// emit gcode for an extrude move
protected virtual void emit_extrude(QueuedExtrude p)
{
double write_x = p.toPos.x + PositionShift.x;
double write_y = p.toPos.y + PositionShift.y;
Builder.BeginGLine(1, p.comment).
AppendF("X", write_x).AppendF("Y", write_y);
if (OmitDuplicateZ == false || MathUtil.EpsilonEqual(p.toPos.z, currentPos.z, MoveEpsilon) == false)
{
Builder.AppendF("Z", p.toPos.z);
}
if (OmitDuplicateF == false || MathUtil.EpsilonEqual(p.feedRate, currentFeed, MoveEpsilon) == false)
{
Builder.AppendF("F", p.feedRate);
}
if (OmitDuplicateE == false || MathUtil.EpsilonEqual(p.extruderA, extruderA, MoveEpsilon) == false)
{
Builder.AppendF(p.extrudeChar.ToString(), p.extruderA);
}
currentPos = p.toPos;
currentFeed = p.feedRate;
extruderA = p.extruderA;
}
// push point onto queue and update accumulated length
protected virtual void append_to_queue(QueuedExtrude p)
{
double dt = (next_queue_index == 0) ?
currentPos.xy.Distance(p.toPos.xy) : extrude_queue[next_queue_index - 1].toPos.xy.Distance(p.toPos.xy);
extrude_queue_len += dt;
extrude_queue[next_queue_index] = p;
next_queue_index = Math.Min(next_queue_index + 1, extrude_queue.Length - 1);;
}
static public QueuedExtrude lerp(ref QueuedExtrude a, ref QueuedExtrude b, double t)
{
QueuedExtrude newp = new QueuedExtrude();
newp.toPos = Vector3d.Lerp(a.toPos, b.toPos, t);
newp.feedRate = Math.Max(a.feedRate, b.feedRate);
newp.extruderA = MathUtil.Lerp(a.extruderA, b.extruderA, t);
newp.comment = (a.comment == null) ? a.comment : b.comment;
return(newp);
}
// emit static retraction move (no xyz movement)
protected virtual void emit_retract(QueuedExtrude p)
{
Builder.BeginGLine(1, p.comment);
BuildFeedrateParameter(p.feedRate);
BuildExtrudeParameter(p.extruderA);
currentPos = p.toPos;
currentFeed = p.feedRate;
extruderA = p.extruderA;
}
// push an extrude move onto queue
protected virtual void queue_extrude(Vector3d toPos, double feedRate, double e, string comment, bool bIsRetract)
{
Util.gDevAssert(InExtrude || bIsRetract);
if (EnableBoundsChecking && PositionBounds.Contains(toPos.xy) == false)
{
throw new Exception("BaseDepositionAssembler.queue_extrude: tried to move outside of bounds!");
}
lastPos = toPos;
QueuedExtrude p = new QueuedExtrude()
{
toPos = toPos,
feedRate = feedRate,
extruderA = e,
comment = comment
};
// we cannot queue a retract, so flush queue and emit the retract/unretract
if (bIsRetract)
{
flush_extrude_queue();
emit_retract(p);
return;
}
else if (toPos.z != NozzlePosition.z)
{
flush_extrude_queue();
emit_extrude(p);
return;
}
// push this point onto queue. this will also update the extrude_queue_len
double prev_len = extrude_queue_len;
append_to_queue(p);
// if we haven't moved far enough to emit a point, we wait
if (extrude_queue_len < MinExtrudeStepDistance)
{
return;
}
// ok we moved far enough from last point to emit
// if queue has one point, just emit it
int last_i = next_queue_index - 1;
if (last_i == 0)
{
flush_extrude_queue();
return;
}
// otherwise we lerp between last two points so that we emit at
// point where accumulated linear arclength is exactly MinExtrudeStepDistance.
double a = prev_len, b = extrude_queue_len;
double t = (MinExtrudeStepDistance - a) / (b - a);
Util.gDevAssert(t > -0.0001 && t < 1.0001);
t = MathUtil.Clamp(t, 0, 1);
QueuedExtrude last_p = extrude_queue[next_queue_index - 1];
QueuedExtrude emit_p = QueuedExtrude.lerp(ref extrude_queue[next_queue_index - 2], ref last_p, t);
// emit and clear queue
emit_extrude(emit_p);
next_queue_index = 0;
extrude_queue_len = 0;
// now we re-submit last point. This pushes the remaining bit of the last segment
// back onto the queue. (should we skip this if t > nearly-one?)
queue_extrude(last_p.toPos, last_p.feedRate, last_p.extruderA, last_p.comment, false);
}
