travel acceleration changes

- add travel acceleration
 - now deceleration for the travel done with the accel value of the next extrusion
 - reprap M204 now use P & T

resources/ui_layout/print.ui

@@ -259,11 +259,12 @@ group:sidetext_width$7:Modifiers
 		setting:label_width$8:width$4:small_perimeter_max_length
 		setting:label_width$8:width$4:small_perimeter_speed
 group:Acceleration control (advanced)
+	setting:default_acceleration
 	setting:perimeter_acceleration
 	setting:infill_acceleration
 	setting:bridge_acceleration
 	setting:first_layer_acceleration
-	setting:default_acceleration
+	setting:travel_acceleration
 group:Autospeed (advanced)
 	setting:label$Volumetric speed for Autospeed:max_volumetric_speed
 	setting:max_print_speed

src/libslic3r/GCode.cpp

@@ -273,10 +273,11 @@ static inline void set_extra_lift(const Layer& layer, const Print& print, GCodeW
         // Retract for a tool change, using the toolchange retract value and setting the priming extra length.
         gcode += gcodegen.retract(true);
         gcodegen.m_avoid_crossing_perimeters.use_external_mp_once();
-        gcode += gcodegen.travel_to(
+        Polyline polyline = gcodegen.travel_to(
+            gcode,
             wipe_tower_point_to_object_point(gcodegen, start_pos),
-            erMixed,
+            erMixed);
-            "Travel to a Wipe Tower");
+        gcodegen.write_travel_to(gcode, polyline, "Travel to a Wipe Tower");
         gcode += gcodegen.unretract();
     }
 
@@ -1505,7 +1506,10 @@ void GCode::_do_export(Print& print, FILE* file, ThumbnailsGeneratorCallback thu
                     m_enable_cooling_markers = false; // we're not filtering these moves through CoolingBuffer
                     m_avoid_crossing_perimeters.use_external_mp_once();
                     _write(file, this->retract());
-                    _write(file, this->travel_to(Point(0, 0), erNone, "move to origin position for next object"));
+                    std::string gcode;
+                    Polyline polyline = this->travel_to(gcode, Point(0, 0), erNone);
+                    this->write_travel_to(gcode, polyline, "move to origin position for next object");
+                    _write(file, gcode);
                     m_enable_cooling_markers = true;
                     // Disable motion planner when traveling to first object point.
                     m_avoid_crossing_perimeters.disable_once();
@@ -3737,13 +3741,69 @@ std::string GCode::_before_extrude(const ExtrusionPath &path, const std::string
     std::string gcode;
     std::string description{ description_in };
 
-    // go to first point of extrusion path
+
-    if (!m_last_pos_defined || m_last_pos != path.first_point()) {
+    // adjust acceleration, inside the travel to set the deceleration
-        gcode += this->travel_to(
+    double acceleration = get_default_acceleration(m_config);
-            path.first_point(),
+    double travel_acceleration = m_writer.get_acceleration();
-            path.role(),
+    {
-            "move to first " + description + " point"
+        if (this->on_first_layer() && m_config.first_layer_acceleration.value > 0) {
-        );
+            acceleration = m_config.first_layer_acceleration.get_abs_value(acceleration);
+        } else if (m_config.perimeter_acceleration.value > 0 && is_perimeter(path.role())) {
+            acceleration = m_config.perimeter_acceleration.get_abs_value(acceleration);
+        } else if (m_config.bridge_acceleration.value > 0 && is_bridge(path.role())
+            && path.role() != erOverhangPerimeter) {
+            acceleration = m_config.bridge_acceleration.get_abs_value(acceleration);
+        } else if (m_config.infill_acceleration.value > 0 && is_infill(path.role())) {
+            acceleration = m_config.infill_acceleration.get_abs_value(acceleration);
+        }
+        if (m_config.travel_acceleration.value > 0)
+            travel_acceleration = m_config.travel_acceleration.get_abs_value(acceleration);
+    }
+
+    if (travel_acceleration == acceleration) {
+        m_writer.set_acceleration((uint32_t)floor(acceleration + 0.5));
+        // go to first point of extrusion path (stop at midpoint to let us set the decel speed)
+        if (!m_last_pos_defined || m_last_pos != path.first_point()) {
+             Polyline polyline = this->travel_to(gcode, path.first_point(), path.role());
+             this->write_travel_to(gcode, polyline, "move to first " + description + " point (" + std::to_string(acceleration) +" == "+ std::to_string(travel_acceleration)+")");
+        }
+    } else {
+        // go to midpoint to let us set the decel speed)
+        if (!m_last_pos_defined || m_last_pos != path.first_point()) {
+            Polyline poly_start = this->travel_to(gcode, path.first_point(), path.role());
+            coordf_t length = poly_start.length();
+            if (length > SCALED_EPSILON) {
+                Polyline poly_end;
+                coordf_t min_length = scale_(EXTRUDER_CONFIG_WITH_DEFAULT(nozzle_diameter, 0.5)) * 20;
+                if (poly_start.size() > 2 && length > min_length * 3) {
+                    //if complex travel, try to deccelerate only at the end, unless it's less than ~ 20 nozzle
+                    if (poly_start.lines().back().length() < min_length) {
+                        poly_end = poly_start;
+                        poly_start.clip_end(min_length);
+                        poly_end.clip_start(length - min_length);
+                    } else {
+                        poly_end.points.push_back(poly_start.points.back());
+                        poly_start.points.pop_back();
+                        poly_end.points.push_back(poly_start.points.back());
+                        poly_end.reverse();
+                    }
+                } else {
+                    poly_end = poly_start;
+                    poly_start.clip_end(length / 2);
+                    poly_end.clip_start(length / 2);
+                }
+                m_writer.set_acceleration((uint32_t)floor(travel_acceleration + 0.5));
+                this->write_travel_to(gcode, poly_start, "move to first " + description + " point (acceleration)");
+                //travel acceleration should be already set at startup via special gcode, and so it's automatically used by G0.
+                m_writer.set_acceleration((uint32_t)floor(acceleration + 0.5));
+                this->write_travel_to(gcode, poly_end, "move to first " + description + " point (deceleration)");
+            } else {
+                m_writer.set_acceleration((uint32_t)floor(travel_acceleration + 0.5));
+                this->write_travel_to(gcode, poly_start, "move to first " + description + " point (acceleration)");
+            }
+        } else {
+            m_writer.set_acceleration((uint32_t)floor(acceleration + 0.5));
+        }
     }
 
     //if needed, write the gcode_label_objects_end then gcode_label_objects_start
@@ -3753,24 +3813,6 @@ std::string GCode::_before_extrude(const ExtrusionPath &path, const std::string
     // compensate retraction
     gcode += this->unretract();
 
-    // adjust acceleration
-    {
-        double acceleration = get_default_acceleration(m_config);
-        if (this->on_first_layer() && m_config.first_layer_acceleration.value > 0) {
-            acceleration = m_config.first_layer_acceleration.get_abs_value(acceleration);
-        } else if (m_config.perimeter_acceleration.value > 0 && is_perimeter(path.role())) {
-            acceleration = m_config.perimeter_acceleration.get_abs_value(acceleration);
-        } else if (m_config.bridge_acceleration.value > 0 && is_bridge(path.role()) 
-                && path.role() != erOverhangPerimeter ) {
-            acceleration = m_config.bridge_acceleration.get_abs_value(acceleration);
-        } else if (m_config.infill_acceleration.value > 0 && is_infill(path.role())) {
-            acceleration = m_config.infill_acceleration.get_abs_value(acceleration);
-        }
-        //travel acceleration should be already set at startup via special gcode, and so it's automatically used by G0.
-        m_writer.set_acceleration((uint32_t)floor(acceleration + 0.5));
-    }
-
-
     // set speed
     if (speed < 0) {
         //if speed == -1, then it's means "choose yourself, but if it's -1 < speed <0 , then it's a scaling from small_periemter.
@@ -3966,7 +4008,7 @@ void GCode::_add_object_change_labels(std::string& gcode) {
 }
 
 // This method accepts &point in print coordinates.
-std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string comment)
+Polyline GCode::travel_to(std::string &gcode, const Point &point, ExtrusionRole role)
 {
     /*  Define the travel move as a line between current position and the taget point.
         This is expressed in print coordinates, so it will need to be translated by
@@ -3995,7 +4037,6 @@ std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string
     m_avoid_crossing_perimeters.reset_once_modifiers();
 
     // generate G-code for the travel move
-    std::string gcode;
     if (needs_retraction) {
         if (m_config.avoid_crossing_perimeters && could_be_wipe_disabled)
             m_wipe.reset_path();
@@ -4016,15 +4057,19 @@ std::string GCode::travel_to(const Point &point, ExtrusionRole role, std::string
     //if needed, write the gcode_label_objects_end then gcode_label_objects_start
     _add_object_change_labels(gcode);
 
+    return travel;
+}
+
+
+void GCode::write_travel_to(std::string &gcode, const Polyline& travel, std::string comment)
+{
     // use G1 because we rely on paths being straight (G0 may make round paths)
     if (travel.size() >= 2) {
-        for (size_t i = 1; i < travel.size(); ++ i)
+        for (size_t i = 1; i < travel.size(); ++i)
             gcode += m_writer.travel_to_xy(this->point_to_gcode(travel.points[i]), comment);
         this->set_last_pos(travel.points.back());
     }
-    return gcode;
 }
-
 bool GCode::needs_retraction(const Polyline &travel, ExtrusionRole role)
 {
     if (travel.length() < scale_(EXTRUDER_CONFIG_WITH_DEFAULT(retract_before_travel, 0))) {

src/libslic3r/GCode.hpp

@@ -315,7 +315,8 @@ private:
     std::string     extrude_ironing(const Print& print, const std::vector<ObjectByExtruder::Island::Region>& by_region);
     std::string     extrude_support(const ExtrusionEntityCollection &support_fills);
 
-    std::string     travel_to(const Point &point, ExtrusionRole role, std::string comment);
+    Polyline        travel_to(std::string& gcode, const Point &point, ExtrusionRole role);
+    void            write_travel_to(std::string& gcode, const Polyline& travel, std::string comment);
     bool            needs_retraction(const Polyline &travel, ExtrusionRole role = erNone);
     std::string     retract(bool toolchange = false);
     std::string     unretract() { return m_writer.unlift() + m_writer.unretract(); }

src/libslic3r/GCodeWriter.cpp

@@ -281,6 +281,11 @@ void GCodeWriter::set_acceleration(uint32_t acceleration)
     m_current_acceleration = acceleration;
 }
 
+uint32_t GCodeWriter::get_acceleration() const
+{
+    return m_current_acceleration;
+}
+
 std::string GCodeWriter::write_acceleration(){
     if (m_current_acceleration == m_last_acceleration || m_current_acceleration == 0)
         return "";
@@ -292,9 +297,12 @@ std::string GCodeWriter::write_acceleration(){
     if (FLAVOR_IS(gcfRepetier)) {
         // M201: Set max printing acceleration
         gcode << "M201 X" << m_current_acceleration << " Y" << m_current_acceleration;
-    } else if(FLAVOR_IS(gcfMarlin) || FLAVOR_IS(gcfLerdge) || FLAVOR_IS(gcfRepRap) || FLAVOR_IS(gcfSprinter)){
+    } else if(FLAVOR_IS(gcfMarlin) || FLAVOR_IS(gcfLerdge) || FLAVOR_IS(gcfSprinter)){
         // M204: Set printing acceleration
         gcode << "M204 P" << m_current_acceleration;
+    } else  if (FLAVOR_IS(gcfRepRap)) {
+        // M204: Set printing & travel acceleration
+        gcode << "M204 P" << m_current_acceleration <<" T" << m_current_acceleration;
     } else {
         // M204: Set default acceleration
         gcode << "M204 S" << m_current_acceleration;

src/libslic3r/GCodeWriter.hpp

@@ -50,6 +50,7 @@ public:
     /// set fan at speed. Save it as current fan speed if !dont_save, and use tool default_tool if the internal m_tool is null (no toolchange done yet).
     std::string set_fan(uint8_t speed, bool dont_save = false, uint16_t default_tool = 0);
     void        set_acceleration(uint32_t acceleration);
+    uint32_t    get_acceleration() const;
     std::string write_acceleration();
     std::string reset_e(bool force = false);
     std::string update_progress(uint32_t num, uint32_t tot, bool allow_100 = false) const;

src/libslic3r/Preset.cpp

@@ -446,6 +446,7 @@ const std::vector<std::string>& Preset::print_options()
         "top_solid_min_thickness",
         "bottom_solid_layers",
         "bottom_solid_min_thickness",
+        "duplicate_distance",
         "extra_perimeters",
         "extra_perimeters_odd_layers",
         "extra_perimeters_overhangs",
@@ -456,26 +457,28 @@ const std::vector<std::string>& Preset::print_options()
         "avoid_crossing_perimeters", 
         "avoid_crossing_not_first_layer",
         "thin_perimeters", "thin_perimeters_all",
-        "thin_walls",
         "overhangs_speed",
         "overhangs_width",
         "overhangs_width_speed", 
         "overhangs_reverse",
         "overhangs_reverse_threshold",
         "seam_position",
+        // external_perimeters
         "external_perimeters_first",
         "external_perimeters_vase",
         "external_perimeters_nothole",
         "external_perimeters_hole",
-        "fill_density"
+        // fill pattern
-        , "fill_pattern"
+        "fill_density",
-        , "fill_top_flow_ratio"
+        "fill_pattern",
-        , "fill_smooth_width"
+        "fill_top_flow_ratio",
-        , "fill_smooth_distribution"
+        "fill_smooth_width",
-        , "top_fill_pattern"
+        "fill_smooth_distribution",
-        , "bottom_fill_pattern"
+        "top_fill_pattern",
-        , "solid_fill_pattern",
+        "bottom_fill_pattern",
+        "solid_fill_pattern",
         "infill_every_layers", "infill_only_where_needed", "solid_infill_every_layers",
+        // ironing
         "ironing",
         "ironing_type",
         "ironing_flowrate",
@@ -493,25 +496,40 @@ const std::vector<std::string>& Preset::print_options()
         "max_volumetric_extrusion_rate_slope_positive", "max_volumetric_extrusion_rate_slope_negative", 
 #endif /* HAS_PRESSURE_EQUALIZER */
         "min_width_top_surface",
-        "perimeter_speed",
-        "small_perimeter_speed",
-        "small_perimeter_min_length",
-        "small_perimeter_max_length",
-        "external_perimeter_speed", "infill_speed", "solid_infill_speed", 
-        "top_solid_infill_speed", "support_material_speed", "support_material_xy_spacing", "support_material_interface_speed",
         "bridge_speed",
         "bridge_speed_internal",
+        // speeds
+        "external_perimeter_speed", 
+        "first_layer_speed",
+        "infill_speed",
+        "perimeter_speed",
+        "small_perimeter_speed",
+        "small_perimeter_max_length",
+        "small_perimeter_min_length",
+        "solid_infill_speed",
+        "support_material_interface_speed",
+        "support_material_speed", 
+        "support_material_xy_spacing",
+        "top_solid_infill_speed",
+        "travel_speed", "travel_speed_z",
+        // gapfill
         "gap_fill",
         "gap_fill_min_area",
         "gap_fill_overlap",
         "gap_fill_speed",
-        "travel_speed", "travel_speed_z", "first_layer_speed", "perimeter_acceleration", "infill_acceleration",
+        // acceleration
-        "bridge_acceleration", "first_layer_acceleration", "default_acceleration", 
+        "bridge_acceleration",
-        "duplicate_distance",
+        "default_acceleration",
+        "first_layer_acceleration",
+        "infill_acceleration",
+        "perimeter_acceleration",
+        "travel_acceleration",
+        // skirt
         "skirts", "skirt_distance", "skirt_height",
         "skirt_extrusion_width",
         "min_skirt_length",
         "draft_shield",
+        // brim
         "brim_inside_holes",
         "brim_width",
         "brim_width_interior",
@@ -520,15 +538,16 @@ const std::vector<std::string>& Preset::print_options()
         "brim_ears_max_angle",
         "brim_ears_pattern",
         "brim_offset",
+        // support
         "support_material", "support_material_auto", "support_material_threshold", "support_material_enforce_layers",
         "raft_layers", "support_material_pattern", "support_material_with_sheath", "support_material_spacing",
         "support_material_interface_pattern",
         "support_material_synchronize_layers", "support_material_angle", "support_material_interface_layers",
-        "support_material_interface_spacing", "support_material_interface_contact_loops"
+        "support_material_interface_spacing", "support_material_interface_contact_loops",
-        , "support_material_contact_distance_type"
+        "support_material_contact_distance_type",
-        , "support_material_contact_distance_top"
+        "support_material_contact_distance_top",
-        , "support_material_contact_distance_bottom" 
+        "support_material_contact_distance_bottom",
-        , "support_material_buildplate_only", "dont_support_bridges", "notes", 
+        "support_material_buildplate_only", "dont_support_bridges", "notes", 
         "complete_objects",
         "complete_objects_one_skirt",
         "complete_objects_one_brim",
@@ -537,6 +556,7 @@ const std::vector<std::string>& Preset::print_options()
         "extruder_clearance_height", "gcode_comments", "gcode_label_objects", "output_filename_format", "post_process", "perimeter_extruder", 
         "infill_extruder", "solid_infill_extruder", "support_material_extruder", "support_material_interface_extruder", 
         "ooze_prevention", "standby_temperature_delta", "interface_shells", 
+        // width & spacing
         "extrusion_spacing", 
         "extrusion_width", 
         "first_layer_extrusion_spacing", 
@@ -553,6 +573,7 @@ const std::vector<std::string>& Preset::print_options()
         "top_infill_extrusion_spacing",
         "top_infill_extrusion_width",
         "support_material_extrusion_width",
+        // overlap, ratios
         "infill_overlap", "bridge_flow_ratio",
         "infill_anchor",
         "infill_anchor_max",
@@ -561,6 +582,7 @@ const std::vector<std::string>& Preset::print_options()
         "bridge_overlap",
         "first_layer_flow_ratio",
         "clip_multipart_objects", "enforce_full_fill_volume", "external_infill_margin", "bridged_infill_margin",
+        // compensation
         "first_layer_size_compensation",
         "first_layer_size_compensation_layers",
         "xy_size_compensation",
@@ -569,7 +591,8 @@ const std::vector<std::string>& Preset::print_options()
         "hole_size_threshold",
         "hole_to_polyhole",
         "hole_to_polyhole_threshold",
-        "threads", "resolution",
+        "threads",
+        // wipe tower
         "wipe_tower", "wipe_tower_x", "wipe_tower_y", "wipe_tower_width", "wipe_tower_rotation_angle", "wipe_tower_bridging",
         "wipe_tower_brim",
         "single_extruder_multi_material_priming", 
@@ -585,14 +608,19 @@ const std::vector<std::string>& Preset::print_options()
         "seam_travel_cost",
         "infill_connection", "infill_connection_solid", "infill_connection_top", "infill_connection_bottom",
         "first_layer_infill_speed",
+        // thin wall
+        "thin_walls",
         "thin_walls_min_width",
         "thin_walls_overlap",
-        "thin_walls_speed"
+        "thin_walls_speed",
-        , "model_precision"
+        "thin_walls_merge",
-        , "curve_smoothing_precision"
+        //precision, spoothign
-        , "curve_smoothing_cutoff_dist"
+        "model_precision",
-        , "curve_smoothing_angle_convex"
+        "resolution",
-        , "curve_smoothing_angle_concave",
+        "curve_smoothing_precision",
+        "curve_smoothing_cutoff_dist",
+        "curve_smoothing_angle_convex",
+        "curve_smoothing_angle_concave",
         "print_extrusion_multiplier",
         "print_retract_length",
         "print_temperature",
@@ -601,11 +629,11 @@ const std::vector<std::string>& Preset::print_options()
         "external_perimeter_overlap",
         "perimeter_bonding",
         "perimeter_overlap",
+        //milling
         "milling_after_z",
         "milling_post_process",
         "milling_extra_size",
         "milling_speed",
-        "thin_walls_merge",
     };
     return s_opts;
 }

src/libslic3r/Print.cpp

@@ -172,6 +172,7 @@ bool Print::invalidate_state_by_config_options(const std::vector<t_config_option
         "toolchange_gcode",
         "top_fan_speed",
         "threads",
+        "travel_acceleration",
         "travel_speed",
         "travel_speed_z",
         "use_firmware_retraction",

src/libslic3r/PrintConfig.cpp

@@ -4100,6 +4100,18 @@ void PrintConfigDef::init_fff_params()
     def->min = 0;
     def->set_default_value(new ConfigOptionFloat(0.));
 
+    def = this->add("travel_acceleration", coFloatOrPercent);
+    def->label = L("Travel");
+    def->full_label = L("Travel acceleration");
+    def->category = OptionCategory::speed;
+    def->tooltip = L("Acceleration for travel moves (jumps between distant extrusion points)."
+            "\nNote that the deceleration of a travel will use the acceleration value of the extrusion that will be printed after it (if any)");
+    def->sidetext = L("mm/s² or %");
+    def->ratio_over = "default_acceleration";
+    def->min = 0;
+    def->mode = comExpert;
+    def->set_default_value(new ConfigOptionFloatOrPercent(1500, false));
+
     def = this->add("travel_speed", coFloat);
     def->label = L("Travel");
     def->full_label = L("Travel speed");
@@ -5541,6 +5553,7 @@ void PrintConfigDef::to_prusa(t_config_option_key& opt_key, std::string& value,
 "perimeter_round_corners",
 "travel_speed_z",
 "first_layer_size_compensation_layers",
+"travel_acceleration",
     };
     //looks if it's to be removed, or have to be transformed
     if (to_remove_keys.find(opt_key) != to_remove_keys.end()) {

src/libslic3r/PrintConfig.hpp

@@ -1331,6 +1331,7 @@ public:
     ConfigOptionBool                thumbnails_with_bed;
     ConfigOptionPercent             time_estimation_compensation;
     ConfigOptionInts                top_fan_speed;
+    ConfigOptionFloatOrPercent      travel_acceleration;
     ConfigOptionBools               wipe;
     ConfigOptionBool                wipe_tower;
     ConfigOptionFloatOrPercent      wipe_tower_brim;
@@ -1427,6 +1428,7 @@ protected:
         OPT_PTR(thumbnails_with_bed);
         OPT_PTR(time_estimation_compensation);
         OPT_PTR(top_fan_speed);
+        OPT_PTR(travel_acceleration);
         OPT_PTR(wipe);
         OPT_PTR(wipe_tower);
         OPT_PTR(wipe_tower_brim);

src/slic3r/GUI/ConfigManipulation.cpp

@@ -433,7 +433,7 @@ void ConfigManipulation::toggle_print_fff_options(DynamicPrintConfig* config)
 
     bool have_default_acceleration = config->option<ConfigOptionFloatOrPercent>("default_acceleration")->value > 0;
     for (auto el : { "perimeter_acceleration", "infill_acceleration",
-                    "bridge_acceleration", "first_layer_acceleration" })
+                    "bridge_acceleration", "first_layer_acceleration", "travel_acceleration" })
         toggle_field(el, have_default_acceleration);
 
     bool have_skirt = config->opt_int("skirts") > 0;