improving extruder switiching
This commit is contained in:
Lars Brubaker
parent
0a5b7eb7c8
commit
5997c5688b
8 changed files with 321 additions and 192 deletions
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@ -29,25 +29,75 @@ either expressed or implied, of the FreeBSD Project.
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using System;
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using System.Collections.Generic;
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using System.Text;
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using MatterControl.Printing;
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using MatterHackers.Agg;
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using MatterHackers.MatterControl.SlicerConfiguration;
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using MatterHackers.VectorMath;
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namespace MatterHackers.MatterControl.PrinterCommunication.Io
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{
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public class ToolChangeStream : GCodeStreamProxy
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{
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private Queue<string> commandQueue = new Queue<string>();
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private object locker = new object();
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private bool watingForBeforeGCode = false;
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private int requestedExtruder;
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private int activeExtruderIndex;
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private int extruderIndex;
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PrinterMove lastDestination = PrinterMove.Unknown;
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private QueuedCommandsStream queuedCommandsStream;
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int extruderCount = 0;
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Vector3[] extruderOffsets = new Vector3[4];
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private double preSwitchFeedRate;
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private Vector3 preSwitchPosition;
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private string postSwitchLine;
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private readonly string compleatedBeforeGCodeString = "; COMPLEATED_BEFORE_GCODE";
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public ToolChangeStream(PrinterConfig printer, GCodeStream internalStream)
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public ToolChangeStream(PrinterConfig printer, GCodeStream internalStream, QueuedCommandsStream queuedCommandsStream)
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: base(printer, internalStream)
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{
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this.queuedCommandsStream = queuedCommandsStream;
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extruderCount = printer.Settings.GetValue<int>(SettingsKey.extruder_count);
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activeExtruderIndex = printer.Connection.ActiveExtruderIndex;
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extruderIndex = printer.Connection.ActiveExtruderIndex;
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printer.Settings.SettingChanged += Settings_SettingChanged;
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ReadExtruderOffsets();
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}
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private void Settings_SettingChanged(object sender, StringEventArgs stringEvent)
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{
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if (stringEvent != null)
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{
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// if the offsets change update them (unless we are actively printing)
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if (stringEvent.Data == SettingsKey.extruder_offset
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&& !printer.Connection.Printing
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&& !printer.Connection.Paused)
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{
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ReadExtruderOffsets();
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}
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}
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}
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private void ReadExtruderOffsets()
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{
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for (int i = 0; i < 4; i++)
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{
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extruderOffsets[i] = printer.Settings.Helpers.ExtruderOffset(i);
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}
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}
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public override void Dispose()
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{
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printer.Settings.SettingChanged -= Settings_SettingChanged;
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base.Dispose();
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}
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public override void SetPrinterPosition(PrinterMove position)
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{
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this.lastDestination.CopyKnowSettings(position);
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if (extruderIndex < 4)
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{
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lastDestination.position += extruderOffsets[extruderIndex];
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}
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internalStream.SetPrinterPosition(lastDestination);
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}
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public override string DebugInfo
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@ -58,125 +108,148 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
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}
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}
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private bool CheckIfNeedToSwitchExtruders(string lineIn)
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private bool QueueBeforeIfNeedToSwitchExtruders(string lineIn)
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{
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bool queuedSwitch = false;
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if (lineIn == null)
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{
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return queuedSwitch;
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return false;
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}
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postSwitchLine = lineIn;
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var lineNoComment = lineIn.Split(';')[0];
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TrackExtruderState(lineNoComment);
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bool queuedSwitch = false;
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// check if there is a travel
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if ((lineNoComment.StartsWith("G0 ") || lineNoComment.StartsWith("G1 ")) // is a G1 or G0
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&& (lineNoComment.Contains("X") || lineNoComment.Contains("Y") || lineNoComment.Contains("Z")) // hase a move axis in it
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&& activeExtruderIndex != requestedExtruder) // is different than the last extruder set
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&& extruderIndex != requestedExtruder // is different than the last extruder set
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&& !watingForBeforeGCode)
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{
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string beforeGcodeToQueue = "";
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string afterGcodeToQueue = "";
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switch (requestedExtruder)
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{
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case 0:
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beforeGcodeToQueue = printer.Settings.GetValue(SettingsKey.before_toolchange_gcode).Replace("\\n", "\n");
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afterGcodeToQueue = printer.Settings.GetValue(SettingsKey.toolchange_gcode).Replace("\\n", "\n");
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break;
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case 1:
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beforeGcodeToQueue = printer.Settings.GetValue(SettingsKey.before_toolchange_gcode_1).Replace("\\n", "\n");
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afterGcodeToQueue = printer.Settings.GetValue(SettingsKey.toolchange_gcode_1).Replace("\\n", "\n");
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break;
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}
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var feedRate = lastDestination.feedRate;
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var preSwitchPosition = lastDestination.position;
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preSwitchFeedRate = lastDestination.feedRate;
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preSwitchPosition = lastDestination.position;
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// put together the output we want to send
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var gcode = new StringBuilder();
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if (beforeGcodeToQueue.Trim().Length > 0)
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{
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string[] linesToWrite = beforeGcodeToQueue.Split(new string[] { "\n" }, StringSplitOptions.None);
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for (int i = 0; i < linesToWrite.Length; i++)
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{
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string gcodeLine = linesToWrite[i].Trim();
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if (gcodeLine.Length > 0)
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{
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commandQueue.Enqueue(printer.ReplaceMacroValues(gcodeLine));
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}
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}
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watingForBeforeGCode = true;
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gcode.Append(printer.ReplaceMacroValues(beforeGcodeToQueue));
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}
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if (afterGcodeToQueue.Trim().Length > 0)
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{
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string[] linesToWrite = afterGcodeToQueue.Split(new string[] { "\n" }, StringSplitOptions.None);
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for (int i = 0; i < linesToWrite.Length; i++)
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{
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string gcodeLine = linesToWrite[i].Trim();
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if (gcodeLine.Length > 0)
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{
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commandQueue.Enqueue(printer.ReplaceMacroValues(gcodeLine));
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}
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}
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}
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// move to selected tool to the last tool position at the travel speed
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if (preSwitchPosition.X != double.PositiveInfinity
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&& preSwitchPosition.Y != double.PositiveInfinity)
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{
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commandQueue.Enqueue($"G1 X{preSwitchPosition.X}Y{preSwitchPosition.Y}F{printer.Settings.XSpeed()}");
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}
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// move to the z position
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if (preSwitchPosition.Z != double.PositiveInfinity)
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{
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commandQueue.Enqueue($"G1 Z{preSwitchPosition.Z}F{printer.Settings.ZSpeed()}");
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}
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// set the feedrate back to what was before we added any code
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if (feedRate != double.PositiveInfinity)
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{
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commandQueue.Enqueue($"G1 F{feedRate}");
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}
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// and queue the travel
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commandQueue.Enqueue(lineIn);
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gcode.AppendLine("\n" + compleatedBeforeGCodeString);
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queuedCommandsStream.Add(gcode.ToString());
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queuedSwitch = true;
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activeExtruderIndex = requestedExtruder;
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}
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return queuedSwitch;
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}
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public override void SetPrinterPosition(PrinterMove position)
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private void QueueAfterGCode()
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{
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this.lastDestination.CopyKnowSettings(position);
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internalStream.SetPrinterPosition(lastDestination);
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string afterGcodeToQueue = "";
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switch (requestedExtruder)
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{
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case 0:
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afterGcodeToQueue = printer.Settings.GetValue(SettingsKey.toolchange_gcode).Replace("\\n", "\n");
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break;
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case 1:
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afterGcodeToQueue = printer.Settings.GetValue(SettingsKey.toolchange_gcode_1).Replace("\\n", "\n");
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break;
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}
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// put together the output we want to send
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var gcode = new StringBuilder();
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if (afterGcodeToQueue.Trim().Length > 0)
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{
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gcode.Append(printer.ReplaceMacroValues(afterGcodeToQueue));
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}
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// move to selected tool to the last tool position at the travel speed
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if (preSwitchPosition.X != double.PositiveInfinity
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&& preSwitchPosition.Y != double.PositiveInfinity)
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{
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gcode.AppendLine($"\n G1 X{preSwitchPosition.X}Y{preSwitchPosition.Y}F{printer.Settings.XSpeed()}");
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}
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// move to the z position
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if (preSwitchPosition.Z != double.PositiveInfinity)
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{
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gcode.AppendLine($"G1 Z{preSwitchPosition.Z}F{printer.Settings.ZSpeed()}");
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}
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// set the feedrate back to what was before we added any code
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if (preSwitchFeedRate != double.PositiveInfinity)
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{
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gcode.AppendLine($"G1 F{preSwitchFeedRate}");
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}
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// and queue the travel
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gcode.AppendLine(postSwitchLine);
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queuedCommandsStream.Add(gcode.ToString());
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}
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public override string ReadLine()
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{
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string lineToSend = null;
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string lineToSend = base.ReadLine();
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// lock queue
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lock (locker)
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if (lineToSend != null
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&& lineToSend.EndsWith("; NO_PROCESSING"))
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{
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if (commandQueue.Count > 0)
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{
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return commandQueue.Dequeue();
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}
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return lineToSend;
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}
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if (lineToSend == null)
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if(lineToSend == compleatedBeforeGCodeString)
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{
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lineToSend = base.ReadLine();
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extruderIndex = requestedExtruder;
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watingForBeforeGCode = false;
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QueueAfterGCode();
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}
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if(CheckIfNeedToSwitchExtruders(lineToSend))
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if (QueueBeforeIfNeedToSwitchExtruders(lineToSend))
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{
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return "";
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}
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TrackExtruderState(lineToSend);
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if (lineToSend != null
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&& LineIsMovement(lineToSend))
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{
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PrinterMove currentMove = GetPosition(lineToSend, lastDestination);
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PrinterMove moveToSend = currentMove;
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if (extruderIndex < 4)
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{
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moveToSend.position -= extruderOffsets[extruderIndex];
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}
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if (moveToSend.HaveAnyPosition)
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{
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lineToSend = CreateMovementLine(moveToSend, lastDestination);
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}
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lastDestination = currentMove;
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return lineToSend;
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}
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return lineToSend;
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}
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@ -189,7 +262,7 @@ namespace MatterHackers.MatterControl.PrinterCommunication.Io
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if (line.StartsWith("G28)"))
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{
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activeExtruderIndex = 0;
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extruderIndex = 0;
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requestedExtruder = 0;
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}
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