Permalink
Browse files

Add tests for vibration limiting and fix implementation. Also include…

…s a fix in set_shift()
  • Loading branch information...
alexrj committed Dec 9, 2012
1 parent c82be18 commit 1a3497b71daa035092ee7f44d2d1446b4866c451
Showing with 136 additions and 42 deletions.
  1. +28 −37 lib/Slic3r/GCode.pm
  2. +9 −3 lib/Slic3r/Test.pm
  3. +4 −2 t/retraction.t
  4. +95 −0 t/vibrationlimit.t
View
@@ -1,7 +1,7 @@
package Slic3r::GCode;
use Moo;
-use List::Util qw(min max first);
+use List::Util qw(max first);
use Slic3r::ExtrusionPath ':roles';
use Slic3r::Geometry qw(scale unscale scaled_epsilon points_coincide PI X Y B);
@@ -20,14 +20,12 @@ has 'lifted' => (is => 'rw', default => sub {0} );
has 'last_pos' => (is => 'rw', default => sub { Slic3r::Point->new(0,0) } );
has 'last_speed' => (is => 'rw', default => sub {""});
has 'last_f' => (is => 'rw', default => sub {""});
-has 'force_f' => (is => 'rw', default => sub {0});
has 'last_fan_speed' => (is => 'rw', default => sub {0});
has 'dec' => (is => 'ro', default => sub { 3 } );
# used for vibration limit:
-has 'limit_frequency' => (is => 'rw', default => sub { 0 });
has 'last_dir' => (is => 'ro', default => sub { [0,0] });
-has 'segment_time' => (is => 'ro', default => sub { [ [0,0,0], [0,0,0] ] });
+has 'dir_time' => (is => 'ro', default => sub { [0,0] });
# calculate speeds (mm/min)
has 'speeds' => (
@@ -57,10 +55,13 @@ sub set_shift {
my $self = shift;
my @shift = @_;
+ $self->last_pos->translate(
+ scale ($shift[X] - $self->shift_x),
+ scale ($shift[Y] - $self->shift_y),
+ );
+
$self->shift_x($shift[X]);
$self->shift_y($shift[Y]);
-
- $self->last_pos->translate(map -(scale $_), @shift);
}
# this method accepts Z in scaled coordinates
@@ -174,8 +175,6 @@ sub extrude_path {
}
}
- $self->limit_frequency($path->role != EXTR_ROLE_PERIMETER && $path->role != EXTR_ROLE_EXTERNAL_PERIMETER && $path->role != EXTR_ROLE_CONTOUR_INTERNAL_PERIMETER);
-
# go to first point of extrusion path
$self->speed('travel');
$gcode .= $self->G0($path->points->[0], undef, 0, "move to first $description point")
@@ -338,22 +337,19 @@ sub _G0_G1 {
my ($gcode, $point, $z, $e, $comment) = @_;
my $dec = $self->dec;
- my $speed_factor;
if ($point) {
$gcode .= sprintf " X%.${dec}f Y%.${dec}f",
($point->x * &Slic3r::SCALING_FACTOR) + $self->shift_x - $self->extruder->extruder_offset->[X],
($point->y * &Slic3r::SCALING_FACTOR) + $self->shift_y - $self->extruder->extruder_offset->[Y]; #**
- if ($self->limit_frequency) {
- $gcode = $self->_limit_frequency($point) . $gcode;
- }
+ $gcode = $self->_limit_frequency($point) . $gcode;
$self->last_pos($point->clone);
}
if (defined $z && (!defined $self->z || $z != $self->z)) {
$self->z($z);
$gcode .= sprintf " Z%.${dec}f", $z;
}
- return $self->_Gx($gcode, $e, $speed_factor, $comment);
+ return $self->_Gx($gcode, $e, $comment);
}
sub G2_G3 {
@@ -373,12 +369,12 @@ sub G2_G3 {
($center->[Y] - $self->last_pos->[Y]) * &Slic3r::SCALING_FACTOR;
$self->last_pos($point);
- return $self->_Gx($gcode, $e, undef, $comment);
+ return $self->_Gx($gcode, $e, $comment);
}
sub _Gx {
my $self = shift;
- my ($gcode, $e, $speed_factor, $comment) = @_;
+ my ($gcode, $e, $comment) = @_;
my $dec = $self->dec;
# output speed if it's different from last one used
@@ -403,13 +399,6 @@ sub _Gx {
}
$self->last_speed($self->speed);
$self->last_f($F);
- $F *= $speed_factor // 1;
- } elsif (defined $speed_factor && $speed_factor != 1) {
- $gcode .= sprintf " F%.${dec}f", ($self->last_f * $speed_factor);
- $self->force_f(1); # next move will need explicit F
- } elsif ($self->force_f) {
- $gcode .= sprintf " F%.${dec}f", $self->last_f;
- $self->force_f(0);
}
$gcode .= sprintf " F%.${dec}f", $F if defined $F;
@@ -509,7 +498,6 @@ sub set_bed_temperature {
}
# http://hydraraptor.blogspot.it/2010/12/frequency-limit.html
-# the following implementation is inspired by Marlin code
sub _limit_frequency {
my $self = shift;
my ($point) = @_;
@@ -518,25 +506,28 @@ sub _limit_frequency {
my $min_time = 1 / ($Slic3r::Config->vibration_limit * 60); # in minutes
# calculate the move vector and move direction
- my @move = map unscale $_, @{ Slic3r::Line->new($self->last_pos, $point)->vector->[B] };
- my @dir = map { $move[$_] ? (($move[$_] > 0) ? 1 : -1) : 0 } X,Y;
+ my $vector = Slic3r::Line->new($self->last_pos, $point)->vector;
+ my @dir = map { $vector->[B][$_] <=> 0 } X,Y;
- my $segment_time = abs(max(@move)) / $self->speeds->{$self->speed}; # in minutes
- if ($segment_time > 0) {
- my @max_segment_time = ();
+ my $time = (unscale $vector->length) / $self->speeds->{$self->speed}; # in minutes
+ if ($time > 0) {
+ my @pause = ();
foreach my $axis (X,Y) {
- if ($self->last_dir->[$axis] == $dir[$axis]) {
- $self->segment_time->[$axis][0] += $segment_time;
- } else {
- @{ $self->segment_time->[$axis] } = ($segment_time, @{ $self->segment_time->[$axis] }[0,1]);
+ if ($dir[$axis] != 0 && $self->last_dir->[$axis] != $dir[$axis]) {
+ if ($self->last_dir->[$axis] != 0) {
+ # this axis is changing direction: check whether we need to pause
+ if ($self->dir_time->[$axis] < $min_time) {
+ push @pause, ($min_time - $self->dir_time->[$axis]);
+ }
+ }
+ $self->last_dir->[$axis] = $dir[$axis];
+ $self->dir_time->[$axis] = 0;
}
- $max_segment_time[$axis] = max($self->segment_time->[$axis][0], max($self->segment_time->[$axis][1], $self->segment_time->[$axis][2]));
- $self->last_dir->[$axis] = $dir[$axis] if $dir[$axis];
+ $self->dir_time->[$axis] += $time;
}
- my $min_segment_time = min(@max_segment_time);
- if ($min_segment_time < $min_time) {
- return sprintf "G4 P%d\n", ($min_time - $min_segment_time) * 60 * 1000;
+ if (@pause) {
+ return sprintf "G4 P%d\n", max(@pause) * 60 * 1000;
}
}
View
@@ -5,15 +5,21 @@ use warnings;
use IO::Scalar;
use Slic3r::Geometry qw(epsilon);
+my %cuboids = (
+ '20mm_cube' => [20,20,20],
+ '2x20x10' => [2, 20,10],
+);
+
sub init_print {
my ($model_name, %params) = @_;
my $model = Slic3r::Model->new;
{
my ($vertices, $facets);
- if ($model_name eq '20mm_cube') {
+ if ($cuboids{$model_name}) {
+ my ($x, $y, $z) = @{ $cuboids{$model_name} };
$vertices = [
- [10,10,-10], [10,-10,-10], [-10,-10,-10], [-10,10,-10], [10,10,10], [-10,10,10], [-10,-10,10], [10,-10,10],
+ [$x,$y,0], [$x,0,0], [0,0,0], [0,$y,0], [$x,$y,$z], [0,$y,$z], [0,0,$z], [$x,0,$z],
];
$facets = [
[0,1,2], [0,2,3], [4,5,6], [4,6,7], [0,4,7], [0,7,1], [1,7,6], [1,6,2], [2,6,5], [2,5,3], [4,0,3], [4,3,5],
@@ -65,6 +71,7 @@ sub parse {
my ($cb) = @_;
foreach my $line (split /\n/, $self->gcode) {
+ print "$line\n" if $Verbose || $ENV{SLIC3R_TESTS_GCODE};
$line =~ s/\s*;(.*)//; # strip comment
next if $line eq '';
my $comment = $1;
@@ -95,7 +102,6 @@ sub parse {
}
# run callback
- printf "$line\n" if $Verbose;
$cb->($self, $command, \%args, \%info);
# update coordinates
View
@@ -1,4 +1,4 @@
-use Test::More tests => 6;
+use Test::More tests => 9;
use strict;
use warnings;
@@ -77,7 +77,9 @@ my $retract_tests = sub {
};
$retract_tests->('');
+$config->set('duplicate', 2);
+$retract_tests->(' (duplicate)');
$config->set('g0', 1);
-$retract_tests->(' (G0)');
+$retract_tests->(' (G0 and duplicate)');
__END__
View
@@ -0,0 +1,95 @@
+use Test::More tests => 9;
+use strict;
+use warnings;
+
+BEGIN {
+ use FindBin;
+ use lib "$FindBin::Bin/../lib";
+}
+
+use Slic3r;
+use Slic3r::Geometry qw(epsilon);
+use Slic3r::Test;
+
+my $config = Slic3r::Config->new_from_defaults;
+
+# tolerance, in minutes
+# (our time estimation differs from the internal one because of decimals truncation)
+my $epsilon = 0.002;
+
+my $test = sub {
+ my ($conf) = @_;
+ $conf ||= $config;
+
+ my $print = Slic3r::Test::init_print('2x20x10', config => $conf);
+
+ my $min_time = 1 / ($conf->vibration_limit * 60); # minimum time between direction changes in minutes
+ my %dir = (X => 0, Y => 0);
+ my %dir_time = (X => 0, Y => 0);
+ my %dir_sleep_time = (X => 0, Y => 0);
+ my $last_cmd_pause = 0;
+ Slic3r::Test::GCodeReader->new(gcode => Slic3r::Test::gcode($print))->parse(sub {
+ my ($self, $cmd, $args, $info) = @_;
+
+ if ($cmd !~ /^G[01]$/) {
+ if ($cmd eq 'G4') {
+ $last_cmd_pause = (($args->{P} // 0) / 1000 + ($args->{S} // 0)) / 60; # in minutes
+ $dir_sleep_time{$_} += $last_cmd_pause for qw(X Y);
+ $last_cmd_pause -= $epsilon; # error builds up
+ }
+ return;
+ }
+
+ # Z moves are slow enough that we can consider any vibration interrupted
+ if ($info->{dist_Z}) {
+ $dir_time{$_} += 99999 for qw(X Y);
+ $last_cmd_pause = 0;
+ return;
+ } elsif ($info->{dist_E} != 0 && $info->{dist_XY} == 0) {
+ my $time = abs($info->{dist_E}) / ($args->{F} // $self->F); # in minutes
+ $dir_time{$_} += $time for qw(X Y);
+ $last_cmd_pause = 0;
+ return;
+ }
+
+ # compute move time (this assumes that the speed is XY-bound, which happens very likely)
+ my $time = abs($info->{dist_XY}) / ($args->{F} // $self->F); # in minutes
+
+ my $one_axis_would_trigger_limit_without_pause = 0;
+ foreach my $axis (qw(X Y)) {
+ # are we changing direction on this axis?
+ my $dir = $info->{"dist_$axis"} <=> 0;
+ if ($dir != 0 && $dir{$axis} != $dir) {
+ # this move changes direction on this axis
+ if ($dir{$axis} != 0) {
+ if (($dir_time{$axis} + $dir_sleep_time{$axis}) < ($min_time - $epsilon)) {
+ fail 'vibration limit exceeded';
+ }
+ $one_axis_would_trigger_limit_without_pause = 1
+ if ($dir_time{$axis} - $last_cmd_pause) < $min_time;
+ }
+ $dir{$axis} = $dir;
+ $dir_time{$axis} = 0;
+ $dir_sleep_time{$axis} = 0;
+ }
+ $dir_time{$axis} += $time;
+ }
+ fail 'no unnecessary pauses are added'
+ if $last_cmd_pause > $epsilon && !$one_axis_would_trigger_limit_without_pause;
+
+ $last_cmd_pause = 0;
+ });
+
+ 1;
+};
+
+$config->set('gcode_comments', 1);
+$config->set('perimeters', 1);
+foreach my $frequency (5, 10, 15) {
+ foreach my $gapfillspeed (20, 50, 100) {
+ $config->set('vibration_limit', $frequency);
+ ok $test->(), "vibrations limited to ${frequency}Hz (gap fill speed = ${gapfillspeed} mm/s)";
+ }
+}
+
+__END__

0 comments on commit 1a3497b

Please sign in to comment.