/**
* speed up for short lines
*
* @param p
* @return
* @throws ReprapException
* @throws IOException
*/
private boolean shortLine(Rr2Point p, boolean stopExtruder, boolean closeValve)
throws ReprapException, IOException {
Printer printer = layerConditions.getPrinter();
double shortLen = printer.getExtruder().getShortLength();
if (shortLen < 0) return false;
Rr2Point a = Rr2Point.sub(posNow(), p);
double amod = a.mod();
if (amod > shortLen) {
// Debug.d("Long segment. Current feedrate is: " + currentFeedrate);
return false;
}
// printer.setFeedrate(printer.getExtruder().getShortLineFeedrate());
// TODO: FIX THIS
// printer.setSpeed(LinePrinter.speedFix(printer.getExtruder().getXYSpeed(),
// printer.getExtruder().getShortSpeed()));
printer.printTo(
p.x(),
p.y(),
layerConditions.getMachineZ(),
printer.getExtruder().getShortLineFeedrate(),
stopExtruder,
closeValve);
// printer.setFeedrate(currentFeedrate);
return true;
}
/** Destroy me and all that I point to */
public void destroy() {
if (beingDestroyed) // Prevent infinite loop
return;
beingDestroyed = true;
// Keep the lower shell - the graphics system is using it
// lowerShell = null;
// Keep the printer; that's needed for the next layer
// printer = null;
// if(hatchedPolygons != null)
// hatchedPolygons.destroy();
// hatchedPolygons = null;
//
// if(borderPolygons != null)
// borderPolygons.destroy();
// borderPolygons = null;
//
// //if(boolGrdSlice != null)
// // boolGrdSlice.destroy();
// boolGrdSlice = null;
//
// //if(offHatch != null)
// //offHatch.destroy();
// offHatch = null;
if (startNearHere != null) startNearHere.destroy();
startNearHere = null;
allPolygons = null;
beingDestroyed = false;
}
/**
* @param first First point, the end of the line segment to be plotted to from the current
* position.
* @param second Second point, the end of the next line segment; used for angle calculations
* @param turnOff True if the extruder should be turned off at the end of this segment.
* @throws ReprapException
* @throws IOException
*/
private void plot(Rr2Point first, Rr2Point second, boolean stopExtruder, boolean closeValve)
throws ReprapException, IOException {
Printer printer = layerConditions.getPrinter();
if (printer.isCancelled()) return;
// Don't call delay; this isn't controlling the printer
while (paused) {
try {
Thread.sleep(200);
} catch (Exception ex) {
}
}
if (shortLine(first, stopExtruder, closeValve)) return;
double z = layerConditions.getMachineZ();
double speedUpLength = printer.getExtruder().getAngleSpeedUpLength();
if (speedUpLength > 0) {
segmentSpeeds ss = new segmentSpeeds(posNow(), first, second, speedUpLength);
if (ss.abandon) return;
printer.printTo(ss.p1.x(), ss.p1.y(), z, currentFeedrate, false, false);
if (ss.plotMiddle) {
// TODO: FIX THIS.
// int straightSpeed = LinePrinter.speedFix(currentSpeed, (1 -
// printer.getExtruder().getAngleSpeedFactor()));
// printer.setFeedrate(printer.getExtruder().getAngleFeedrate());
printer.printTo(
ss.p2.x(), ss.p2.y(), z, printer.getExtruder().getAngleFeedrate(), false, false);
}
// printer.setSpeed(ss.speed(currentSpeed, printer.getExtruder().getAngleSpeedFactor()));
// printer.setFeedrate(printer.getExtruder().getAngleFeedrate());
printer.printTo(
ss.p3.x(),
ss.p3.y(),
z,
printer.getExtruder().getAngleFeedrate(),
stopExtruder,
closeValve);
// pos = ss.p3;
// Leave speed set for the start of the next line.
} else printer.printTo(first.x(), first.y(), z, currentFeedrate, stopExtruder, closeValve);
}
/**
* @param first
* @param second
* @param startUp
* @param endUp
* @throws ReprapException
* @throws IOException
*/
private void move(Rr2Point first, Rr2Point second, boolean startUp, boolean endUp, boolean fast)
throws ReprapException, IOException {
Printer printer = layerConditions.getPrinter();
if (printer.isCancelled()) return;
// Don't call delay; this isn't controlling the printer
while (paused) {
try {
Thread.sleep(200);
} catch (Exception ex) {
}
}
double z = layerConditions.getMachineZ();
// if(startUp)
if (fast) {
// printer.setFeedrate(printer.getFastFeedrateXY());
printer.moveTo(
first.x(), first.y(), z, printer.getExtruder().getFastXYFeedrate(), startUp, endUp);
return;
}
double speedUpLength = printer.getExtruder().getAngleSpeedUpLength();
if (speedUpLength > 0) {
segmentSpeeds ss = new segmentSpeeds(posNow(), first, second, speedUpLength);
if (ss.abandon) return;
printer.moveTo(ss.p1.x(), ss.p1.y(), z, printer.getCurrentFeedrate(), startUp, startUp);
if (ss.plotMiddle) {
// printer.setFeedrate(currentFeedrate);
printer.moveTo(ss.p2.x(), ss.p2.y(), z, currentFeedrate, startUp, startUp);
}
// TODO: FIX ME!
// printer.setSpeed(ss.speed(currentSpeed, printer.getExtruder().getAngleSpeedFactor()));
// printer.setFeedrate(printer.getExtruder().getAngleFeedrate());
printer.moveTo(
ss.p3.x(), ss.p3.y(), z, printer.getExtruder().getAngleFeedrate(), startUp, endUp);
// pos = ss.p3;
// Leave speed set for the start of the next movement.
} else printer.moveTo(first.x(), first.y(), z, currentFeedrate, startUp, endUp);
}
// public LayerProducer(BooleanGridList bgPols, LayerRules lc, RrGraphics simPlot) throws
// Exception
public LayerProducer(RrPolygonList ap[], LayerRules lc, RrGraphics simPlot) throws Exception {
layerConditions = lc;
startNearHere = null;
// lowerShell = ls;
// shellSet = false;
simulationPlot = simPlot;
allPolygons = ap;
// boolGrdSlice = bgPols;
// The next two are experimental for the moment...
// inFillCalculations();
// supportCalculations();
// offHatch = boolGrdSlice.offset(layerConditions, false);
// if(layerConditions.getLayingSupport())
// {
// borderPolygons = null;
// offHatch = offHatch.union(lc.getPrinter().getExtruders());
// } else
// {
// BooleanGridList offBorder = boolGrdSlice.offset(layerConditions, true);
// borderPolygons = offBorder.borders();
// }
//
// hatchedPolygons = offHatch.hatch(layerConditions);
//
//
// if(borderPolygons != null && borderPolygons.size() > 0)
// {
// borderPolygons.middleStarts(hatchedPolygons, layerConditions);
// if(Preferences.loadGlobalBool("Shield"))
// {
// RrRectangle rr = lc.getBox();
// Rr2Point corner = Rr2Point.add(rr.sw(), new Rr2Point(-3, -3));
// RrPolygon ell = new RrPolygon(borderPolygons.polygon(0).getAttributes(), false);
// ell.add(corner);
// ell.add(Rr2Point.add(corner, new Rr2Point(-2, 10)));
// ell.add(Rr2Point.add(corner, new Rr2Point(-2, -2)));
// ell.add(Rr2Point.add(corner, new Rr2Point(20, -2)));
// borderPolygons.add(0, ell);
// }
// }
if (simulationPlot != null) {
if (!simulationPlot.isInitialised()) {
RrRectangle rec = lc.getBox();
if (Preferences.loadGlobalBool("Shield"))
rec.expand(
Rr2Point.add(
rec.sw(), new Rr2Point(-7, -7))); // TODO: Yuk - this should be a parameter
simulationPlot.init(rec, false);
} else simulationPlot.cleanPolygons();
}
}
/**
* Plot a polygon
*
* @throws IOException
* @throws ReprapException
* @return
*/
private void plot(RrPolygon p, boolean firstOneInLayer) throws ReprapException, IOException {
Attributes att = p.getAttributes();
Printer printer = layerConditions.getPrinter();
double outlineFeedrate = att.getExtruder().getOutlineFeedrate();
double infillFeedrate = att.getExtruder().getInfillFeedrate();
boolean acc =
att.getExtruder().getMaxAcceleration() > 0; // Preferences.loadGlobalBool("Accelerating");
// int leng = p.size();
if (p.size() <= 1) {
startNearHere = null;
return;
}
// If the length of the plot is <0.05mm, don't bother with it.
// This will not spot an attempt to plot 10,000 points in 1mm.
double plotDist = 0;
Rr2Point lastPoint = p.point(0);
for (int i = 1; i < p.size(); i++) {
Rr2Point n = p.point(i);
plotDist += Rr2Point.d(lastPoint, n);
lastPoint = n;
}
if (plotDist < Preferences.machineResolution() * 0.5) {
Debug.d("Rejected line with " + p.size() + " points, length: " + plotDist);
startNearHere = null;
return;
}
printer.selectExtruder(att);
// Don't do these with mid-point starting
// if(p.isClosed() && att.getExtruder().incrementedStart())
// p = p.incrementedStart(layerConditions);
// else if(p.isClosed() && att.getExtruder().randomStart())
// p = p.randomStart();
int stopExtruding = p.size() + 10;
int stopValve = stopExtruding;
double extrudeBackLength = att.getExtruder().getExtrusionOverRun();
double valveBackLength = att.getExtruder().getValveOverRun();
if (extrudeBackLength >= valveBackLength) {
if (extrudeBackLength > 0) stopExtruding = p.backStep(extrudeBackLength);
if (valveBackLength > 0) stopValve = p.backStep(valveBackLength);
} else {
if (valveBackLength > 0) stopValve = p.backStep(valveBackLength);
if (extrudeBackLength > 0) stopExtruding = p.backStep(extrudeBackLength);
}
if (printer.isCancelled()) return;
// If getMinLiftedZ() is negative, never lift the head
Boolean lift = att.getExtruder().getMinLiftedZ() >= 0;
if (acc)
p.setSpeeds(
att.getExtruder().getSlowXYFeedrate(),
p.isClosed() ? outlineFeedrate : infillFeedrate,
att.getExtruder().getMaxAcceleration());
if (extrudeBackLength <= 0) stopExtruding = Integer.MAX_VALUE;
else if (acc) stopExtruding = p.findBackPoint(extrudeBackLength);
if (valveBackLength <= 0) stopValve = Integer.MAX_VALUE;
else if (acc) stopValve = p.findBackPoint(valveBackLength);
currentFeedrate = att.getExtruder().getFastXYFeedrate();
singleMove(p.point(0));
if (acc) currentFeedrate = p.speed(0);
else {
if (p.isClosed()) {
currentFeedrate = outlineFeedrate;
} else {
currentFeedrate = infillFeedrate;
}
}
plot(p.point(0), p.point(1), false, false);
// Print any lead-in.
printer.printStartDelay(firstOneInLayer);
boolean extrudeOff = false;
boolean valveOff = false;
boolean oldexoff;
// if(p.isClosed())
// {
// for(int j = 1; j <= p.size(); j++)
// {
// int i = j%p.size();
// Rr2Point next = p.point((j+1)%p.size());
//
// if (printer.isCancelled())
// {
// printer.stopMotor();
// singleMove(posNow());
// move(posNow(), posNow(), lift, true, true);
// return;
// }
// if(acc)
// currentFeedrate = p.speed(i);
//
// oldexoff = extrudeOff;
// extrudeOff = j > stopExtruding || j == p.size();
// valveOff = j > stopValve || j == p.size();
//
// plot(p.point(i), next, extrudeOff, valveOff);
// if(oldexoff ^ extrudeOff)
// printer.printEndReverse();
// }
// } else
// {
for (int i = 1; i < p.size(); i++) {
Rr2Point next = p.point((i + 1) % p.size());
if (printer.isCancelled()) {
printer.stopMotor();
singleMove(posNow());
move(posNow(), posNow(), lift, lift, true);
return;
}
if (acc) currentFeedrate = p.speed(i);
oldexoff = extrudeOff;
extrudeOff = i > stopExtruding || i == p.size() - 1;
valveOff = i > stopValve || i == p.size() - 1;
// if(oldexoff ^ extrudeOff)
// printer.printEndReverse();
plot(p.point(i), next, extrudeOff, valveOff);
if (oldexoff ^ extrudeOff) printer.printEndReverse();
}
// }
if (p.isClosed()) move(p.point(0), p.point(0), false, false, true);
move(posNow(), posNow(), lift, lift, true);
// The last point is near where we want to start next
if (p.isClosed()) startNearHere = p.point(0);
else startNearHere = p.point(p.size() - 1);
if (simulationPlot != null) {
RrPolygonList pgl = new RrPolygonList();
pgl.add(p);
simulationPlot.add(pgl);
}
}
private void singleMove(Rr2Point p) {
Printer pt = layerConditions.getPrinter();
pt.singleMove(p.x(), p.y(), pt.getZ(), pt.getFastXYFeedrate());
}
/**
* @param before
* @param now
* @param after
* @param fastLength
*/
public segmentSpeeds(Rr2Point before, Rr2Point now, Rr2Point after, double fastLength) {
Rr2Point a = Rr2Point.sub(now, before);
double amod = a.mod();
abandon = amod == 0;
if (abandon) return;
Rr2Point b = Rr2Point.sub(after, now);
if (b.mod() == 0) ca = 0;
else ca = Rr2Point.mul(a.norm(), b.norm());
plotMiddle = true;
if (amod <= 2 * fastLength) {
fastLength = amod * 0.5;
plotMiddle = false;
}
a = a.norm();
p1 = Rr2Point.add(before, Rr2Point.mul(a, fastLength));
p2 = Rr2Point.add(p1, Rr2Point.mul(a, amod - 2 * fastLength));
p3 = Rr2Point.add(p2, Rr2Point.mul(a, fastLength));
}
