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SPE-1872: Fixes in function recalculate_trapezoids() and method GCodeProcessor::TimeMachine::calculate_time() to smooth actual speed profile

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enricoturri1966 2024-02-08 11:02:07 +01:00 committed by Lukas Matena
parent c054e70dc6
commit 42c9174567
1 changed files with 19 additions and 13 deletions
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32
src/libslic3r/GCode/GCodeProcessor.cpp
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@ -177,7 +177,9 @@ float GCodeProcessor::Trapezoid::cruise_distance() const
void GCodeProcessor::TimeBlock::calculate_trapezoid()
{
#if !ENABLE_ET_SPE1872
trapezoid.cruise_feedrate = feedrate_profile.cruise;
#endif // !ENABLE_ET_SPE1872
float accelerate_distance = std::max(0.0f, estimated_acceleration_distance(feedrate_profile.entry, feedrate_profile.cruise, acceleration));
const float decelerate_distance = std::max(0.0f, estimated_acceleration_distance(feedrate_profile.cruise, feedrate_profile.exit, -acceleration));
@ -191,19 +193,13 @@ void GCodeProcessor::TimeBlock::calculate_trapezoid()
cruise_distance = 0.0f;
trapezoid.cruise_feedrate = speed_from_distance(feedrate_profile.entry, accelerate_distance, acceleration);
}
#if ENABLE_ET_SPE1872
else
trapezoid.cruise_feedrate = feedrate_profile.cruise;
#endif // ENABLE_ET_SPE1872
trapezoid.accelerate_until = accelerate_distance;
trapezoid.decelerate_after = accelerate_distance + cruise_distance;
#if ENABLE_ET_SPE1872
const float new_exit_speed = feedrate_profile.entry +
acceleration * trapezoid.acceleration_time(feedrate_profile.entry, acceleration) -
acceleration * trapezoid.deceleration_time(distance, acceleration);
const float delta_exit_speed_percent = std::abs(100.0f * (new_exit_speed - feedrate_profile.exit) / feedrate_profile.exit);
if (delta_exit_speed_percent > 1.0f) {
// what to do in this case ?
}
#endif // ENABLE_ET_SPE1872
}
#if !ENABLE_ET_SPE1872
@ -381,10 +377,15 @@ static void recalculate_trapezoids(std::vector<GCodeProcessor::TimeBlock>& block
// Recalculate if current block entry or exit junction speed has changed.
if (curr->flags.recalculate || next->flags.recalculate) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
#if ENABLE_ET_SPE1872
curr->feedrate_profile.exit = next->feedrate_profile.entry;
curr->calculate_trapezoid();
#else
GCodeProcessor::TimeBlock block = *curr;
block.feedrate_profile.exit = next->feedrate_profile.entry;
block.calculate_trapezoid();
curr->trapezoid = block.trapezoid;
#endif // ENABLE_ET_SPE1872
curr->flags.recalculate = false; // Reset current only to ensure next trapezoid is computed
}
}
@ -392,10 +393,15 @@ static void recalculate_trapezoids(std::vector<GCodeProcessor::TimeBlock>& block
// Last/newest block in buffer. Always recalculated.
if (next != nullptr) {
#if ENABLE_ET_SPE1872
next->feedrate_profile.exit = next->safe_feedrate;
next->calculate_trapezoid();
#else
GCodeProcessor::TimeBlock block = *next;
block.feedrate_profile.exit = next->safe_feedrate;
block.calculate_trapezoid();
next->trapezoid = block.trapezoid;
#endif // ENABLE_ET_SPE1872
next->flags.recalculate = false;
}
}
@ -461,7 +467,7 @@ void GCodeProcessor::TimeMachine::calculate_time(size_t keep_last_n_blocks, floa
actual_speed_moves.push_back({
block.move_id,
position,
block.feedrate_profile.cruise,
block.trapezoid.cruise_feedrate,
delta_extruder,
feedrate,
width,
@ -486,7 +492,7 @@ void GCodeProcessor::TimeMachine::calculate_time(size_t keep_last_n_blocks, floa
actual_speed_moves.push_back({
block.move_id,
position,
block.feedrate_profile.cruise,
block.trapezoid.cruise_feedrate,
delta_extruder,
feedrate,
width,
@ -501,7 +507,7 @@ void GCodeProcessor::TimeMachine::calculate_time(size_t keep_last_n_blocks, floa
actual_speed_moves.push_back({
block.move_id,
std::nullopt,
(is_cruise_only || !has_deceleration) ? block.feedrate_profile.cruise : block.feedrate_profile.exit,
(is_cruise_only || !has_deceleration) ? block.trapezoid.cruise_feedrate : block.feedrate_profile.exit,
std::nullopt,
std::nullopt,
std::nullopt,