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checkpoint belt work

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This commit is contained in:
Stewart Allen 2021-01-09 19:10:39 -05:00
commit 44d54491d7
6 changed files with 103 additions and 116 deletions
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8
src/kiri/main.js
View file

@ -978,9 +978,9 @@
if (settings.device.bedBelt && WIDGETS[0].rotinfo) { if (settings.device.bedBelt && WIDGETS[0].rotinfo) {
let ri = WIDGETS[0].rotinfo; let ri = WIDGETS[0].rotinfo;
// console.log(ri) // console.log(ri)
ri.dy = ri.dz = 0; // ri.dy = ri.dz = 0;
ri.dy = settings.device.bedDepth / 2 - ri.ypos; // ri.dy = settings.device.bedDepth / 2 - ri.ypos;
stack.obj.rotate(WIDGETS[0].rotinfo); // stack.obj.rotate(WIDGETS[0].rotinfo);
} }
segtimes[`${segNumber}_draw`] = Date.now() - startTime; segtimes[`${segNumber}_draw`] = Date.now() - startTime;
} }
@ -1688,7 +1688,7 @@
if (isBelt) { if (isBelt) {
let bounds = platformUpdateBounds(), let bounds = platformUpdateBounds(),
movey = -(dev.bedDepth / 2 + bounds.min.y); movey = -(dev.bedDepth / 2 + bounds.min.y);
forAllWidgets(widget => widget.move(0, movey + 10, 0)); forAllWidgets(widget => widget.move(0, movey + 0, 0));
} }
platform.update_origin(); platform.update_origin();

12
src/kiri/print.js
View file

@ -100,6 +100,7 @@
const scope = this, const scope = this,
morph = false, morph = false,
// morph = true,
bounds = scope.bounds = { bounds = scope.bounds = {
max: { x:-Infinity, y:-Infinity, z:-Infinity}, max: { x:-Infinity, y:-Infinity, z:-Infinity},
min: { x:Infinity, y:Infinity, z:Infinity} min: { x:Infinity, y:Infinity, z:Infinity}
@ -166,8 +167,8 @@
); );
if (morph && belt) { if (morph && belt) {
point.z *= beltfact;
point.y -= point.z * beltfact; point.y -= point.z * beltfact;
point.z *= beltfact;
} }
const retract = (fdm && pos.E < 0) || undefined; const retract = (fdm && pos.E < 0) || undefined;
@ -226,16 +227,23 @@
lastPos = Object.assign({}, pos); lastPos = Object.assign({}, pos);
} }
lines.forEach(function(line) { lines.forEach(function(line, idx) {
if (idx < 10) console.log({line})
if (line.indexOf(';LAYER:') === 0) {
newlayer = true;
if (idx < 100) console.log({newlayer});
}
if (line.indexOf('- LAYER ') > 0) { if (line.indexOf('- LAYER ') > 0) {
seq.height = defh; seq.height = defh;
const hd = line.replace('(','').replace(')','').split(' '); const hd = line.replace('(','').replace(')','').split(' ');
defh = parseFloat(hd[4]); defh = parseFloat(hd[4]);
if (fdm) dz = -defh / 2; if (fdm) dz = -defh / 2;
newlayer = true; newlayer = true;
if (idx < 100) console.log({layer: defh});
} }
if (line.indexOf("BED TYPE: BELT") > 0) { if (line.indexOf("BED TYPE: BELT") > 0) {
belt = true; belt = true;
if (idx < 100) console.log({isbelt: belt});
} }
line = line.split(";")[0].split(" ").filter(v => v); line = line.split(";")[0].split(" ").filter(v => v);
let cmd = line.shift(); let cmd = line.shift();

6
src/kiri/worker.js
View file

@ -74,7 +74,9 @@ KIRI.worker = {
let rotation = (Math.PI/180) * (settings.device.bedBelt ? 45 : 0); let rotation = (Math.PI/180) * (settings.device.bedBelt ? 45 : 0);
if (rotation) { if (rotation) {
let bounds = widget.getBoundingBox(true);
let track = widget.track; let track = widget.track;
// console.log(widget.id, '\n', track.pos, '\n', track.box, '\n', '\n---\n')
xpos = track.pos.x; xpos = track.pos.x;
ypos = track.pos.y + settings.device.bedDepth / 2 - track.box.h / 2; ypos = track.pos.y + settings.device.bedDepth / 2 - track.box.h / 2;
widget.mesh = null; widget.mesh = null;
@ -83,7 +85,7 @@ KIRI.worker = {
widget._rotate(rotation,0,0,true); widget._rotate(rotation,0,0,true);
widget.center(false, true); widget.center(false, true);
widget.getBoundingBox(true); widget.getBoundingBox(true);
widget.belt = { ypos }; widget.belt = { xpos, ypos };
} }
widget.slice(settings, function(error) { widget.slice(settings, function(error) {
@ -106,9 +108,11 @@ KIRI.worker = {
widget.setPoints(null); widget.setPoints(null);
widget._rotate(-rotation,0,0,true); widget._rotate(-rotation,0,0,true);
let wbb = widget.getBoundingBox(true); let wbb = widget.getBoundingBox(true);
widget.center(false, true);
let dy = (wbb.max.y + wbb.min.y)/2; let dy = (wbb.max.y + wbb.min.y)/2;
let dz = wbb.min.z; let dz = wbb.min.z;
widget.rotinfo = { angle: 45, dy, dz, xpos, ypos }; widget.rotinfo = { angle: 45, dy, dz, xpos, ypos };
// console.log(widget.id, '\n', widget.belt, '\n', widget.rotinfo, '\n===\n')
send.data({ rotinfo: widget.rotinfo }); send.data({ rotinfo: widget.rotinfo });
} }
} }

15
src/mode/fdm/export.js
View file

@ -22,7 +22,7 @@
gcodeLayer = device.gcodeLayer, gcodeLayer = device.gcodeLayer,
gcodeTrack = device.gcodeTrack, gcodeTrack = device.gcodeTrack,
tool = 0, tool = 0,
isBelt = false && device.bedBelt, isBelt = device.bedBelt,
bedType = isBelt ? "belt" : "fixed", bedType = isBelt ? "belt" : "fixed",
extruder = extruders[tool], extruder = extruders[tool],
offset_x = extruder.extOffsetX, offset_x = extruder.extOffsetX,
@ -77,7 +77,7 @@
bytes = 0, bytes = 0,
bcos = Math.cos(Math.PI/4), bcos = Math.cos(Math.PI/4),
icos = 1 / bcos; icos = 1 / bcos;
console.log({isBelt, offset});
(process.gcodePauseLayers || "").split(",").forEach(function(lv) { (process.gcodePauseLayers || "").split(",").forEach(function(lv) {
let v = parseInt(lv); let v = parseInt(lv);
if (v >= 0) pause.push(v); if (v >= 0) pause.push(v);
@ -199,14 +199,11 @@
} }
let epos = isBelt ? { x: pos.x, y: pos.y, z: pos.z } : pos; let epos = isBelt ? { x: pos.x, y: pos.y, z: pos.z } : pos;
if (isBelt) { if (isBelt) {
// let rpos = new THREE.Vector3(pos.x, pos.y, pos.z);
// rpos.applyAxisAngle( taxis, angle );
// epos.x = rpos.x;
// epos.y = rpos.z * icos;
// epos.z = rpos.y + (bcos * rpos.z);
epos.x = pos.x; epos.x = pos.x;
epos.z = pos.z * icos; epos.z = pos.z * icos;
epos.y = pos.y + epos.z * bcos; epos.y = pos.y + epos.z * bcos;
// epos.z = pos.y * icos;
// epos.y = pos.z + (pos.y * icos) * bcos;
} }
if (emit.x) o.append(" X").append(epos.x.toFixed(decimals)); if (emit.x) o.append(" X").append(epos.x.toFixed(decimals));
if (emit.y) o.append(" Y").append(epos.y.toFixed(decimals)); if (emit.y) o.append(" Y").append(epos.y.toFixed(decimals));
@ -253,7 +250,8 @@
path.layer === 0 ? path.layer === 0 ?
(process.firstSliceHeight || process.sliceHeight) : path.height); (process.firstSliceHeight || process.sliceHeight) : path.height);
subst.z = (zpos + path.height).toFixed(3); subst.z = zpos = path.z;
// subst.z = (zpos + path.height).toFixed(3);
subst.Z = subst.z; subst.Z = subst.z;
subst.layer = layer; subst.layer = layer;
subst.height = path.height.toFixed(3); subst.height = path.height.toFixed(3);
@ -293,7 +291,6 @@
} }
// move Z to layer height // move Z to layer height
zpos += path.height;
if (layer > 0 || !isBelt) { if (layer > 0 || !isBelt) {
moveTo({z:zpos}, seekMMM); moveTo({z:zpos}, seekMMM);
} }

150
src/mode/fdm/prepare.js
View file

@ -46,7 +46,9 @@
isThin = settings.controller.lineType === "line", isThin = settings.controller.lineType === "line",
isFlat = settings.controller.lineType === "flat", isFlat = settings.controller.lineType === "flat",
isBelt = device.bedBelt, isBelt = device.bedBelt,
beltYoff = device.bedDepth / 2; beltYoff = device.bedDepth / 2,
bcos = Math.cos(Math.PI/4),
icos = 1 / bcos;
// compute bounds if missing // compute bounds if missing
if (!bounds) { if (!bounds) {
@ -285,42 +287,45 @@
} }
} }
const center = {x:0, y:0, z:0}; // establish offsets
for (let widget of widgets) {
// increment layer count until no widget has remaining slices let offset = widget.mesh ? Object.clone(widget.mesh.position) : {x:0, y:0, z:0};
for (;;) {
// create list of mesh slice arrays with their platform offsets
for (meshIndex = 0; meshIndex < widgets.length; meshIndex++) {
let mesh = widgets[meshIndex].mesh;
if (!mesh.widget) {
continue;
}
let widget = mesh.widget;
let mslices = widget.slices;
if (mslices && mslices[layer]) {
let offset = Object.clone(mesh.position || center);
if (isBelt) { if (isBelt) {
offset = center;
offset.x = widget.rotinfo.xpos; offset.x = widget.rotinfo.xpos;
offset.y = widget.rotinfo.dz; offset.y = widget.belt.miny;
offset.z = widget.rotinfo.ypos; offset.y += widget.rotinfo.ypos * bcos;
offset.z = widget.rotinfo.ypos * bcos;
} else { } else {
// when rafts used this is non-zero // when rafts used this is non-zero
offset.z = zoff; offset.z = zoff;
} }
slices.push({ widget.offset = offset;
slice: mslices[layer], }
offset: offset,
widget: widget // create shuffled slice cake by z offset (slice.z + offset.z)
let cake = [];
let zrec = {};
for (let widget of widgets) {
// skip synthesized support widget(s)
if (!widget.mesh) {
continue;
}
for (let slice of widget.slices) {
slice.widget = widget;
let z = slice.z + widget.offset.z;
let rec = zrec[z] = zrec[z] || {z, slices:[]};
if (rec.slices.length === 0) {
cake.push(rec);
}
rec.slices.push(slice);
}
}
cake.sort((a, b) => {
return a.z - b.z;
}); });
}
}
// exit if no slices
if (slices.length === 0) {
break;
}
// walk cake layers bottom up
for (let layer of cake) {
// track purge blocks generated for each layer // track purge blocks generated for each layer
let track = extruders.slice(); let track = extruders.slice();
let lastOut; let lastOut;
@ -328,58 +333,55 @@
// iterate over layer slices, find closest widget, print, eliminate // iterate over layer slices, find closest widget, print, eliminate
for (;;) { for (;;) {
closest = null;
mindist = Infinity;
let order = []; let order = [];
// select slices of the same extruder type first then distance // select slices of the same extruder type first then distance
for (meshIndex = 0; meshIndex < slices.length; meshIndex++) { for (let slice of layer.slices) {
sliceEntry = slices[meshIndex]; if (slice.prep) {
if (sliceEntry) { continue;
find = sliceEntry.slice.findClosestPointTo(printPoint.sub(sliceEntry.offset)); }
let offset = slice.widget.offset;
let find = slice.findClosestPointTo(printPoint.sub(offset));
if (find) { if (find) {
let ext = sliceEntry.slice.extruder; let ext = slice.extruder;
let lex = lastOut ? lastOut.extruder : ext; let lex = lastOut ? lastOut.extruder : ext;
let dst = Math.abs(find.distance); let dst = Math.abs(find.distance);
if (ext !== lex) dst *= 10000; // penalize extruder swaps
order.push({dst,sliceEntry,meshIndex}); if (ext !== lex) {
dst *= 10000;
}
order.push({dst, slice, offset, z: layer.z});
} }
} }
if (order.length === 0) {
break;
} }
order.sort((a,b) => { order.sort((a,b) => {
return a.dst - b.dst; return a.dst - b.dst;
}); });
if (order.length) { let { z, slice, offset } = order[0];
let find = order.shift(); slice.prep = true;
closest = find.sliceEntry;
minidx = find.meshIndex;
}
if (!closest) {
if (sliceEntry) lastOut = sliceEntry.slice;
break;
}
// retract between widgets // retract between widgets
if (layerout.length && minidx !== lastIndex) { if (layerout.length && minidx !== lastIndex) {
layerout.last().retract = true; layerout.last().retract = true;
} }
layerout.height = layerout.height || closest.slice.height; layerout.z = z;
slices[minidx] = null; layerout.height = layerout.height || slice.height;
// detect extruder change and print purge block // detect extruder change and print purge block
if (!lastOut || lastOut.extruder !== closest.slice.extruder) { if (!lastOut || lastOut.extruder !== slice.extruder) {
printPoint = purge(closest.slice.extruder, track, layerout, printPoint, closest.slice.z); printPoint = purge(slice.extruder, track, layerout, printPoint, slice.z);
} }
// output seek to start point between mesh slices if previous data // output seek to start point between mesh slices if previous data
printPoint = print.slicePrintPath( printPoint = print.slicePrintPath(
closest.slice, slice,
printPoint.sub(closest.offset), printPoint.sub(offset),
closest.offset, offset,
layerout, layerout,
{ {
first: closest.slice.index === 0, first: slice.index === 0,
support: closest.widget.support support: slice.widget.support
} }
); );
lastOut = closest.slice; lastOut = slice;
lastExt = lastOut.ext lastExt = lastOut.ext
lastIndex = minidx; lastIndex = minidx;
} }
@ -393,7 +395,9 @@
}); });
// if layer produced output, append to output array // if layer produced output, append to output array
if (layerout.length) output.append(layerout); if (layerout.length) {
output.append(layerout);
}
// retract after last layer // retract after last layer
if (layer === maxLayers && layerout.length) { if (layer === maxLayers && layerout.length) {
@ -411,30 +415,6 @@
print.output = output; print.output = output;
// if belt, adjust z and y to baselines
function beltSkew() {
let bcos = Math.cos(Math.PI/4);
let icos = 1/bcos;
let miny = Infinity, minz = Infinity;
for (let layer of output) {
for (let rec of layer) {
rec.point.z = rec.point.z * icos;
rec.point.y = rec.point.y + rec.point.z * bcos;
miny = Math.min(miny, rec.point.y);
minz = Math.min(minz, rec.point.y);
}
}
if (miny || minz) {
console.log({miny, minz})
for (let layer of output) {
for (let rec of layer) {
rec.point.y -= minz;
rec.point.z -= miny;
}
}
}
}
// render if not explicitly disabled // render if not explicitly disabled
if (render) { if (render) {
print.render = FDM.prepareRender(output, (progress, layer) => { print.render = FDM.prepareRender(output, (progress, layer) => {
@ -442,10 +422,6 @@
}, { tools: device.extruders, thin: isThin, flat: isFlat, fdm: true }); }, { tools: device.extruders, thin: isThin, flat: isFlat, fdm: true });
} }
if (isBelt) {
beltSkew();
}
return print.render; return print.render;
}; };

12
src/mode/fdm/slice.js
View file

@ -273,11 +273,13 @@
for (let top of slices[0].tops) { for (let top of slices[0].tops) {
bounds.merge(top.poly.bounds); bounds.merge(top.poly.bounds);
} }
widget.belt = { widget.belt.miny = -bounds.miny;
offset_y: bounds.miny, // widget.belt.yy2 = sdev.bedDepth / 2 + widget.track.pos.y;
pos_y: sdev.bedDepth / 2 + widget.track.pos.y, // widget.belt = {
ypos: widget.belt.ypos // offset_y: bounds.miny,
}; // pos_y: sdev.bedDepth / 2 + widget.track.pos.y,
// ypos: widget.belt.ypos
// };
} }
// report slicing complete // report slicing complete