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fix(gcode): use Klipper motion planning for time estimates (#15545)

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Co-authored-by: Ian Bassi <ian.bassi@outlook.com>
Co-authored-by: raistlin7447 <kris.austin@gmail.com>
This commit is contained in:
Gabriel MonteiroIan Bassiraistlin7447
 authored and GitHub committed 2026-10-19 16:15:59 -03:00
1 parent 69193d5681
commit 5a36120c58
12 files changed
+602 -133
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tests/fff_print/test_gcodewriter.cpp
+36 -1
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@@ -514,7 +514,7 @@ TEST_CASE("Acceleration and velocity limit commands print their values in genera
const Case c = GENERATE(values<Case>({
{gcfKlipper, Command::KlipperLimits, 2000000, 25. / 3., false,
{"SET_VELOCITY_LIMIT ACCEL=2000000 ", "ACCEL_TO_DECEL=1e+06 ", "SQUARE_CORNER_VELOCITY=8.33333\n"}, {}},
{gcfKlipper, Command::KlipperLimits, 12345, 0., false, {"ACCEL=12345 ", "ACCEL_TO_DECEL=6172.5\n"}, {"SQUARE_CORNER_VELOCITY"}},
{gcfKlipper, Command::KlipperLimits, 12345, 0., false, {"ACCEL=12345 ", "ACCEL_TO_DECEL=6172.5 ", "MINIMUM_CRUISE_RATIO=0.5\n"}, {"SQUARE_CORNER_VELOCITY"}},
{gcfKlipper, Command::KlipperLimits, 0, 0.25, true, {"SQUARE_CORNER_VELOCITY=0.25 ", "; adjust VELOCITY_LIMIT"}, {"ACCEL"}},
{gcfKlipper, Command::Print, 3001, 0., true, {"ACCEL=3001 ", "ACCEL_TO_DECEL=1500.5 ", "; adjust ACCEL_TO_DECEL", "; adjust acceleration"}, {}},
{gcfMarlinFirmware, Command::Print, 2500, 0., false, {"M204 P2500\n"}, {}},
@@ -1272,6 +1272,41 @@ TEST_CASE("Custom G-code motion limits are restored before generated moves", "[G
REQUIRE(gcode.find("M205 X8 Y8 ; adjust jerk", custom_gcode_pos) != std::string::npos);
}
TEST_CASE("Klipper acceleration commands send accel_to_decel both as ACCEL_TO_DECEL and as the cruise ratio", "[GCodeWriter]")
{
// Klipper 0.13 defines MINIMUM_CRUISE_RATIO = 1 - ACCEL_TO_DECEL / ACCEL; older releases read only the
// first parameter and current ones only the second, so both have to describe the same limit.
GCodeWriter writer;
writer.config.gcode_flavor.value = gcfKlipper;
writer.config.accel_to_decel_enable.value = true;
// The writer appends "; adjust ..." comments by default; keep them out so the line ends at the ratio.
struct CommentGuard
{
bool saved = GCodeWriter::full_gcode_comment;
~CommentGuard() { GCodeWriter::full_gcode_comment = saved; }
} comment_guard;
GCodeWriter::full_gcode_comment = false;
SECTION("a 25% factor") {
writer.config.accel_to_decel_factor.value = 25;
REQUIRE_THAT(writer.set_print_acceleration(2000),
Catch::Matchers::StartsWith("SET_VELOCITY_LIMIT ACCEL=2000 ACCEL_TO_DECEL=500 MINIMUM_CRUISE_RATIO=0.75"));
REQUIRE_THAT(writer.set_accel_and_jerk(3000, 0.0),
Catch::Matchers::StartsWith("SET_VELOCITY_LIMIT ACCEL=3000 ACCEL_TO_DECEL=750 MINIMUM_CRUISE_RATIO=0.75"));
}
SECTION("a 100% factor turns the cruise ratio off") {
writer.config.accel_to_decel_factor.value = 100;
REQUIRE_THAT(writer.set_print_acceleration(2000),
Catch::Matchers::StartsWith("SET_VELOCITY_LIMIT ACCEL=2000 ACCEL_TO_DECEL=2000 MINIMUM_CRUISE_RATIO=0\n"));
}
SECTION("neither is sent while the option is off") {
writer.config.accel_to_decel_enable.value = false;
const std::string line = writer.set_print_acceleration(2000);
REQUIRE_THAT(line, Catch::Matchers::StartsWith("SET_VELOCITY_LIMIT ACCEL=2000"));
REQUIRE_THAT(line, !Catch::Matchers::ContainsSubstring("ACCEL_TO_DECEL") && !Catch::Matchers::ContainsSubstring("MINIMUM_CRUISE_RATIO"));
}
}
// Regression test for the belt-printer "illegal gantry move at print start" bug.
//
// On a belt printer the layer-change z-hop is deferred (lazy_lift) and consumed