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Route the in-place toolchange tower entry through the skip-point gap

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On multi-tool printers without ramming the tool changes away from the
tower and the entry travel is the tcr's own positioning move, which went
straight across the printed wall. Append the avoid-perimeter path to the
change-filament gcode instead, so the head approaches around the tower
and enters through the wall opening (append_tcr parity).
This commit is contained in:
SoftFever
2026-07-28 00:15:59 +08:00
parent 56810c8c7f
commit 5b475e5e98
2 changed files with 85 additions and 36 deletions
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120
src/libslic3r/GCode.cpp
View File

@@ -888,6 +888,50 @@ static std::vector<Vec2d> get_path_of_change_filament(const Print& print)
return res;
}
// With skip points enabled the Type2 tower wall has an opening at each toolchange's
// entry (tcr.start_pos): route the approach around the tower's bounding box so the
// nozzle enters through that opening instead of dragging across the printed wall
// (append_tcr parity). Emits only the waypoints leading up to the opening — the
// caller still travels to start_wipe_pos itself. Returns an empty string when the
// option is off, the cone wall is active (it has no gap machinery), or the approach
// already starts inside the tower: such hops never cross the wall and must stay direct.
std::string WipeTowerIntegration::travel_to_tower_gap(GCode &gcodegen, const Point &route_start, const Point &start_wipe_pos) const
{
if (!gcodegen.m_config.prime_tower_skip_points.value
|| gcodegen.m_config.wipe_tower_wall_type.value == WipeTowerWallType::wtwCone)
return {};
const Vec2f plate_origin_2d(m_plate_origin(0), m_plate_origin(1));
BoundingBox printer_bbx;
if (is_multi_nozzle_printer(gcodegen.m_config)) {
printer_bbx = get_extents(gcodegen.m_print->get_extruder_shared_printable_polygon());
printer_bbx.min = wipe_tower_point_to_object_point(gcodegen, unscaled<float>(printer_bbx.min) + plate_origin_2d);
printer_bbx.max = wipe_tower_point_to_object_point(gcodegen, unscaled<float>(printer_bbx.max) + plate_origin_2d);
} else {
Points bed_points;
for (const auto& p : gcodegen.m_config.printable_area.values)
bed_points.push_back(wipe_tower_point_to_object_point(gcodegen, p.cast<float>() + plate_origin_2d));
printer_bbx = BoundingBox(bed_points);
}
// Transform the tower-local bbx corners exactly like the tcr points (rib
// offset, rotation, tower position); a rotated tower gets a conservative
// axis-aligned envelope.
const float alpha = m_wipe_tower_rotation / 180.f * float(M_PI);
Polygon avoid_points = scaled(m_wipe_tower_bbx).polygon();
for (auto& p : avoid_points.points) {
Vec2f pp = Eigen::Rotation2Df(alpha) * (unscale(p).cast<float>() + m_rib_offset) + m_wipe_tower_pos;
p = wipe_tower_point_to_object_point(gcodegen, pp + plate_origin_2d);
}
BoundingBox avoid_bbx(avoid_points.points);
if (avoid_bbx.contains(route_start))
return {};
Polyline travel_polyline = generate_path_to_wipe_tower(route_start, start_wipe_pos, avoid_bbx, printer_bbx);
std::string gcode;
// The polyline's last point is start_wipe_pos itself — emitted by the caller.
for (size_t i = 0; i + 1 < travel_polyline.points.size(); ++i)
gcode += gcodegen.travel_to(travel_polyline.points[i], erMixed, "Travel to a Wipe Tower");
return gcode;
}
std::string WipeTowerIntegration::append_tcr(GCode& gcodegen, const WipeTower::ToolChangeResult& tcr, int new_filament_id, double z) const
{
if (new_filament_id != -1 && new_filament_id != tcr.new_tool)
@@ -1467,51 +1511,22 @@ static std::vector<Vec2d> get_path_of_change_filament(const Print& print)
|| is_ramming
|| tool_change_on_wipe_tower);
if (should_travel_to_tower || gcodegen.m_need_change_layer_lift_z) {
const bool travel_to_tower_now = should_travel_to_tower || gcodegen.m_need_change_layer_lift_z;
if (travel_to_tower_now) {
// FIXME: It would be better if the wipe tower set the force_travel flag for all toolchanges,
// then we could simplify the condition and make it more readable.
gcode += gcodegen.retract();
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once();
const Point start_wipe_pos = wipe_tower_point_to_object_point(gcodegen, start_pos + plate_origin_2d);
// With skip points enabled the tower wall has an opening at this tcr's start
// position: approach around the tower's bounding box and enter through it instead
// of dragging the oozing nozzle across the printed wall (append_tcr parity).
// Hops that already start inside the tower stay direct — they never cross the wall.
if (gcodegen.m_config.prime_tower_skip_points.value
&& gcodegen.m_config.wipe_tower_wall_type.value != WipeTowerWallType::wtwCone
&& !tcr.priming && gcodegen.last_pos_defined()) {
BoundingBox printer_bbx;
if (is_multi_nozzle_printer(gcodegen.m_config)) {
printer_bbx = get_extents(gcodegen.m_print->get_extruder_shared_printable_polygon());
printer_bbx.min = wipe_tower_point_to_object_point(gcodegen, unscaled<float>(printer_bbx.min) + plate_origin_2d);
printer_bbx.max = wipe_tower_point_to_object_point(gcodegen, unscaled<float>(printer_bbx.max) + plate_origin_2d);
} else {
Points bed_points;
for (const auto& p : gcodegen.m_config.printable_area.values)
bed_points.push_back(wipe_tower_point_to_object_point(gcodegen, p.cast<float>() + plate_origin_2d));
printer_bbx = BoundingBox(bed_points);
}
// Transform the tower-local bbx corners exactly like the tcr points (rib
// offset, rotation, tower position); a rotated tower gets a conservative
// axis-aligned envelope.
Polygon avoid_points = scaled(m_wipe_tower_bbx).polygon();
for (auto& p : avoid_points.points) {
Vec2f pp = transform_wt_pt(unscale(p).cast<float>());
p = wipe_tower_point_to_object_point(gcodegen, pp + plate_origin_2d);
}
BoundingBox avoid_bbx(avoid_points.points);
if (!avoid_bbx.contains(gcodegen.last_pos())) {
Polyline travel_polyline = generate_path_to_wipe_tower(gcodegen.last_pos(), start_wipe_pos, avoid_bbx, printer_bbx);
// The polyline's last point is start_wipe_pos itself — emitted below.
for (size_t i = 0; i + 1 < travel_polyline.points.size(); ++i)
gcode += gcodegen.travel_to(travel_polyline.points[i], erMixed, "Travel to a Wipe Tower");
}
}
if (!tcr.priming && gcodegen.last_pos_defined())
gcode += travel_to_tower_gap(gcodegen, gcodegen.last_pos(), start_wipe_pos);
gcode += gcodegen.travel_to(start_wipe_pos, erMixed, "Travel to a Wipe Tower");
gcode += gcodegen.unretract();
} else {
// When this is multiextruder printer without any ramming, we can just change
// the tool without travelling to the tower.
// the tool without travelling to the tower. The tower entry travel then lives
// inside the tcr gcode; with skip points on it is rerouted below, once the
// toolchange gcode (and the head position it ends at) is known.
}
if (will_go_down) {
@@ -1534,6 +1549,39 @@ static std::vector<Vec2d> get_path_of_change_filament(const Print& print)
toolchange_temp_override = interface_temp;
}
toolchange_gcode_str = gcodegen.set_extruder(new_extruder_id, tcr.print_z, false, toolchange_temp_override); // TODO: toolchange_z vs print_z
if (!travel_to_tower_now && !tcr.priming && needs_toolchange
&& gcodegen.m_config.prime_tower_skip_points.value
&& gcodegen.m_config.wipe_tower_wall_type.value != WipeTowerWallType::wtwCone) {
// The tool changed in place (multi-tool printer without ramming), so the
// tower entry is the tcr's own positioning move — a straight line across
// the printed wall. Route it around the tower and in through the wall
// opening instead, riding at the end of the change_filament_gcode
// substitution so the generator's positioning move degrades to a
// zero-length one (append_tcr parity: travel after the filament change,
// retracted, with the new filament).
Vec3f last_gcode_pos = gcodegen.writer().get_position().cast<float>();
Point route_start;
bool have_start = false;
if (GCodeProcessor::get_last_position_from_gcode(toolchange_gcode_str, last_gcode_pos)) {
// A custom change_filament_gcode may have moved the head (tool docks
// etc.); recover the real position from the emitted gcode.
route_start = gcodegen.gcode_to_point(Vec2d(last_gcode_pos.x(), last_gcode_pos.y()) + plate_origin_2d.cast<double>());
have_start = true;
} else if (gcodegen.last_pos_defined()) {
route_start = gcodegen.last_pos();
have_start = true;
}
if (have_start) {
gcodegen.set_last_pos(route_start);
gcodegen.m_avoid_crossing_perimeters.use_external_mp_once();
const Point start_wipe_pos = wipe_tower_point_to_object_point(gcodegen, start_pos + plate_origin_2d);
std::string travel = travel_to_tower_gap(gcodegen, route_start, start_wipe_pos);
travel += gcodegen.travel_to(start_wipe_pos, erMixed, "Travel to a Wipe Tower");
check_add_eol(travel);
toolchange_gcode_str += travel;
gcodegen.set_last_pos(start_wipe_pos);
}
}
if (gcodegen.config().enable_prime_tower) {
deretraction_str += gcodegen.writer().travel_to_z(z, "Force restore layer Z", true);
Vec3d position{gcodegen.writer().get_position()};

1
src/libslic3r/GCode.hpp
View File

@@ -132,6 +132,7 @@ private:
std::string append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id, double z = -1.) const;
Polyline generate_path_to_wipe_tower(const Point &start_pos, const Point &end_pos, const BoundingBox &avoid_polygon, const BoundingBox &printer_bbx) const;
std::string append_tcr2(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id, double z = -1.) const;
std::string travel_to_tower_gap(GCode &gcodegen, const Point &route_start, const Point &start_wipe_pos) const;
// Postprocesses gcode: rotates and moves G1 extrusions and returns result
std::string post_process_wipe_tower_moves(const WipeTower::ToolChangeResult& tcr, const Vec2f& translation, float angle) const;