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starting work on software endstops stream

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This commit is contained in:
Lars Brubaker 2019-02-15 12:55:22 -08:00
parent d82efb143a
commit 3f0f8a2369
3 changed files with 124 additions and 48 deletions
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102
MatterControlLib/PrinterCommunication/Io/SoftwareEndstopsStream.cs
View file

@ -27,7 +27,6 @@ of the authors and should not be interpreted as representing official policies,
either expressed or implied, of the FreeBSD Project.
*/
using MatterControl.Printing;
using MatterHackers.Agg;
using MatterHackers.MatterControl.SlicerConfiguration;
using MatterHackers.VectorMath;
@ -36,40 +35,28 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
{
public class SoftwareEndstopsStream : GCodeStreamProxy
{
private int extruderIndex = 0;
PrinterMove lastDestination = PrinterMove.Unknown;
private PrinterMove lastDestination = PrinterMove.Unknown;
Vector3[] extruderOffsets = new Vector3[4];
AxisAlignedBoundingBox[] extruderBounds = new AxisAlignedBoundingBox[4];
public SoftwareEndstopsStream(GCodeStream internalStream, PrinterConfig printer)
public SoftwareEndstopsStream(PrinterConfig printer, GCodeStream internalStream)
: base(printer, internalStream)
{
CalculateBounds();
printer.Settings.SettingChanged += Settings_SettingChanged;
extruderIndex = printer.Connection.ActiveExtruderIndex;
ReadExtruderOffsets();
// Register to listen for position after home and update Bounds based on the axis homed and position info.
}
private void Settings_SettingChanged(object sender, StringEventArgs stringEvent)
{
if (stringEvent != null)
if (stringEvent.Data == SettingsKey.bed_size
|| stringEvent.Data == SettingsKey.print_center
|| stringEvent.Data == SettingsKey.build_height
|| stringEvent.Data == SettingsKey.bed_shape)
{
// if the offsets change update them (unless we are actively printing)
if (stringEvent.Data == SettingsKey.extruder_offset
&& !printer.Connection.Printing
&& !printer.Connection.Paused)
{
ReadExtruderOffsets();
}
}
}
private void ReadExtruderOffsets()
{
for (int i = 0; i < 4; i++)
{
extruderOffsets[i] = printer.Settings.Helpers.ExtruderOffset(i);
this.CalculateBounds();
}
}
@ -80,18 +67,36 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
base.Dispose();
}
public override void SetPrinterPosition(PrinterMove position)
private void CalculateBounds()
{
this.lastDestination.CopyKnowSettings(position);
if (extruderIndex < 4)
var bedSize = printer.Settings.GetValue<Vector2>(SettingsKey.bed_size);
var printCenter = printer.Settings.GetValue<Vector2>(SettingsKey.print_center);
var buildHeight = printer.Settings.GetValue<double>(SettingsKey.build_height);
if (buildHeight == 0)
{
lastDestination.position -= RuntimeOffsets[extruderIndex];
lastDestination.position += extruderOffsets[extruderIndex];
buildHeight = double.PositiveInfinity;
}
internalStream.SetPrinterPosition(lastDestination);
}
public Vector3[] RuntimeOffsets { get; private set; } = new Vector3[4];
// first set all the extruders to the bounds defined by the settings file
for (int i = 0; i < extruderBounds.Length; i++)
{
extruderBounds[i] = new AxisAlignedBoundingBox(
printCenter.X - bedSize.X / 2, // min x
printCenter.Y - bedSize.Y / 2, // min y
0, // min z
printCenter.X + bedSize.X / 2, // max x
printCenter.Y + bedSize.Y / 2, // max y
buildHeight); // max z
}
// if we have more constrained info for extruders, add that it
// If we know something about the homing positions, add them in.
// Specifically never go above a z homes max endstop.
// We may also want to add in all other know (measured) endstop postions.
}
public override string ReadLine()
{
@ -103,30 +108,16 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
return lineToSend;
}
if (lineToSend != null
&& lineToSend.StartsWith("T"))
{
int extruder = 0;
if (GCodeFile.GetFirstNumberAfter("T", lineToSend, ref extruder))
{
extruderIndex = extruder;
}
}
if (lineToSend != null
&& LineIsMovement(lineToSend))
{
PrinterMove currentMove = GetPosition(lineToSend, lastDestination);
PrinterMove moveToSend = currentMove;
if (extruderIndex < 4)
{
moveToSend.position += RuntimeOffsets[extruderIndex];
moveToSend.position -= extruderOffsets[extruderIndex];
}
if (moveToSend.HaveAnyPosition)
{
ClampToPrinter(ref moveToSend);
lineToSend = CreateMovementLine(moveToSend, lastDestination);
}
lastDestination = currentMove;
@ -136,5 +127,22 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
return lineToSend;
}
public override void SetPrinterPosition(PrinterMove position)
{
this.lastDestination.CopyKnowSettings(position);
internalStream.SetPrinterPosition(lastDestination);
}
private void ClampToPrinter(ref PrinterMove moveToSend)
{
var bounds = extruderBounds[printer.Connection.ActiveExtruderIndex];
if (moveToSend.position.X < bounds.MinXYZ.X)
{
moveToSend.position.X = bounds.MinXYZ.X;
// If we clamp, than do not do any extrusion at all
moveToSend.extrusion = 0;
}
}
}
}

2
MatterControlLib/PrinterCommunication/PrinterConnection.cs
View file

@ -2142,7 +2142,7 @@ You will then need to logout and log back in to the computer for the changes to
feedrateMultiplyerStream9 = new FeedRateMultiplyerStream(Printer, extrusionMultiplyerStream8);
requestTemperaturesStream10 = new RequestTemperaturesStream(Printer, feedrateMultiplyerStream9);
processWriteRegExStream11 = new ProcessWriteRegexStream(Printer, requestTemperaturesStream10, queuedCommandStream3);
softwareEndstopsExStream12 = new SoftwareEndstopsStream(processWriteRegExStream11, Printer);
softwareEndstopsExStream12 = new SoftwareEndstopsStream(Printer, processWriteRegExStream11);
totalGCodeStream = softwareEndstopsExStream12;
// Force a reset of the printer checksum state (but allow it to be write regexed)