710 lines
28 KiB
JavaScript
710 lines
28 KiB
JavaScript
/** Copyright Stewart Allen <sa@grid.space> -- All Rights Reserved */
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"use strict";
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(function() {
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let KIRI = self.kiri,
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BASE = self.base,
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UTIL = BASE.util,
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FDM = KIRI.driver.FDM,
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debug = false;
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/**
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* @returns {Array} gcode lines
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*/
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FDM.export = function(print, online) {
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let layers = print.output,
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settings = FDM.fixExtruders(print.settings),
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getRangeParameters = FDM.getRangeParameters,
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device = settings.device,
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extruders = device.extruders,
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gcodeFan = device.gcodeFan,
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gcodeLayer = device.gcodeLayer,
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gcodeTrack = device.gcodeTrack,
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gcodeExt = device.gcodeExt,
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gcodeInt = device.gcodeInt,
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tool = 0,
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fwRetract = device.fwRetract,
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isDanger = settings.controller.danger,
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isBelt = device.bedBelt,
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bedType = isBelt ? "belt" : "fixed",
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extruder = extruders[tool],
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offset_x = extruder.extOffsetX,
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offset_y = extruder.extOffsetY,
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extrudeAbs = device.extrudeAbs || false,
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extrudeSet = false,
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time = 0,
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layer = 0,
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layerno = 0,
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pause = [],
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pauseCmd = device.gcodePause,
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output = [],
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outputLength = 0, // absolute extruder position
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lastProgress = 0,
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decimals = BASE.config.gcode_decimals || 4,
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progress = 0,
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distance = 0,
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emitted = 0,
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retracted = 0,
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pos = {x:0, y:0, z:0, f:0},
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lout = null,
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last = null,
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zpos = 0,
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bmax = 0,
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blast = 0,
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blastz = 0,
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process = settings.process,
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belt_add_y = (process.firstLayerYOffset || 0) - (print.belty || 0),
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loops = process.outputLoops || 0,
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zhop = process.zHopDistance || 0, // range
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seekMMM = process.outputSeekrate * 60,
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retDist = process.outputRetractDist || 0, // range
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retSpeed = process.outputRetractSpeed * 60, // range
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retDwell = process.outputRetractDwell || 0, // range
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timeDwell = retDwell / 1000,
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peelGuard = process.outputPeelGuard || 0,
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arcDist = isBelt || !isDanger ? 0 : (process.arcTolerance || 0),
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arcMin = 1,
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arcMax = 200,
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arcSegMax = 1,
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originCenter = process.outputOriginCenter,
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offset = originCenter ? null : {
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x: device.bedWidth/2,
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y: isBelt ? 0 : device.bedDepth/2
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},
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nozzleTemp = process.firstLayerNozzleTemp || process.outputTemp,
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bedTemp = process.firstLayerBedTemp || process.outputBedTemp,
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fanSpeed = undefined,
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lastType = undefined,
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lastNozzleTemp = nozzleTemp,
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lastBedTemp = bedTemp,
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lastFanSpeed = fanSpeed,
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subst = {
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travel_speed: seekMMM,
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retract_speed: retSpeed,
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retract_distance: retDist,
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temp: nozzleTemp,
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temp_bed: bedTemp,
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bed_temp: bedTemp,
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fan_speed: fanSpeed,
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speed: fanSpeed, // legacy
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top: offset ? device.bedDepth : device.bedDepth/2,
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left: offset ? 0 : -device.bedWidth/2,
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right: offset ? device.bedWidth : device.bedWidth/2,
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bottom: offset ? 0 : -device.bedDepth/2,
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z_max: device.maxHeight,
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layers: layers.length,
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progress: 0,
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nozzle: 0,
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tool: 0
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},
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pidx, path, out, speedMMM, emitMM, emitPerMM, lastp, laste, dist,
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append,
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lines = 0,
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bytes = 0,
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bcos = Math.cos(Math.PI/4),
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icos = 1 / bcos,
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inLoop,
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arcQ = [],
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minz = { x: Infinity, y: Infinity, z: Infinity };
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// smallish band-aid. refactor above to remove redundancy
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function updateParams(layer) {
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let process = getRangeParameters(settings, layer);
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zhop = process.zHopDistance || 0; // range
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retDist = process.outputRetractDist || 0; // range
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retSpeed = process.outputRetractSpeed * 60; // range
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retDwell = process.outputRetractDwell || 0; // range
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timeDwell = retDwell / 1000;
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nozzleTemp = layer === 0 ?
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process.firstLayerNozzleTemp || process.outputTemp :
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process.outputTemp || process.firstLayerNozzleTemp;
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bedTemp = layer === 0 ?
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process.firstLayerBedTemp || process.outputBedTemp :
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process.outputBedTemp || process.firstLayerBedTemp;
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fanSpeed = layer === 0 ?
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process.firstLayerFanSpeed || 0 :
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process.outputFanSpeed || 0;
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Object.assign(subst, {
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temp_bed: bedTemp,
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bed_temp: bedTemp,
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fan_speed: fanSpeed,
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speed: fanSpeed, // legacy
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retract_speed: retSpeed,
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retract_distance: retDist,
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temp: process.outputTemp, // range
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temp_bed: process.outputBedTemp, // range
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bed_temp: process.outputBedTemp, // range
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});
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}
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// collect loops from ranges and synth range array
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let rloops = [];
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if (loops > 0) {
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rloops.push({
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start: layers[0].slice.index,
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end: layers.last().slice.index,
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iter: loops - 1
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});
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}
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for (let range of process.ranges) {
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if (range.fields.outputLoops) {
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rloops.push({
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start: range.lo,
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end: range.hi,
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iter: range.fields.outputLoops - 1
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});
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}
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}
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loops = isBelt && rloops.length ? rloops : undefined;
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(process.gcodePauseLayers || "").split(",").forEach(function(lv) {
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let v = parseInt(lv);
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if (v >= 0) pause.push(v);
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});
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append = function(line) {
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if (line) {
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lines++;
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bytes += line.length;
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output.append(line);
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}
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if (!line || output.length > 1000) {
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online(output.join("\n"));
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output = [];
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}
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};
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function appendSubPad(line, pad) {
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appendSub(line, true);
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}
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function appendSub(line, pad) {
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append(print.constReplace(line, subst, 0, pad));
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}
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function appendAll(arr) {
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if (!arr) return;
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if (!Array.isArray(arr)) arr = [ arr ];
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arr.forEach(function(line) { append(line) });
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}
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function appendAllSub(arr, pad) {
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if (!arr || arr.length === 0) return;
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if (!Array.isArray(arr)) arr = [ arr ];
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arr.forEach(function(line) { appendSub(line, pad) });
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}
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append(`; Generated by Kiri:Moto ${KIRI.version}`);
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append(`; ${new Date().toString()}`);
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appendSub("; Bed left:{left} right:{right} top:{top} bottom:{bottom}");
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append(`; Bed type: ${bedType}`);
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append(`; Target: ${settings.filter[settings.mode]}`);
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append("; --- process ---");
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for (let pk in process) {
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append("; " + pk + " = " + process[pk]);
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}
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append("; --- startup ---");
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let t0 = false;
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let t1 = false;
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for (let i=0; i<device.gcodePre.length; i++) {
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let line = device.gcodePre[i];
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if (line.indexOf('T0') === 0) t0 = true; else
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if (line.indexOf('T1') === 0) t1 = true; else
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if (line.indexOf('M82') === 0) {
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extrudeAbs = true;
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extrudeSet = true;
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} else
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if (line.indexOf('M83') === 0) {
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extrudeAbs = false;
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extrudeSet = true;
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} else
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if (line.indexOf('G90') === 0 && !extrudeSet) extrudeAbs = true; else
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if (line.indexOf('G91') === 0 && !extrudeSet) extrudeAbs = false; else
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if (line.indexOf('G92') === 0) {
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line.split(";")[0].split(' ').forEach(function (tok) {
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let val = parseFloat(tok.substring(1) || 0) || 0;
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switch (tok[0]) {
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case 'X': pos.x = val; break;
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case 'Y': pos.y = val; break;
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case 'Z': pos.z = val; break;
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case 'E': outputLength = val; break;
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}
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});
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}
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if (extrudeAbs && line.indexOf('E') > 0) {
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line.split(";")[0].split(' ').forEach(function (tok) {
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// use max E position from gcode-preamble
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if (tok[0] == 'E') {
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outputLength = Math.max(outputLength, parseFloat(tok.substring(1)) || 0);
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}
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});
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}
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if (line.indexOf("{tool}") > 0 && extruders.length > 1) {
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for (let i=0; i<extruders.length; i++) {
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subst.tool = i;
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appendSubPad(line);
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}
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subst.tool = 0;
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} else {
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appendSubPad(line);
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}
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}
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function dwell(ms) {
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append(`G4 P${ms}`);
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time += timeDwell;
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}
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function retract(zhop) {
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if (retracted) {
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// console.log({double_retract: zhop});
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return;
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}
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retracted = retDist;
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if (fwRetract) {
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append('G10');
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} else {
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moveTo({e:-retracted}, retSpeed, `e-retract ${retDist}`);
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}
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if (zhop) moveTo({z:zpos + zhop}, seekMMM, "z-hop start");
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time += (retDist / retSpeed) * 60 * 2; // retraction time
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}
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let taxis = new THREE.Vector3( 1, 0, 0 );
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let tcent = new THREE.Vector2( 0, 0 );
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let angle = -Math.PI / 4;
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function moveTo(newpos, rate, comment) {
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let o = [!rate && !newpos.e ? 'G0' : 'G1'];
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let emit = { x: false, y: false, z: false };
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if (typeof newpos.x === 'number' && newpos.x !== pos.x) {
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pos.x = newpos.x;
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emit.x = true;
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}
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if (typeof newpos.y === 'number' && newpos.y !== pos.y) {
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pos.y = newpos.y;
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emit.y = true;
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if (isBelt) emit.z = true;
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}
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if (typeof newpos.z === 'number' && newpos.z !== pos.z) {
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pos.z = newpos.z;
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emit.z = true;
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if (isBelt) emit.y = true;
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}
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let epos = isBelt ? { x: pos.x, y: pos.y, z: pos.z } : pos;
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if (isBelt) {
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let zheight = path ? path.height || 0 : 0;
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epos.x = originCenter ? -pos.x : device.bedWidth - pos.x;
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epos.z = blastz = pos.z * icos;
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epos.y = -pos.y + epos.z * bcos + belt_add_y;
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lout = epos;
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}
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if (emit.x) o.append(" X").append(epos.x.toFixed(decimals));
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if (emit.y) o.append(" Y").append(epos.y.toFixed(decimals));
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if (emit.z) o.append(" Z").append(epos.z.toFixed(decimals));
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if (debug) {
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if (emit.x) minz.x = Math.min(minz.x, epos.x);
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if (emit.y) minz.y = Math.min(minz.y, epos.y);
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if (emit.z) minz.z = Math.min(minz.z, epos.z);
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}
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if (typeof newpos.e === 'number') {
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outputLength += newpos.e;
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if (extrudeAbs) {
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// for cumulative (absolute) extruder positions
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o.append(" E").append(outputLength.toFixed(decimals));
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} else {
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o.append(" E").append(newpos.e.toFixed(decimals));
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}
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}
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if (rate && rate != pos.f) {
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o.append(" F").append(Math.round(rate));
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pos.f = rate
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}
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if (comment) {
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o.append(` ; ${comment}`);
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}
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if (o.length === 1) {
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// console.trace({no_move: o, out, newpos, pos, lastp, emit});
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return;
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}
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let line = o.join('');
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if (last == line) {
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// console.log({dup:line});
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return;
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}
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last = line;
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append(line);
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}
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// calc total distance traveled by head as proxy for progress
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let allout = [], totaldistance = 0;
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layers.forEach(function(outs) {
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allout.appendAll(outs);
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});
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allout.forEachPair(function (o1, o2) {
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totaldistance += o1.point.distTo2D(o2.point);
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}, 1);
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// retract before first move
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retract();
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while (layer < layers.length) {
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path = layers[layer];
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layerno = path.slice.index;
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// range overrides
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if (path.layer >= 0) {
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updateParams(path.layer);
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}
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emitPerMM = print.extrudePerMM(
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extruder.extNozzle,
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extruder.extFilament,
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path.layer === 0 ?
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(process.firstSliceHeight || process.sliceHeight) : path.height);
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zpos = path.z || zpos;
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bmax = Math.max(bmax, pos.z * icos);
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subst.z = subst.Z = zpos.round(3);
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subst.e = subst.E = outputLength;
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subst.layer = layer;
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subst.height = path.height.toFixed(3);
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if (isBelt) {
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pos.z = zpos;
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if (peelGuard && bmax > peelGuard && blast < peelGuard) {
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peelGuard += 50;
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append(`G0 Z${(blast + 55).round(decimals)} F200 ; peel guard`);
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append(`G0 Z${blastz.round(decimals)} F200 ; unpeel`);
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}
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blast = bmax;
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}
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if (pauseCmd && pause.indexOf(layer) >= 0) {
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appendAllSub(pauseCmd)
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}
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let endloop = false;
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if (loops) {
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if (inLoop) {
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if (layerno === inLoop.end) {
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endloop = true;
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// append(`M808`);
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// inLoop = undefined;
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}
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} else {
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for (let loop of loops) {
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if (layerno === loop.start) {
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append(`M808 L${loop.iter}`);
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if (extrudeAbs) {
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append(`G92 Z${lout.z.round(decimals)} E${outputLength.round(decimals)}`);
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} else {
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append(`G92 Z${lout.z.round(decimals)}`);
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}
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inLoop = loop;
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break;
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}
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}
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}
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}
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if (gcodeLayer && gcodeLayer.length) {
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appendAllSub(gcodeLayer);
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} else {
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append(`;; --- layer ${layer} (${subst.height} @ ${subst.z.round(3)}) ---`);
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}
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// layer temp and fan overrides at layer changes
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if (fanSpeed !== lastFanSpeed) {
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appendAllSub(gcodeFan);
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lastFanSpeed = fanSpeed;
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}
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if (bedTemp !== lastBedTemp) {
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append(`M140 S${bedTemp} T0`);
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lastBedTemp = bedTemp;
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}
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if (nozzleTemp !== lastNozzleTemp) {
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if (t0) append(`M104 S${nozzleTemp} T0`);
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if (t1) append(`M104 S${nozzleTemp} T1`);
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if (!(t0 || t1)) append(`M104 S${nozzleTemp} T${tool}`);
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lastNozzleTemp = nozzleTemp;
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}
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// move Z to layer height
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if (layer > 0 || !isBelt) {
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moveTo({z:zpos}, seekMMM);
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}
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// iterate through layer outputs
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for (pidx=0; pidx<path.length; pidx++) {
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out = path[pidx];
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speedMMM = (out.speed || process.outputFeedrate) * 60; // range
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// emit gcode macro for changed print region
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if (out.type !== last.type) {
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switch (out.type) {
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case 'ext':
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appendAllSub(gcodeExt);
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break;
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case 'int':
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appendAllSub(gcodeInt);
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break;
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}
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lastType = out.type;
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}
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// look for extruder change, run scripts, recalc emit factor
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if (out.tool !== undefined && out.tool != tool) {
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appendAllSub(extruder.extDeselect);
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tool = out.tool;
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subst.nozzle = subst.tool = tool;
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extruder = extruders[tool];
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offset_x = extruder.extOffsetX;
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offset_y = extruder.extOffsetY;
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emitPerMM = print.extrudePerMM(
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extruder.extNozzle,
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extruder.extFilament,
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path.layer === 0 ?
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(process.firstSliceHeight || process.sliceHeight) : path.height);
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appendAllSub(extruder.extSelect);
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}
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// if no point in output, it's a dwell command
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if (!out.point) {
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dwell(out.speed);
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continue;
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}
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let x = out.point.x + offset_x,
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y = out.point.y + offset_y,
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z = out.point.z;
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// adjust for inversions and origin offsets
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if (process.outputInvertX) x = -x;
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if (process.outputInvertY) y = -y;
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if (offset) {
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x += offset.x;
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y += offset.y;
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}
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dist = lastp ? lastp.distTo2D(out.point) : 0;
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// re-engage post-retraction before new extrusion
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if (out.emit && retracted) {
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drainQ();
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// console.log({engage:zhop});
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// when enabled, resume previous Z
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if (zhop && pos.z != zpos) moveTo({z:zpos}, seekMMM, "z-hop end");
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// re-engage retracted filament
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if (fwRetract) {
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append('G11');
|
|
} else {
|
|
moveTo({e:retracted}, retSpeed, `e-engage ${retracted}`);
|
|
}
|
|
retracted = 0;
|
|
// optional dwell after re-engaging filament to allow pressure to build
|
|
if (retDwell) dwell(retDwell);
|
|
time += (retDist / retSpeed) * 60 * 2; // retraction time
|
|
}
|
|
|
|
if (lastp && out.emit) {
|
|
if (arcDist) {
|
|
let rec = {e:out.emit, x, y, z, dist, emitPerMM, speedMMM};
|
|
arcQ.push(rec);
|
|
let deem = false; // do arcQ[0] and rec have differing emit values?
|
|
let depm = false; // do arcQ[0] and rec have differing emit speeds?
|
|
let desp = false; // do arcQ[0] and rec have differing move speeds?
|
|
let arcSeg = 0; // distance from this point to the last
|
|
if (arcQ.length > 1) {
|
|
let el = arcQ.length;
|
|
deem = arcQ[0].e !== rec.e;
|
|
depm = arcQ[0].emitPerMM !== rec.emitPerMM;
|
|
desp = arcQ[0].speedMMM !== rec.speedMMM;
|
|
arcSeg = Math.sqrt(Math.pow(arcQ[el - 1].x - arcQ[el-2].x, 2) + Math.pow(arcQ[el - 1].y - arcQ[el-2].y, 2));
|
|
}
|
|
if (arcQ.length > 2) {
|
|
let el = arcQ.length;
|
|
let e1 = arcQ[0]; // first in arcQ
|
|
let e2 = arcQ[Math.floor(el/2)]; // mid in arcQ
|
|
let e3 = arcQ[el-1]; // last in arcQ
|
|
let cc = BASE.util.center2d(e1, e2, e3, 1); // find center
|
|
let dc = 0;
|
|
|
|
if (cc) {
|
|
if ([cc.x,cc.y,cc.z,cc.r].hasNaN()) {
|
|
console.log({cc, e1, e2, e3});
|
|
}
|
|
if (arcQ.length === 3) {
|
|
arcQ.center = [ cc ];
|
|
} else {
|
|
// check center point delta
|
|
let dx = cc.x - arcQ.center[0].x;
|
|
let dy = cc.y - arcQ.center[0].y;
|
|
dc = Math.sqrt(dx * dx + dy * dy);
|
|
}
|
|
// if new point is off the arc
|
|
// if (deem || depm || desp || dc > arcDist || cc.r < arcMin || cc.r > arcMax || dist > cc.r) {
|
|
if (deem || depm || desp || dc > arcDist || dist > cc.r || cc.r > arcMax || arcSeg > arcSegMax) {
|
|
// console.log({dc, depm, desp});
|
|
if (arcQ.length === 4) {
|
|
// not enough points for an arc, drop first point and recalc center
|
|
emitQrec(arcQ.shift());
|
|
let tc = BASE.util.center2d(arcQ[0], arcQ[1], arcQ[2], 1);
|
|
// the new center is invalid as well. drop the first point
|
|
if (!tc) {
|
|
emitQrec(arcQ.shift());
|
|
} else {
|
|
arcQ.center = [ tc ];
|
|
}
|
|
} else {
|
|
// enough to consider an arc, emit and start new arc
|
|
let defer = arcQ.pop();
|
|
drainQ();
|
|
// re-add point that was off the last arc
|
|
arcQ.push(defer);
|
|
}
|
|
} else {
|
|
// new point is on the arc
|
|
arcQ.center.push(cc);
|
|
}
|
|
} else {
|
|
// drainQ on invalid center
|
|
drainQ();
|
|
}
|
|
}
|
|
} else {
|
|
emitMM = emitPerMM * out.emit * dist;
|
|
moveTo({x:x, y:y, e:emitMM}, speedMMM);
|
|
emitted += emitMM;
|
|
}
|
|
} else {
|
|
drainQ();
|
|
moveTo({x:x, y:y}, seekMMM);
|
|
// TODO disabling out of plane z moves until a better mechanism
|
|
// can be built that doesn't rely on computed zpos from layer heights...
|
|
// when making z moves (like polishing) allow slowdown vs fast seek
|
|
// let moveSpeed = (lastp && lastp.z !== z) ? speedMMM : seekMMM;
|
|
// moveTo({x:x, y:y, z:z}, moveSpeed);
|
|
}
|
|
|
|
// retract filament if point retract flag set
|
|
if (out.retract) {
|
|
drainQ();
|
|
retract(zhop);
|
|
}
|
|
|
|
// update time and distance (should calc in moveTo() instead)
|
|
time += (dist / speedMMM) * 60 * 1.5;
|
|
distance += dist;
|
|
subst.progress = progress = Math.round((distance / totaldistance) * 100);
|
|
|
|
// emit tracked progress
|
|
if (gcodeTrack && progress != lastProgress) {
|
|
appendAllSub(gcodeTrack);
|
|
lastProgress = progress;
|
|
}
|
|
|
|
lastp = out.point;
|
|
laste = out.emit;
|
|
}
|
|
layer++;
|
|
|
|
// end open loop when detected
|
|
if (endloop) {
|
|
append(`M808`);
|
|
inLoop = undefined;
|
|
}
|
|
drainQ();
|
|
}
|
|
|
|
function emitQrec(rec) {
|
|
let {e, x, y, dist, emitPerMM, speedMMM} = rec;
|
|
emitMM = emitPerMM * e * dist;
|
|
moveTo({x:x, y:y, e:emitMM}, speedMMM);
|
|
emitted += emitMM;
|
|
}
|
|
|
|
function drainQ() {
|
|
if (!arcDist) {
|
|
return;
|
|
}
|
|
if (arcQ.length > 4) {
|
|
let vec1 = new THREE.Vector2(arcQ[1].x - arcQ[0].x, arcQ[1].y - arcQ[0].y);
|
|
let vec2 = new THREE.Vector2(arcQ.center[0].x - arcQ[0].x, arcQ.center[0].y - arcQ[0].y);
|
|
let area = BASE.newPolygon().addObj(arcQ).area();
|
|
let from = arcQ[0];
|
|
let to = arcQ.peek();
|
|
let cc = {x:0, y:0, z:0, r:0};
|
|
let cl = 0;
|
|
for (let center of arcQ.center) {
|
|
cc.x += center.x;
|
|
cc.y += center.y;
|
|
cc.z += center.z;
|
|
cc.r += center.r;
|
|
cl++;
|
|
}
|
|
cc.x /= cl;
|
|
cc.y /= cl;
|
|
cc.z /= cl;
|
|
cc.r /= cl;
|
|
// first arc point
|
|
emitQrec(from);
|
|
// console.log(arcQ.slice(), arcQ.center);
|
|
// console.log({first: from, last: arcQ.peek(), center: cc});
|
|
// rest of arc to final point
|
|
let dist = arcQ.slice(1).map(v => v.dist).reduce((a,v) => a+v);
|
|
let emit = from.e;//arcQ.slice(1).map(v => v.e).reduce((a,v) => a+v);
|
|
emit = (from.emitPerMM * emit * dist);
|
|
outputLength += emit;
|
|
emitted += emit;
|
|
if (extrudeAbs) {
|
|
emit = outputLength;
|
|
}
|
|
let gc = vec1.cross(vec2) < 0 ? 'G2' : 'G3';
|
|
// XYR form
|
|
// let pre = `${gc} X${to.x.toFixed(decimals)} Y${to.y.toFixed(decimals)} R${cc.r.toFixed(decimals)} E${emit.toFixed(decimals)}`;
|
|
// XYIJ form
|
|
let pre = `${gc} X${to.x.toFixed(decimals)} Y${to.y.toFixed(decimals)} I${(cc.x - pos.x).toFixed(decimals)} J${(cc.y - pos.y).toFixed(decimals)} E${emit.toFixed(decimals)}`;
|
|
let add = pos.f !== from.speedMMM ? ` E${from.speedMMM}` : '';
|
|
append(`${pre}${add} ; merged=${cl-1} len=${dist.toFixed(decimals)} cp=${cc.x.round(2)},${cc.y.round(2)}`);
|
|
pos.x = to.x;
|
|
pos.y = to.y;
|
|
pos.z = to.z;
|
|
} else {
|
|
for (let rec of arcQ) {
|
|
emitQrec(rec);
|
|
}
|
|
}
|
|
arcQ.length = 0;
|
|
arcQ.center = undefined;
|
|
}
|
|
|
|
if (inLoop) {
|
|
append(`M808`);
|
|
}
|
|
|
|
subst.material = UTIL.round(emitted,2);
|
|
subst.time = UTIL.round(time,2);
|
|
subst['print_time'] = subst.time;
|
|
|
|
append("; --- shutdown ---");
|
|
appendAllSub(device.gcodePost);
|
|
append(`; --- filament used: ${subst.material} mm ---`);
|
|
append(`; --- print time: ${time.toFixed(0)}s ---`);
|
|
|
|
// force emit of buffer
|
|
append();
|
|
|
|
print.distance = emitted;
|
|
print.lines = lines;
|
|
print.bytes = bytes + lines - 1;
|
|
print.time = time;
|
|
|
|
if (debug) {
|
|
console.log('minz', minz);
|
|
}
|
|
};
|
|
|
|
})();
|