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harrierpigeon
2c0570c97d
The MachineKinematics comments pointed at docs/superpowers plan files, which are gitignored working notes.
107 lines
4.7 KiB
C++
107 lines
4.7 KiB
C++
#ifndef slic3r_MachineKinematics_hpp_
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#define slic3r_MachineKinematics_hpp_
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#include "../Point.hpp"
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namespace Slic3r {
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// The frame contract for emitted movement.
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//
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// GCodeWriter produces points in the *logical placed* frame: plate offsets have
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// already been subtracted, but no machine-specific mapping has been applied.
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// A MachineKinematics turns that into the coordinates actually written to
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// G-code, and answers the two structural questions the writer needs in order to
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// decide which axis words it may omit.
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//
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// This is a seam for writer-generated movement only. Start/end/custom G-code,
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// classic wipe-tower output and GCodeWriter::extrude_arc_to_xy() do NOT pass
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// through it: they write machine coordinates directly.
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class MachineKinematics
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{
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public:
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virtual ~MachineKinematics() = default;
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// Logical placed point -> emitted machine point.
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virtual Vec3d to_machine(const Vec3d &p) const = 0;
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// Inverse of to_machine(), back to the logical placed frame. Intended for
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// consumers that must reconstruct model coordinates from emitted G-code
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// (the G-code viewer's upright preview).
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virtual Vec3d to_logical(const Vec3d &machine) const = 0;
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// Machine point -> build-volume frame, for bounds validation only. This is
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// deliberately NOT to_logical(): the build-volume check wants the physical
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// frame the printable area is expressed in, not the model frame. Keeping
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// them separate stops the two contracts from being confused.
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virtual Vec3d to_build_volume(const Vec3d &machine) const = 0;
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// True when a move must emit X, Y and Z because omitting a word would be
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// wrong under this mapping. Deliberately not called "couples_axes": a pure
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// axis permutation forces full emission without physically coupling axes.
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virtual bool must_emit_all_axes() const = 0;
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// True when a lift must be suppressed while the current position is unknown,
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// because _travel_to_z() re-emits the logical X/Y through this mapping and an
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// uninitialised position would map to a bogus machine point -- for a reverse
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// mapping, the far corner of the bed.
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virtual bool suppress_lift_at_unknown_position() const = 0;
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// True when a G2/G3 arc in the logical XY plane is still the same arc in the
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// machine frame. Arc moves emit only X, Y, I and J, so this asks a narrower
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// question than must_emit_all_axes(): whether logical X and Y reach the
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// machine unchanged. A mapping that only negates or reverses Z keeps its
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// arcs; one that permutes X or Y moves the arc out of the plane that I/J
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// describes, and a shear turns the circle into an ellipse G2/G3 cannot
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// express at all.
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virtual bool supports_arc_moves() const = 0;
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// Configuration. GCodeWriter forwards its setters here so that the state
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// lives with the strategy and a strategy installed before the setters run
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// still receives it.
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virtual void set_axis_remap(int rx, int ry, int rz) = 0;
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virtual void set_build_volume_max(const Vec3d &max) = 0;
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};
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// Axis remap only -- the historical GCodeWriter behaviour, moved verbatim.
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//
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// The remap encodes, per output axis, which source axis feeds it and how:
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// r < 3 : source axis r, unchanged
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// r < 6 : source axis r-3, negated
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// else : source axis r-6, reversed within the build volume
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class CartesianKinematics : public MachineKinematics
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{
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public:
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Vec3d to_machine(const Vec3d &p) const override;
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Vec3d to_logical(const Vec3d &machine) const override;
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Vec3d to_build_volume(const Vec3d &machine) const override { return machine; }
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bool must_emit_all_axes() const override { return this->has_axis_remap(); }
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bool suppress_lift_at_unknown_position() const override { return this->has_axis_remap(); }
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// X and Y must reach the machine untouched. Because the remap is a
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// permutation, pinning those two also pins Z to Z, so a mapping that only
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// negates or reverses Z still supports arcs -- every word a G2/G3 emits is
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// unchanged by it.
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bool supports_arc_moves() const override { return m_remap_x == 0 && m_remap_y == 1; }
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void set_axis_remap(int rx, int ry, int rz) override
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{ m_remap_x = rx; m_remap_y = ry; m_remap_z = rz; }
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void set_build_volume_max(const Vec3d &max) override { m_build_vol_max = max; }
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bool has_axis_remap() const
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{ return m_remap_x != 0 || m_remap_y != 1 || m_remap_z != 2; }
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protected:
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Vec3d apply_axis_remap(const Vec3d &pos) const;
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Vec3d apply_axis_remap_inverse(const Vec3d &pos) const;
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int m_remap_x { 0 };
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int m_remap_y { 1 };
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int m_remap_z { 2 };
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Vec3d m_build_vol_max { Vec3d::Zero() };
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};
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} // namespace Slic3r
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#endif // slic3r_MachineKinematics_hpp_
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