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#13420 GCodeWriter Correct Z speed too high and add unit tests
#13402 test_gcodewriter.cpp add travel_speed_z tests These tests fail with the legacy implementation of GCodeWriter::travel_to_xyz_force() because it does not decompose the speed into it's components according to the movement unit vector. #13420 Correct Z speed too high
This commit is contained in:
jalapenopuzzle
Lukas Matena
parent
462758153b
commit
419d857a4b
@ -358,20 +358,21 @@ std::string GCodeWriter::travel_to_xyz_force(const Vec3d &to, const std::string_
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GCodeG1Formatter w;
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w.emit_xyz(to);
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double speed_z = this->config.travel_speed_z.value;
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if (speed_z == 0.)
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speed_z = this->config.travel_speed.value;
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double speed = this->config.travel_speed.value;
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const double speed_z = this->config.travel_speed_z.value;
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const double distance_xy{(to.head<2>() - m_pos.head<2>()).norm()};
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const double distnace_z{std::abs(to.z() - m_pos.z())};
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const double time_z = distnace_z / speed_z;
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const double time_xy = distance_xy / this->config.travel_speed.value;
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const double factor = time_z > 0 ? time_xy / time_z : 1;
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if (factor < 1) {
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w.emit_f(std::floor((this->config.travel_speed.value * factor + (1 - factor) * speed_z) * 60.0));
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} else {
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w.emit_f(this->config.travel_speed.value * 60.0);
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if (speed_z) {
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const Vec3d move{to - m_pos};
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const double distance{move.norm()};
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const double abs_unit_vector_z{std::abs(move.z())/distance};
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// De-compose speed into z vector component according to the movement unit vector.
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const double speed_vector_z{abs_unit_vector_z * speed};
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if (speed_vector_z > speed_z) {
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// Re-compute speed so that the z component is exactly speed_z.
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speed = speed_z / abs_unit_vector_z;
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}
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}
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w.emit_f(speed * 60.0);
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w.emit_comment(this->config.gcode_comments, comment);
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m_pos = to;
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@ -5,6 +5,7 @@
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#include <memory>
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#include "libslic3r/GCode/GCodeWriter.hpp"
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#include "libslic3r/GCodeReader.hpp"
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using namespace Slic3r;
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@ -35,6 +36,265 @@ SCENARIO("set_speed emits values with fixed-point output.", "[GCodeWriter]") {
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}
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}
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void check_gcode_feedrate(const std::string& gcode, const GCodeConfig& config, double expected_speed) {
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GCodeReader parser;
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parser.parse_buffer(gcode, [&] (Slic3r::GCodeReader &self, const Slic3r::GCodeReader::GCodeLine &line) {
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const double travel_speed = config.opt_float("travel_speed");
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const double feedrate = line.has_f() ? line.f() : self.f();
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CHECK(feedrate == Approx(expected_speed * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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if (line.dist_Z(self) != 0) {
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// lift move or lift + change layer
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const double travel_speed_z = config.opt_float("travel_speed_z");
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if (travel_speed_z) {
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Vec3d move{line.dist_X(self), line.dist_Y(self), line.dist_Z(self)};
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double move_u_z = move.z() / move.norm();
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double travel_speed_ = std::abs(travel_speed_z / move_u_z);
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INFO("move Z feedrate Z component is less than or equal to travel_speed_z");
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CHECK(feedrate * std::abs(move_u_z) <= Approx(travel_speed_z * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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if (travel_speed_ < travel_speed) {
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INFO("move Z at travel speed Z");
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CHECK(feedrate == Approx(travel_speed_ * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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INFO("move Z feedrate Z component is equal to travel_speed_z");
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CHECK(feedrate * std::abs(move_u_z) == Approx(travel_speed_z * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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} else {
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INFO("move Z at travel speed");
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CHECK(feedrate == Approx(travel_speed * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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}
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} else {
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INFO("move Z at travel speed");
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CHECK(feedrate == Approx(travel_speed * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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}
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} else if (not line.extruding(self)) {
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// normal move
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INFO("move XY at travel speed");
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CHECK(feedrate == Approx(travel_speed * 60));
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}
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});
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}
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SCENARIO("travel_speed_z is zero should use travel_speed.", "[GCodeWriter]") {
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GIVEN("GCodeWriter instance") {
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GCodeWriter writer;
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WHEN("travel_speed_z is set to 0") {
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writer.config.travel_speed.value = 1000;
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writer.config.travel_speed_z.value = 0;
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THEN("XYZ move feed rate should be equal to travel_speed") {
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const Vec3d move{10, 10, 10};
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const double speed = writer.config.travel_speed.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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}
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}
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}
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SCENARIO("travel_speed_z is respected in Z speed component.", "[GCodeWriter]") {
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GIVEN("GCodeWriter instance") {
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GCodeWriter writer;
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WHEN("travel_speed_z is set to 10") {
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writer.config.travel_speed.value = 1000;
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writer.config.travel_speed_z.value = 10;
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THEN("Z move feed rate should be equal to travel_speed_z") {
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const Vec3d move{0, 0, 10};
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const double speed = writer.config.travel_speed_z.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-Z move feed rate should be equal to travel_speed_z") {
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const Vec3d move{0, 0, -10};
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const double speed = writer.config.travel_speed_z.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("XY move feed rate should be equal to travel_speed") {
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const Vec3d move{10, 10, 0};
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const double speed = writer.config.travel_speed.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-XY move feed rate should be equal to travel_speed") {
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const Vec3d move{-10, 10, 0};
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const double speed = writer.config.travel_speed.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("X-Y move feed rate should be equal to travel_speed") {
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const Vec3d move{10, -10, 0};
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const double speed = writer.config.travel_speed.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-X-Y move feed rate should be equal to travel_speed") {
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const Vec3d move{-10, -10, 0};
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const double speed = writer.config.travel_speed.value;
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("XZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, 0, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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Vec3d p1 = writer.get_position();
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Vec3d p2 = p1 + move;
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std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-XZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, 0, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("X-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, 0, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-X-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, 0, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("YZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{0, 10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-YZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{0, -10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("Y-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{0, 10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-Y-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{0, -10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("XYZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, 10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-XYZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, 10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("X-YZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, -10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-X-YZ move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, -10, 10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("XY-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, 10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-XY-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, 10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("X-Y-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{10, -10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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THEN("-X-Y-Z move feed rate Z component should be equal to travel_speed_z") {
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const Vec3d move{-10, -10, -10};
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const Vec3d move_u = move / move.norm();
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const double speed = std::abs(writer.config.travel_speed_z.value / move_u.z());
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const Vec3d p1 = writer.get_position();
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const Vec3d p2 = p1 + move;
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const std::string result = writer.travel_to_xyz(p2);
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check_gcode_feedrate(result, writer.config, speed);
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}
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}
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}
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}
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TEST_CASE("GCodeWriter emits G1 code correctly according to XYZF_EXPORT_DIGITS", "[GCodeWriter]") {
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GCodeWriter writer;
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@ -5,8 +5,9 @@
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#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <libslic3r/GCodeReader.hpp>
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#include <libslic3r/Config.hpp>
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#include "libslic3r/GCodeReader.hpp"
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#include "libslic3r/GCode/GCodeWriter.hpp"
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#include "libslic3r/Config.hpp"
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#include "test_data.hpp"
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#include <regex>
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@ -61,6 +62,10 @@ void check_gcode(std::initializer_list<TestMesh> meshes, const DynamicPrintConfi
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const double retract_restart_extra = config.option<ConfigOptionFloats>("retract_restart_extra")->get_at(tool);
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const double retract_restart_extra_toolchange = config.option<ConfigOptionFloats>("retract_restart_extra_toolchange")->get_at(tool);
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const double travel_speed = config.opt_float("travel_speed");
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const double feedrate = line.has_f() ? line.f() : self.f();
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if (line.dist_Z(self) != 0) {
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// lift move or lift + change layer
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const double retract_lift = config.option<ConfigOptionFloats>("retract_lift")->get_at(tool);
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@ -89,9 +94,26 @@ void check_gcode(std::initializer_list<TestMesh> meshes, const DynamicPrintConfi
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lift_dist = 0;
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lifted = false;
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}
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const double feedrate = line.has_f() ? line.f() : self.f();
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INFO("move Z at travel speed");
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CHECK(feedrate == Approx(config.opt_float("travel_speed") * 60));
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const double travel_speed_z = config.opt_float("travel_speed_z");
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if (travel_speed_z) {
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Vec3d move{line.dist_X(self), line.dist_Y(self), line.dist_Z(self)};
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const double move_u_z = move.z() / move.norm();
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const double travel_speed_ = std::abs(travel_speed_z / move_u_z);
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INFO("move Z feedrate Z component is less than or equal to travel_speed_z");
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CHECK(feedrate * std::abs(move_u_z) <= Approx(travel_speed_z * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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if (travel_speed_ < travel_speed) {
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INFO("move Z at travel speed Z");
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CHECK(feedrate == Approx(travel_speed_ * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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INFO("move Z feedrate Z component is equal to travel_speed_z");
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CHECK(feedrate * std::abs(move_u_z) == Approx(travel_speed_z * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
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} else {
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INFO("move Z at travel speed");
|
||||
CHECK(feedrate == Approx(travel_speed * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
|
||||
}
|
||||
} else {
|
||||
INFO("move Z at travel speed");
|
||||
CHECK(feedrate == Approx(travel_speed * 60).epsilon(GCodeFormatter::XYZ_EPSILON));
|
||||
}
|
||||
}
|
||||
if (line.retracting(self)) {
|
||||
retracted[tool] = true;
|
||||
@ -144,7 +166,7 @@ void test_slicing(std::initializer_list<TestMesh> meshes, DynamicPrintConfig& co
|
||||
|
||||
}
|
||||
|
||||
TEST_CASE("Slicing with retraction and lifing", "[retraction]") {
|
||||
TEST_CASE("Slicing with retraction and lifting", "[retraction]") {
|
||||
DynamicPrintConfig config = Slic3r::DynamicPrintConfig::full_print_config();
|
||||
config.set_deserialize_strict({
|
||||
{ "nozzle_diameter", "0.6,0.6,0.6,0.6" },
|
||||
@ -173,6 +195,37 @@ TEST_CASE("Slicing with retraction and lifing", "[retraction]") {
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Slicing with retraction and lifting with travel_speed_z=10", "[retraction]") {
|
||||
DynamicPrintConfig config = Slic3r::DynamicPrintConfig::full_print_config();
|
||||
config.set_deserialize_strict({
|
||||
{ "nozzle_diameter", "0.6,0.6,0.6,0.6" },
|
||||
{ "first_layer_height", config.opt_float("layer_height") },
|
||||
{ "first_layer_speed", "100%" },
|
||||
{ "start_gcode", "" }, // To avoid dealing with the nozzle lift in start G-code
|
||||
{ "retract_length", "1.5" },
|
||||
{ "retract_before_travel", "3" },
|
||||
{ "retract_layer_change", "1" },
|
||||
{ "only_retract_when_crossing_perimeters", 0 },
|
||||
{ "travel_speed", "600" },
|
||||
{ "travel_speed_z", "10" },
|
||||
});
|
||||
|
||||
SECTION("Standard run") {
|
||||
test_slicing({TestMesh::cube_20x20x20}, config);
|
||||
}
|
||||
SECTION("With duplicate cube") {
|
||||
test_slicing({TestMesh::cube_20x20x20}, config, 2);
|
||||
}
|
||||
SECTION("Dual extruder with multiple skirt layers") {
|
||||
config.set_deserialize_strict({
|
||||
{"infill_extruder", 2},
|
||||
{"skirts", 4},
|
||||
{"skirt_height", 3},
|
||||
});
|
||||
test_slicing({TestMesh::cube_20x20x20}, config);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Z moves", "[retraction]") {
|
||||
|
||||
DynamicPrintConfig config = Slic3r::DynamicPrintConfig::full_print_config();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user