The Printer class is used to process G-code commands and manage the printer state. More...

#include <Printer.h>

Collaboration diagram for Printer:

Public Types
using	CommandCallback = std::function<void( const GCodeCommand & )>

Public Member Functions
	Printer (PrinterOptions options)
	Constructor for Printer using PrinterOptions.
PrintStatistics	getStatistics () const
	Get the printer statistics.
void	registerCallback (const std::string &commandCode, CommandCallback callback)
	Register a callback function for a specific G-code command.
void	addCommandToQueue (const GCodeCommand &command)
	Add a G-code command to the command queue.
void	popCommandFromQueue ()
	Remove the first G-code command from the command queue.
void	processCommand (const GCodeCommand &command)
	Process a G-code command.
VoxelGrid &	getGrid ()
std::array< double, 4 >	calculatePosition (std::array< double, 4 > position, const std::optional< double > &xValue, const std::optional< double > &yValue, const std::optional< double > &zValue)
	Calculate the new position of the printer based on the given values.
std::array< double, 3 >	calculateDirectorVector (const std::array< double, 4 > &position_prev, const std::array< double, 4 > &position_next)
	Calculate the director vector between two positions.
double	calculateMoveTime (double distance, double vs, double v, double ve)
	Calculate the time taken to move a certain distance with given velocities.
const Model	get_model (std::array< double, 4 > start, std::array< double, 4 > end, double h, double w)
void	handleG1Command (const GCodeCommand &command)
	Handle the G1 command to manage printer positions.
void	handleM83Command (const GCodeCommand &command)
	Handle the M83 command to set the extruder positioning mode to relative.
	Printer ()
	Constructor to register default callbacks.

Public Attributes
double	depositionTemperature = 235.
double	heatBedTemperature = 60.
double	chamberTemperature = 30.
double	heatTransferFilmCoefficient = 10.
double	depositedMaterialHeatPower = 4200000.0

Private Member Functions
void	registerCallbacks ()

Private Attributes
VoxelGrid	voxelGrid = { { 0.5, 0.5, 0.5 }, { 1000, 1000, 1000 } }
std::map< std::string, CommandCallback >	commandCallbacks
std::vector< GCodeCommand >	commandQueue
PrintStatistics	statistics
std::array< double, 4 >	position = { 0.0, 0.0, 0.0, 0.0 }
ExtruderPositioning	positioning = ExtruderPositioning::Absolute
ExtruderPositioning	extruder_positioning = ExtruderPositioning::Absolute
VelocityModel	velocity_model = VelocityModel::Trapezoidal
double	feedrate = 1000.0
double	real_feedrate = 0.0
double	max_acceleration [4] = { 500.0, 500.0, 100.0, 5000.0 }
double	max_jerk [4] = { 8.0, 8.0, 0.4, 5.0 }
LayerHeightModel	layer_height_model = LayerHeightModel::Constant
double	layer_height = 0.2
double	nozzle_diameter = 0.4
double	filament_diameter = 1.75
double	extrusion_multiplier = 1.0
double	extrusion_width = nozzle_diameter * 1.2

Detailed Description

The Printer class is used to process G-code commands and manage the printer state.

Definition at line 76 of file Printer.h.

Member Typedef Documentation

◆ CommandCallback

using Printer::CommandCallback = std::function<void( const GCodeCommand & )>

Definition at line 80 of file Printer.h.

Constructor & Destructor Documentation

◆ Printer() [1/2]

Printer::Printer ( PrinterOptions options )

inline

◆ Printer() [2/2]

Printer::Printer ( )

inline

Constructor to register default callbacks.

Definition at line 458 of file Printer.h.

References registerCallbacks().

Member Function Documentation

◆ addCommandToQueue()

void Printer::addCommandToQueue ( const GCodeCommand & command )

inline

Add a G-code command to the command queue.

Parameters

command The G-code command to be added.

Definition at line 127 of file Printer.h.

References commandQueue.

◆ calculateDirectorVector()

std::array< double, 3 > Printer::calculateDirectorVector	(	const std::array< double, 4 > &	position_prev,
		const std::array< double, 4 > &	position_next )

inline

Calculate the director vector between two positions.

Parameters

position_prev	The previous position.
position_next	The next position.

Returns: The director vector.

Definition at line 205 of file Printer.h.

Referenced by handleG1Command().

◆ calculateMoveTime()

double Printer::calculateMoveTime	(	double	distance,
		double	vs,
		double	v,
		double	ve )

inline

Calculate the time taken to move a certain distance with given velocities.

Parameters

distance	The distance to be moved.
vs	The starting velocity.
v	The target velocity.
ve	The ending velocity.

Returns: The time taken to move the distance.

Definition at line 232 of file Printer.h.

References max_acceleration.

Referenced by handleG1Command().

◆ calculatePosition()

std::array< double, 4 > Printer::calculatePosition	(	std::array< double, 4 >	position,
		const std::optional< double > &	xValue,
		const std::optional< double > &	yValue,
		const std::optional< double > &	zValue )

inline

Calculate the new position of the printer based on the given values.

Parameters

position	The current position of the printer.
xValue	The optional X-axis value.
yValue	The optional Y-axis value.
zValue	The optional Z-axis value.

Returns: The new position of the printer.

Definition at line 171 of file Printer.h.

References position, positioning, and Relative.

Referenced by handleG1Command().

◆ get_model()

const Model Printer::get_model	(	std::array< double, 4 >	start,
		std::array< double, 4 >	end,
		double	h,
		double	w )

inline

Definition at line 243 of file Printer.h.

References modelfrompolygons().

Referenced by handleG1Command().

◆ getGrid()

VoxelGrid & Printer::getGrid ( )

inline

Definition at line 158 of file Printer.h.

References voxelGrid.

Referenced by handleG1Command().

◆ getStatistics()

PrintStatistics Printer::getStatistics ( ) const

inline

Get the printer statistics.

Returns: The printer statistics.

Definition at line 108 of file Printer.h.

References statistics.

◆ handleG1Command()

void Printer::handleG1Command ( const GCodeCommand & command )

inline

Handle the G1 command to manage printer positions.

Parameters

command The G-code command.

Definition at line 291 of file Printer.h.

References calculateDirectorVector(), calculateMoveTime(), calculatePosition(), commandQueue, Constant, csgintersection(), extruder_positioning, extrusion_width, feedrate, filament_diameter, get_model(), VoxelGrid::get_model(), getGrid(), layer_height, layer_height_model, M_PI, max_jerk, GCodeCommand::param_double(), position, real_feedrate, Relative, statistics, Model::volume(), and voxelGrid.

Referenced by registerCallbacks().

◆ handleM83Command()

void Printer::handleM83Command ( const GCodeCommand & command )

inline

Handle the M83 command to set the extruder positioning mode to relative.

Parameters

command The G-code command.

Definition at line 450 of file Printer.h.

References extruder_positioning, and Relative.

Referenced by registerCallbacks().

◆ popCommandFromQueue()

void Printer::popCommandFromQueue ( )

inline

Remove the first G-code command from the command queue.

Definition at line 135 of file Printer.h.

References commandQueue.

◆ processCommand()

void Printer::processCommand ( const GCodeCommand & command )

inline

Process a G-code command.

Parameters

command The G-code command to be processed.

Definition at line 145 of file Printer.h.

References commandCallbacks, GCodeCommand::getCode(), and statistics.

◆ registerCallback()

void Printer::registerCallback	(	const std::string &	commandCode,
		CommandCallback	callback )

inline

Register a callback function for a specific G-code command.

Parameters

commandCode	The G-code command code.
callback	The callback function to be registered.

Definition at line 118 of file Printer.h.

References commandCallbacks.

Referenced by registerCallbacks().

◆ registerCallbacks()

void Printer::registerCallbacks ( )

inlineprivate

Definition at line 464 of file Printer.h.

References handleG1Command(), handleM83Command(), and registerCallback().

Referenced by Printer(), and Printer().

Member Data Documentation

◆ chamberTemperature

double Printer::chamberTemperature = 30.

Definition at line 500 of file Printer.h.

Referenced by Printer().

◆ commandCallbacks

std::map<std::string, CommandCallback> Printer::commandCallbacks

private

Map of command codes to callback functions.

Definition at line 472 of file Printer.h.

Referenced by processCommand(), and registerCallback().

◆ commandQueue

std::vector<GCodeCommand> Printer::commandQueue

private

Queue of G-code commands to be processed.

Definition at line 473 of file Printer.h.

Referenced by addCommandToQueue(), handleG1Command(), and popCommandFromQueue().

◆ depositedMaterialHeatPower

double Printer::depositedMaterialHeatPower = 4200000.0

Definition at line 502 of file Printer.h.

Referenced by Printer().

◆ depositionTemperature

double Printer::depositionTemperature = 235.

Definition at line 498 of file Printer.h.

Referenced by Printer().

◆ extruder_positioning

ExtruderPositioning Printer::extruder_positioning = ExtruderPositioning::Absolute

private

The positioning mode of the extruder (E axis).

Definition at line 479 of file Printer.h.

Referenced by handleG1Command(), and handleM83Command().

◆ extrusion_multiplier

double Printer::extrusion_multiplier = 1.0

private

Extrusion multiplier

Definition at line 495 of file Printer.h.

◆ extrusion_width

double Printer::extrusion_width = nozzle_diameter * 1.2

private

Current extrusion width

Definition at line 496 of file Printer.h.

Referenced by handleG1Command(), and Printer().

◆ feedrate

double Printer::feedrate = 1000.0

private

The current desired velocity of the printer.

Definition at line 483 of file Printer.h.

Referenced by handleG1Command().

◆ filament_diameter

double Printer::filament_diameter = 1.75

private

Filament diameter, not used

Definition at line 494 of file Printer.h.

Referenced by handleG1Command(), and Printer().

◆ heatBedTemperature

double Printer::heatBedTemperature = 60.

Temperature of deposited material

Definition at line 499 of file Printer.h.

Referenced by Printer().

◆ heatTransferFilmCoefficient

double Printer::heatTransferFilmCoefficient = 10.

Definition at line 501 of file Printer.h.

Referenced by Printer().

◆ layer_height

double Printer::layer_height = 0.2

private

The layer height value.

Definition at line 492 of file Printer.h.

Referenced by handleG1Command(), and Printer().

◆ layer_height_model

LayerHeightModel Printer::layer_height_model = LayerHeightModel::Constant

private

The layer height model of the printer.

Definition at line 491 of file Printer.h.

Referenced by handleG1Command(), and Printer().

◆ max_acceleration

double Printer::max_acceleration[4] = { 500.0, 500.0, 100.0, 5000.0 }

private

The maximum acceleration for X, Y, Z, and E axes.

Definition at line 487 of file Printer.h.

Referenced by calculateMoveTime().

◆ max_jerk

double Printer::max_jerk[4] = { 8.0, 8.0, 0.4, 5.0 }

private

Definition at line 488 of file Printer.h.

Referenced by handleG1Command().

◆ nozzle_diameter

double Printer::nozzle_diameter = 0.4

private

Nozzle diameter, not used

Definition at line 493 of file Printer.h.

◆ position

std::array<double, 4> Printer::position = { 0.0, 0.0, 0.0, 0.0 }

private

The position of the print head in X, Y, Z, and E axes.

Definition at line 477 of file Printer.h.

Referenced by calculatePosition(), and handleG1Command().

◆ positioning

ExtruderPositioning Printer::positioning = ExtruderPositioning::Absolute

private

The positioning mode of the printhead in space (XYZ).

Definition at line 478 of file Printer.h.

Referenced by calculatePosition().

◆ real_feedrate

double Printer::real_feedrate = 0.0

private

The real velocity of the printer.

Definition at line 484 of file Printer.h.

Referenced by handleG1Command().

◆ statistics

PrintStatistics Printer::statistics

private

The printer statistics.

Definition at line 474 of file Printer.h.

Referenced by getStatistics(), handleG1Command(), and processCommand().

◆ velocity_model

VelocityModel Printer::velocity_model = VelocityModel::Trapezoidal

private

The velocity model of the printer.

Definition at line 482 of file Printer.h.

Referenced by Printer().

◆ voxelGrid

VoxelGrid Printer::voxelGrid = { { 0.5, 0.5, 0.5 }, { 1000, 1000, 1000 } }

private

3d Voxel Grid

Definition at line 470 of file Printer.h.

Referenced by getGrid(), handleG1Command(), and Printer().

The documentation for this class was generated from the following file:

Printer.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CommandCallback

Constructor & Destructor Documentation

◆ Printer() [1/2]

◆ Printer() [2/2]

Member Function Documentation

◆ addCommandToQueue()

◆ calculateDirectorVector()

◆ calculateMoveTime()

◆ calculatePosition()

◆ get_model()

◆ getGrid()

◆ getStatistics()

◆ handleG1Command()

◆ handleM83Command()

◆ popCommandFromQueue()

◆ processCommand()

◆ registerCallback()

◆ registerCallbacks()

Member Data Documentation

◆ chamberTemperature

◆ commandCallbacks

◆ commandQueue

◆ depositedMaterialHeatPower

◆ depositionTemperature

◆ extruder_positioning

◆ extrusion_multiplier

◆ extrusion_width

◆ feedrate

◆ filament_diameter

◆ heatBedTemperature

◆ heatTransferFilmCoefficient

◆ layer_height

◆ layer_height_model

◆ max_acceleration

◆ max_jerk

◆ nozzle_diameter

◆ position

◆ positioning

◆ real_feedrate

◆ statistics

◆ velocity_model

◆ voxelGrid