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Part 3.1: refactor BeltTransform pipeline

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add BeltGCodeWriter

add BeltGCode

consolidate changes into shared classes for BeltGcode
This commit is contained in:
harrierpigeon
2026-03-30 13:25:40 -05:00
committed by Joseph Robertson
parent b297f68921
commit c7aa4ca3ef
24 changed files with 1522 additions and 1229 deletions
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src/libslic3r/GCodeWriter.cpp
+14 -113
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@@ -20,59 +20,6 @@ namespace Slic3r {
bool GCodeWriter::full_gcode_comment = true;
void GCodeWriter::set_belt_angle(double angle_deg)
{
m_belt_angle_rad = Geometry::deg2rad(angle_deg);
}
void GCodeWriter::set_axis_remap(int rx, int ry, int rz)
{
m_remap_x = rx;
m_remap_y = ry;
m_remap_z = rz;
}
void GCodeWriter::set_build_volume_max(const Vec3d &max)
{
m_build_vol_max = max;
}
void GCodeWriter::set_belt_back_transform(const PrintConfig &config)
{
m_belt_back_transform.init_from_config(config);
}
void GCodeWriter::set_origin_snap(int axis, bool enable, double offset, double bbox_min)
{
if (axis >= 0 && axis < 3) {
m_origin_snap[axis] = enable;
m_origin_offset[axis] = offset;
m_origin_bbox_min[axis] = bbox_min;
}
}
Vec3d GCodeWriter::to_machine_coords(const Vec3d &pos) const
{
if (!is_belt_printer())
return pos;
// Step 1: Undo the shear/scale applied during slicing.
Vec3d p = m_belt_back_transform.apply(pos);
// Step 2: Apply axis remapping for the machine's coordinate convention.
// BeltRemapAxis: 0-2 = +X/+Y/+Z, 3-5 = -X/-Y/-Z, 6-8 = Rev X/Y/Z
auto remap = [this, &p](int r) -> double {
int axis = r % 3;
if (r < 3) return p[axis];
if (r < 6) return -p[axis];
return m_build_vol_max[axis] - p[axis];
};
Vec3d result = { remap(m_remap_x), remap(m_remap_y), remap(m_remap_z) };
// Per-axis origin snap: shift so bbox min on each enabled axis = offset.
for (int i = 0; i < 3; ++i)
if (m_origin_snap[i])
result[i] -= (m_origin_bbox_min[i] - m_origin_offset[i]);
return result;
}
bool GCodeWriter::supports_separate_travel_acceleration(GCodeFlavor flavor)
{
return (flavor == gcfRepetier || flavor == gcfMarlinFirmware || flavor == gcfRepRapFirmware);
@@ -601,13 +548,7 @@ std::string GCodeWriter::travel_to_xy(const Vec2d &point, const std::string &com
Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
GCodeG1Formatter w;
if (is_belt_printer()) {
// Belt printer: transform to machine coordinates (XY travel also needs Z due to YZ rotation)
Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
w.emit_xyz(machine);
} else {
w.emit_xy(point_on_plate);
}
w.emit_xy(point_on_plate);
auto speed = m_is_first_layer
? this->config.get_abs_value("initial_layer_travel_speed") : this->config.travel_speed.value;
w.emit_f(speed * 60.0);
@@ -621,11 +562,6 @@ it will not perform subsequent lifts, even if Z was raised manually
(i.e. with travel_to_z()) and thus _lifted was reduced. */
std::string GCodeWriter::lazy_lift(LiftType lift_type, bool spiral_vase)
{
// Belt printer: force NormalLift since SpiralLift and SlopeLift compute slope angles
// that don't account for the YZ coordinate rotation.
if (is_belt_printer())
lift_type = LiftType::NormalLift;
// check whether the above/below conditions are met
double target_lift = 0;
{
@@ -654,8 +590,7 @@ std::string GCodeWriter::lazy_lift(LiftType lift_type, bool spiral_vase)
// BBS: immediately execute an undelayed lift move with a spiral lift pattern
// designed specifically for subsequent gcode injection (e.g. timelapse)
std::string GCodeWriter::eager_lift(const LiftType type) {
// Belt printer: force NormalLift (SpiralLift/SlopeLift don't account for YZ rotation).
const LiftType effective_type = is_belt_printer() ? LiftType::NormalLift : type;
const LiftType effective_type = type;
std::string lift_move;
double target_lift = 0;
{
@@ -742,8 +677,6 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
// / to make the z list early to avoid to hit some warping place when travel is long.
Vec2d temp = delta_no_z.normalized() * delta(2) / tan(this->filament()->travel_slope());
Vec3d slope_top_point = Vec3d(temp(0), temp(1), delta(2)) + source;
if (is_belt_printer())
slope_top_point = to_machine_coords(slope_top_point);
GCodeG1Formatter w0;
w0.emit_xyz(slope_top_point);
w0.emit_f(travel_speed * 60.0);
@@ -758,27 +691,18 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
std::string xy_z_move;
{
Vec3d emit_target = is_belt_printer() ? to_machine_coords(target) : target;
GCodeG1Formatter w0;
if (this->is_current_position_clear()) {
w0.emit_xyz(emit_target);
w0.emit_xyz(target);
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string();
}
else {
if (is_belt_printer()) {
// Belt mode: can't split XY and Z moves independently, emit full XYZ
w0.emit_xyz(emit_target);
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string();
} else {
w0.emit_xy(Vec2d(target.x(), target.y()));
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string() + _travel_to_z(target.z(), comment);
}
w0.emit_xy(Vec2d(target.x(), target.y()));
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string() + _travel_to_z(target.z(), comment);
}
}
m_pos = dest_point;
@@ -804,25 +728,15 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
//BBS: take plate offset into consider
Vec3d point_on_plate = { dest_point(0) - m_x_offset, dest_point(1) - m_y_offset, dest_point(2) };
if (is_belt_printer())
point_on_plate = to_machine_coords(point_on_plate);
std::string out_string;
GCodeG1Formatter w;
if (!this->is_current_position_clear())
{
if (is_belt_printer()) {
// Belt mode: emit full XYZ since Y and Z are coupled
w.emit_xyz(point_on_plate);
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string();
} else {
//force to move xy first then z after filament change
w.emit_xy(Vec2d(point_on_plate.x(), point_on_plate.y()));
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string() + _travel_to_z(point_on_plate.z(), comment);
}
//force to move xy first then z after filament change
w.emit_xy(Vec2d(point_on_plate.x(), point_on_plate.y()));
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string() + _travel_to_z(point_on_plate.z(), comment);
} else {
GCodeG1Formatter w;
w.emit_xyz(point_on_plate);
@@ -866,13 +780,7 @@ std::string GCodeWriter::_travel_to_z(double z, const std::string &comment)
}
GCodeG1Formatter w;
if (is_belt_printer()) {
// Belt printer: a Z-only move in slicing frame needs to emit both Y and Z in machine coords.
Vec3d machine = to_machine_coords(Vec3d(m_pos.x() - m_x_offset, m_pos.y() - m_y_offset, z));
w.emit_xyz(machine);
} else {
w.emit_z(z);
}
w.emit_z(z);
w.emit_f(speed * 60.0);
//BBS
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
@@ -977,12 +885,7 @@ std::string GCodeWriter::extrude_to_xy(const Vec2d &point, double dE, const std:
Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
GCodeG1Formatter w;
if (is_belt_printer()) {
Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
w.emit_xyz(machine);
} else {
w.emit_xy(point_on_plate);
}
w.emit_xy(point_on_plate);
if (!force_no_extrusion)
w.emit_e(filament()->E());
//BBS
@@ -1023,8 +926,6 @@ std::string GCodeWriter::extrude_to_xyz(const Vec3d &point, double dE, const std
Vec3d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset, point(2) };
GCodeG1Formatter w;
if (is_belt_printer())
point_on_plate = to_machine_coords(point_on_plate);
w.emit_xyz(point_on_plate);
if (!force_no_extrusion)
w.emit_e(filament()->E());