel path.
bool skip_retract = false;
if (path.Type == ToolpathTypes.Travel && path.Length < MinRetractTravelLength)
{
bool prev_is_model_deposition =
(prev_path != null) && (prev_path.Type == ToolpathTypes.Deposition) && prev_path.FillType.IsPart();
var next_path = (pi < N - 1) ? (allPaths[pi + 1] as LinearToolpath3 <T>) : null;
bool next_is_model_deposition =
(next_path != null) && (next_path.Type == ToolpathTypes.Deposition) && next_path.FillType.IsPart();
skip_retract = prev_is_model_deposition && next_is_model_deposition;
}
if (EnableRetraction == false)
{
skip_retract = true;
}
// figure out volume scaling based on path type
double vol_scale = 1.0;
vol_scale = path.FillType.AdjustVolume(vol_scale);
for (int i = 0; i < path.VertexCount; ++i)
{
bool last_vtx = (i == path.VertexCount - 1);
Vector3d newPos = path[i].Position;
double newRate = path[i].FeedRate;
// default line thickness and height
double path_width = Settings.Machine.NozzleDiamMM;
double path_height = Settings.Part.LayerHeightMM;
// override with custom dimensions if provided
Vector2d vtx_dims = path[i].Dimensions;
if (vtx_dims.x > 0 && vtx_dims.x < 1000.0)
{
path_width = vtx_dims.x;
}
if (vtx_dims.y > 0 && vtx_dims.y < 1000.0)
{
path_height = vtx_dims.y;
}
if (path.Type != ToolpathTypes.Deposition)
{
// [RMS] if we switched to a travel move we retract, unless we don't
if (skip_retract == false)
{
if (!inRetract)
{
curA -= FixedRetractDistance;
inRetract = true;
}
}
curPos = newPos;
curRate = newRate;
}
else
{
// for i == 0 this dist is always 0 !!
double dist = (newPos - curPos).Length;
if (i == 0)
{
Util.gDevAssert(dist < 1e-12); // next path starts at end of previous!!
if (inRetract)
{
curA += FixedRetractDistance;
inRetract = false;
}
}
else
{
curPos = newPos;
curRate = newRate;
double segment_width = (path[i].Dimensions.x != GCodeUtil.UnspecifiedValue) ?
path[i].Dimensions.x : path_width;
double segment_height = (path[i].Dimensions.y != GCodeUtil.UnspecifiedValue) ?
path[i].Dimensions.y : path_height;
double feed = ExtrusionMath.PathLengthToFilamentLength(
segment_height, segment_width, Settings.Material.FilamentDiamMM,
dist, vol_scale);
// Change the extrusion amount if a modifier is present.
// TODO: This is a bit of a hack since the modifier acts on a Vector3d
// and we're ignoring data in the second & third positions.
var modifier = path[i]?.ExtendedData?.ExtrusionModifierF;
if (modifier != null)
{
feed = modifier(new Vector3d(feed, 0, 0))[0];
}
curA += feed;
}
}
T v = path[i];
v.Extrusion = GCodeUtil.Extrude(curA);
path.UpdateVertex(i, v);
}
prev_path = path;
}
NumPaths = N;
ExtrusionLength = curA;
} // Calculate()
protected virtual void EmitLinear(GCodeLine line)
{
Debug.Assert(line.Code == 0 || line.Code == 1);
double x = GCodeUtil.UnspecifiedValue,
y = GCodeUtil.UnspecifiedValue,
z = GCodeUtil.UnspecifiedValue;
bool found_x = GCodeUtil.TryFindParamNum(line.Parameters, "X", ref x);
bool found_y = GCodeUtil.TryFindParamNum(line.Parameters, "Y", ref y);
bool found_z = GCodeUtil.TryFindParamNum(line.Parameters, "Z", ref z);
Vector3d newPos = (UseRelativePosition) ? Vector3d.Zero : CurPosition;
if (found_x)
{
newPos.x = x;
}
if (found_y)
{
newPos.y = y;
}
if (found_z)
{
newPos.z = z;
}
if (UseRelativePosition)
{
CurPosition += newPos;
}
else
{
CurPosition = newPos;
}
// F is feed rate (this changes?)
double f = 0;
bool haveF = GCodeUtil.TryFindParamNum(line.Parameters, "F", ref f);
// A is extrusion stepper. E is also "current" stepper.
double a = 0;
bool haveA = GCodeUtil.TryFindParamNum(line.Parameters, "A", ref a);
if (haveA == false)
{
haveA = GCodeUtil.TryFindParamNum(line.Parameters, "E", ref a);
}
if (UseRelativeExtruder)
{
a = ExtrusionA + a;
}
LinearMoveData move = new LinearMoveData(
newPos,
(haveF) ? f : GCodeUtil.UnspecifiedValue,
(haveA) ? GCodeUtil.Extrude(a) : GCodeUtil.UnspecifiedPosition);
if (haveA == false)
{
// if we do not have extrusion, this is a travel move
if (in_travel == false)
{
listener.BeginTravel();
in_travel = true;
in_extrude = false;
}
}
else if (in_retract)
{
// if we are in retract, we stay in until we see forward movement
Debug.Assert(in_travel);
Debug.Assert(a <= LastRetractA + 0.001);
if (MathUtil.EpsilonEqual(a, LastRetractA, 0.00001))
{
in_retract = false;
listener.BeginDeposition();
in_extrude = true;
in_travel = false;
ExtrusionA = a;
}
}
else if (a < ExtrusionA)
{
// if extrusion moved backwards, we need to enter travel
in_retract = true;
LastRetractA = ExtrusionA;
ExtrusionA = a;
if (in_travel == false)
{
listener.BeginTravel();
in_travel = true;
in_extrude = false;
}
}
else
{
// if we are in travel, we need to begin extruding
if (in_travel)
{
listener.BeginDeposition();
in_travel = false;
in_extrude = true;
}
if (in_extrude == false)
{ // handle initialization cases
listener.BeginDeposition();
in_extrude = true;
}
ExtrusionA = a;
}
move.source = line;
Debug.Assert(in_travel || in_extrude);
listener.LinearMoveToAbsolute3d(move);
}
public void Calculate(Vector3d vStartPos, double fStartA, bool alreadyInRetract = false)
{
double curA = fStartA;
Vector3d curPos = vStartPos;
double curRate = 0;
bool inRetract = alreadyInRetract;
// filter paths
List <IToolpath> allPaths = new List <IToolpath>();
foreach (IToolpath ipath in Paths)
{
ToolpathUtil.ApplyToLeafPaths(ipath, (p) => {
if (p is LinearToolpath3 <PrintVertex> || p is ResetExtruderPathHack)
{
allPaths.Add(p);
}
});
}
int N = allPaths.Count;
LinearToolpath3 <PrintVertex> prev_path = null;
for (int pi = 0; pi < N; ++pi)
{
if (allPaths[pi] is ResetExtruderPathHack)
{
curA = 0;
continue;
}
LinearToolpath3 <PrintVertex> path = allPaths[pi] as LinearToolpath3 <PrintVertex>;
if (path == null)
{
throw new Exception("Invalid path type!");
}
if (!(path.Type == ToolpathTypes.Deposition || path.Type == ToolpathTypes.PlaneChange || path.Type == ToolpathTypes.Travel))
{
throw new Exception("Unknown path type!");
}
// if we are travelling between two extrusion paths, and neither is support,
// and the travel distance is very short,then we will skip the retract.
// [TODO] should only do this on interior travels. We should determine that upstream and set a flag on travel path.
bool skip_retract = false;
if (path.Type == ToolpathTypes.Travel && path.Length < MinRetractTravelLength)
{
bool prev_is_model_deposition =
(prev_path != null) && (prev_path.Type == ToolpathTypes.Deposition) && ((prev_path.TypeModifiers & FillTypeFlags.SupportMaterial) == 0);
LinearToolpath3 <PrintVertex> next_path = (pi < N - 1) ? (allPaths[pi + 1] as LinearToolpath3 <PrintVertex>) : null;
bool next_is_model_deposition =
(next_path != null) && (next_path.Type == ToolpathTypes.Deposition) && ((next_path.TypeModifiers & FillTypeFlags.SupportMaterial) == 0);
skip_retract = prev_is_model_deposition && next_is_model_deposition;
}
if (EnableRetraction == false)
{
skip_retract = true;
}
// figure out volume scaling based on path type
double vol_scale = 1.0;
if ((path.TypeModifiers & FillTypeFlags.SupportMaterial) != 0)
{
vol_scale *= SupportExtrudeScale;
}
else if ((path.TypeModifiers & FillTypeFlags.BridgeSupport) != 0)
{
vol_scale *= Settings.BridgeVolumeScale;
}
for (int i = 0; i < path.VertexCount; ++i)
{
bool last_vtx = (i == path.VertexCount - 1);
Vector3d newPos = path[i].Position;
double newRate = path[i].FeedRate;
// default line thickness and height
double path_width = Settings.Machine.NozzleDiamMM;
double path_height = Settings.LayerHeightMM;
// override with custom dimensions if provided
Vector2d vtx_dims = path[i].Dimensions;
if (vtx_dims.x > 0 && vtx_dims.x < 1000.0)
{
path_width = vtx_dims.x;
}
if (vtx_dims.y > 0 && vtx_dims.y < 1000.0)
{
path_height = vtx_dims.y;
}
if (path.Type != ToolpathTypes.Deposition)
{
// [RMS] if we switched to a travel move we retract, unless we don't
if (skip_retract == false)
{
if (!inRetract)
{
curA -= FixedRetractDistance;
inRetract = true;
}
}
curPos = newPos;
curRate = newRate;
}
else
{
// for i == 0 this dist is always 0 !!
double dist = (newPos - curPos).Length;
if (i == 0)
{
Util.gDevAssert(dist == 0); // next path starts at end of previous!!
if (inRetract)
{
curA += FixedRetractDistance;
inRetract = false;
}
}
else
{
curPos = newPos;
curRate = newRate;
double feed = ExtrusionMath.PathLengthToFilamentLength(
path_height, path_width, Settings.Machine.FilamentDiamMM,
dist, vol_scale);
curA += feed;
}
}
PrintVertex v = path[i];
v.Extrusion = GCodeUtil.Extrude(curA);
path.UpdateVertex(i, v);
}
prev_path = path;
}
NumPaths = N;
ExtrusionLength = curA;
} // Calculate()