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https://github.com/OrcaSlicer/OrcaSlicer.git
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Part 3.1: refactor BeltTransform pipeline
add BeltGCodeWriter add BeltGCode consolidate changes into shared classes for BeltGcode
This commit is contained in:
harrierpigeon
committed by
Joseph Robertson
Joseph Robertson
parent
b297f68921
commit
c7aa4ca3ef
@@ -0,0 +1,243 @@
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#include "BeltGCodeWriter.hpp"
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#include "Geometry.hpp"
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namespace Slic3r {
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// ---- Belt configuration ---------------------------------------------------
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void BeltGCodeWriter::set_belt_angle(double angle_deg)
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{
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m_belt_angle_rad = Geometry::deg2rad(angle_deg);
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}
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void BeltGCodeWriter::set_axis_remap(int rx, int ry, int rz)
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{
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m_remap_x = rx;
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m_remap_y = ry;
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m_remap_z = rz;
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}
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void BeltGCodeWriter::set_build_volume_max(const Vec3d &max)
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{
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m_build_vol_max = max;
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}
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void BeltGCodeWriter::set_belt_back_transform(const PrintConfig &config)
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{
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m_belt_back_transform.init_from_config(config);
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}
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void BeltGCodeWriter::set_origin_snap(int axis, bool enable, double offset, double bbox_min)
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{
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if (axis >= 0 && axis < 3) {
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m_origin_snap[axis] = enable;
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m_origin_offset[axis] = offset;
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m_origin_bbox_min[axis] = bbox_min;
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}
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}
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Vec3d BeltGCodeWriter::to_machine_coords(const Vec3d &pos) const
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{
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// Step 1: Undo the shear/scale applied during slicing.
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Vec3d p = m_belt_back_transform.apply(pos);
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// Step 2: Apply axis remapping for the machine's coordinate convention.
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// BeltRemapAxis: 0-2 = +X/+Y/+Z, 3-5 = -X/-Y/-Z, 6-8 = Rev X/Y/Z
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auto remap = [this, &p](int r) -> double {
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int axis = r % 3;
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if (r < 3) return p[axis];
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if (r < 6) return -p[axis];
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return m_build_vol_max[axis] - p[axis];
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};
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Vec3d result = { remap(m_remap_x), remap(m_remap_y), remap(m_remap_z) };
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// Per-axis origin snap: shift so bbox min on each enabled axis = offset.
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for (int i = 0; i < 3; ++i)
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if (m_origin_snap[i])
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result[i] -= (m_origin_bbox_min[i] - m_origin_offset[i]);
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return result;
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}
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// ---- Overridden movement methods ------------------------------------------
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std::string BeltGCodeWriter::travel_to_xy(const Vec2d &point, const std::string &comment)
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{
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m_pos(0) = point(0);
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m_pos(1) = point(1);
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this->set_current_position_clear(true);
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Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
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// Belt printer: transform to machine coordinates (XY travel also needs Z due to YZ rotation)
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Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
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GCodeG1Formatter w;
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w.emit_xyz(machine);
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auto speed = m_is_first_layer
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? this->config.get_abs_value("initial_layer_travel_speed") : this->config.travel_speed.value;
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w.emit_f(speed * 60.0);
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w.emit_comment(GCodeWriter::full_gcode_comment, comment);
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return w.string();
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}
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std::string BeltGCodeWriter::lazy_lift(LiftType lift_type, bool spiral_vase)
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{
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// Belt printer: force NormalLift since SpiralLift and SlopeLift compute
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// slope angles that don't account for the YZ coordinate rotation.
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return GCodeWriter::lazy_lift(LiftType::NormalLift, spiral_vase);
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}
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std::string BeltGCodeWriter::eager_lift(const LiftType type)
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{
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// Belt printer: force NormalLift (SpiralLift/SlopeLift don't account for YZ rotation).
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return GCodeWriter::eager_lift(LiftType::NormalLift);
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}
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std::string BeltGCodeWriter::_travel_to_z(double z, const std::string &comment)
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{
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m_pos(2) = z;
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double speed = this->config.travel_speed_z.value;
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if (speed == 0.) {
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speed = m_is_first_layer ? this->config.get_abs_value("initial_layer_travel_speed")
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: this->config.travel_speed.value;
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}
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// Belt printer: a Z-only move in slicing frame needs to emit both Y and Z in machine coords.
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Vec3d machine = to_machine_coords(Vec3d(m_pos.x() - m_x_offset, m_pos.y() - m_y_offset, z));
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GCodeG1Formatter w;
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w.emit_xyz(machine);
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w.emit_f(speed * 60.0);
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w.emit_comment(GCodeWriter::full_gcode_comment, comment);
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return w.string();
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}
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std::string BeltGCodeWriter::extrude_to_xy(const Vec2d &point, double dE, const std::string &comment, bool force_no_extrusion)
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{
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m_pos(0) = point(0);
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m_pos(1) = point(1);
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if (std::abs(dE) <= std::numeric_limits<double>::epsilon())
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force_no_extrusion = true;
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if (!force_no_extrusion)
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filament()->extrude(dE);
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Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
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// Belt printer: transform and emit XYZ (Y and Z are coupled)
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Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
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GCodeG1Formatter w;
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w.emit_xyz(machine);
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if (!force_no_extrusion)
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w.emit_e(filament()->E());
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w.emit_comment(GCodeWriter::full_gcode_comment, comment);
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return w.string();
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}
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std::string BeltGCodeWriter::extrude_to_xyz(const Vec3d &point, double dE, const std::string &comment, bool force_no_extrusion)
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{
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m_pos = point;
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m_lifted = 0;
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if (!force_no_extrusion)
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filament()->extrude(dE);
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Vec3d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset, point(2) };
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point_on_plate = to_machine_coords(point_on_plate);
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GCodeG1Formatter w;
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w.emit_xyz(point_on_plate);
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if (!force_no_extrusion)
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w.emit_e(filament()->E());
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w.emit_comment(GCodeWriter::full_gcode_comment, comment);
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return w.string();
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}
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std::string BeltGCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &comment, bool force_z)
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{
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// Belt-specific override of travel_to_xyz.
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// Key differences from base:
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// 1. All coordinates go through to_machine_coords()
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// 2. Always emit full XYZ (can't split XY and Z due to coupling)
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// 3. Lift type forced to NormalLift (handled by lazy_lift/eager_lift overrides)
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Vec3d dest_point = point;
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auto travel_speed =
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m_is_first_layer ? this->config.get_abs_value("initial_layer_travel_speed") : this->config.travel_speed.value;
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// Handle pending z_hop
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if (std::abs(m_to_lift) > EPSILON) {
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assert(std::abs(m_lifted) < EPSILON);
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if ((!this->is_current_position_clear() || m_pos != dest_point) &&
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m_to_lift + m_pos(2) > point(2)) {
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m_lifted = m_to_lift + m_pos(2) - point(2);
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dest_point(2) = m_to_lift + m_pos(2);
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}
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m_to_lift = 0.;
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std::string slop_move;
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Vec3d source = { m_pos(0) - m_x_offset, m_pos(1) - m_y_offset, m_pos(2) };
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Vec3d target = { dest_point(0) - m_x_offset, dest_point(1) - m_y_offset, dest_point(2) };
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Vec3d delta = target - source;
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Vec2d delta_no_z = { delta(0), delta(1) };
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if (delta(2) > 0 && delta_no_z.norm() != 0.0f) {
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// Belt: SpiralLift and SlopeLift are disabled (lazy_lift forces NormalLift),
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// but handle NormalLift and fallthrough.
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if (m_to_lift_type == LiftType::SlopeLift &&
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this->is_current_position_clear() &&
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atan2(delta(2), delta_no_z.norm()) < this->filament()->travel_slope()) {
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Vec2d temp = delta_no_z.normalized() * delta(2) / tan(this->filament()->travel_slope());
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Vec3d slope_top_point = Vec3d(temp(0), temp(1), delta(2)) + source;
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slope_top_point = to_machine_coords(slope_top_point);
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GCodeG1Formatter w0;
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w0.emit_xyz(slope_top_point);
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w0.emit_f(travel_speed * 60.0);
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w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
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slop_move = w0.string();
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}
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else if (m_to_lift_type == LiftType::NormalLift) {
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slop_move = _travel_to_z(target.z(), "normal lift Z");
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}
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}
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std::string xy_z_move;
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{
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Vec3d emit_target = to_machine_coords(target);
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GCodeG1Formatter w0;
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// Belt mode: always emit full XYZ since Y and Z are coupled
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w0.emit_xyz(emit_target);
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w0.emit_f(travel_speed * 60.0);
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w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
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xy_z_move = w0.string();
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}
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m_pos = dest_point;
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this->set_current_position_clear(true);
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return slop_move + xy_z_move;
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}
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else if (!force_z && !this->will_move_z(point(2))) {
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double nominal_z = m_pos(2) - m_lifted;
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m_lifted -= (point(2) - nominal_z);
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if (std::abs(m_lifted) < EPSILON)
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m_lifted = 0.;
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this->set_current_position_clear(true);
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return this->travel_to_xy(to_2d(point));
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}
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else {
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m_lifted = 0;
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}
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Vec3d point_on_plate = { dest_point(0) - m_x_offset, dest_point(1) - m_y_offset, dest_point(2) };
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point_on_plate = to_machine_coords(point_on_plate);
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// Belt mode: always emit full XYZ
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GCodeG1Formatter w;
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w.emit_xyz(point_on_plate);
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w.emit_f(this->config.travel_speed.value * 60.0);
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w.emit_comment(GCodeWriter::full_gcode_comment, comment);
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m_pos = dest_point;
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this->set_current_position_clear(true);
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return w.string();
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}
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} // namespace Slic3r
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