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jeknirschlukashof
jeknirsch
authored and
lukashof
committed
extr_only, default flag, end_sing zero cap
1 parent e9e2fcd commit 7aa5d5b

1 file changed

Lines changed: 27 additions & 19 deletions

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‎pyGCodeDecode/planner_block.py‎

Lines changed: 27 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -81,9 +81,10 @@ def connect_state(self, state_0: state, state_next: state):
8181
"""
8282
if state_0 is None or state_next is None:
8383
return velocity(0, 0, 0, 0)
84+
8485
travel_direction = np.subtract(
8586
state_next.state_position.get_vec(withExtrusion=True), state_0.state_position.get_vec(withExtrusion=True)
86-
) # outdated todo
87+
) # outdated todo: subtract positions directly
8788
t_distance = np.linalg.norm(travel_direction[:3])
8889
e_len = travel_direction[3]
8990
if abs(t_distance) > 0: # regular travel mixed move
@@ -131,7 +132,7 @@ def trapez(extrusion_only=False):
131132
segment_A = segment(
132133
t_begin=t0, t_end=t1, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
133134
)
134-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
135+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
135136
self.segments.append(segment_A)
136137
# B --
137138
travel_const = distance - travel_ramp_down - travel_ramp_up
@@ -144,7 +145,7 @@ def trapez(extrusion_only=False):
144145
segment_B = segment(
145146
t_begin=t1, t_end=t2, pos_begin=pos_begin, vel_begin=vel_begin, pos_end=pos_end, vel_end=vel_end
146147
)
147-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
148+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
148149
self.segments.append(segment_B)
149150
# C \
150151
t2 = segment_B.t_end
@@ -156,7 +157,7 @@ def trapez(extrusion_only=False):
156157
segment_C = segment(
157158
t_begin=t2, t_end=t3, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
158159
)
159-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
160+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
160161
self.segments.append(segment_C)
161162

162163
self.blcktype = "trapez"
@@ -173,7 +174,7 @@ def triang(extrusion_only=False):
173174
segment_A = segment(
174175
t_begin=t0, t_end=t1, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
175176
)
176-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
177+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
177178
self.segments.append(segment_A)
178179
# C \
179180
t2 = segment_A.t_end
@@ -186,7 +187,7 @@ def triang(extrusion_only=False):
186187
segment_C = segment(
187188
t_begin=t2, t_end=t3, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
188189
)
189-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
190+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
190191
self.segments.append(segment_C)
191192

192193
self.blcktype = "triangle"
@@ -203,7 +204,7 @@ def singl_up():
203204
segment_A = segment(
204205
t_begin=t0, t_end=t1, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
205206
)
206-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
207+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
207208
self.segments.append(segment_A)
208209

209210
self.blcktype = "single"
@@ -220,7 +221,7 @@ def singl_dwn():
220221
segment_C = segment(
221222
t_begin=t0, t_end=t1, pos_begin=pos_begin, pos_end=pos_end, vel_begin=vel_begin, vel_end=vel_end
222223
)
223-
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin):
224+
if pos_end.is_travel(pos_begin) or pos_end.is_extruding(pos_begin, ignore_retract=False):
224225
self.segments.append(segment_C)
225226

226227
self.blcktype = "single"
@@ -258,20 +259,26 @@ def singl_dwn():
258259
v_end_sing_sqr = v_begin * v_begin - 2 * acc * distance
259260
else:
260261
v_end_sing_sqr = v_begin * v_begin + 2 * acc * distance
261-
v_end_sing = np.sqrt(v_end_sing_sqr) if v_end_sing_sqr >= 0 else None
262+
v_end_sing = (
263+
np.sqrt(v_end_sing_sqr) if v_end_sing_sqr >= 0 else 0
264+
) # (todo: verify set to zero, otherwise None is safer)
262265
v_begin_sing = np.sqrt(2 * acc * distance + v_end * v_end)
263266

264267
# select case for planner block and calculate segment vertices
265-
if (travel_ramp_down + travel_ramp_up) < distance:
266-
trapez(extrusion_only=extrusion_only)
267-
elif v_peak_tri > v_end and v_peak_tri > v_begin:
268-
triang()
269-
elif v_end_sing > v_begin:
270-
singl_up()
271-
elif v_end_sing < v_begin:
272-
singl_dwn()
273-
else:
274-
raise NameError("Segment could not be modeled.")
268+
try:
269+
if (travel_ramp_down + travel_ramp_up) < distance:
270+
trapez(extrusion_only=extrusion_only)
271+
elif v_peak_tri > v_end and v_peak_tri > v_begin:
272+
triang(extrusion_only=extrusion_only)
273+
elif v_end_sing > v_begin:
274+
singl_up()
275+
elif v_end_sing < v_begin:
276+
singl_dwn()
277+
else:
278+
raise NameError("Segment could not be modeled.")
279+
except TypeError:
280+
print(f"Segment after {self.prev_blck.segments[-1].t_end} could not be modeled.\n " + str(self.state_B))
281+
print(f"v-begin: {v_begin} / v-end {v_end}")
275282

276283
def self_correction(self, tolerance=float("1e-12")):
277284
"""Check for interfacing vel and self correct."""
@@ -347,6 +354,7 @@ def __init__(self, state: state, prev_blck: "planner_block"):
347354
self.state_B = state # to state B
348355
self.prev_blck = prev_blck # nb list prev
349356
self.next_blck = None # nb list next
357+
self.is_extruding = False # default Value
350358

351359
self.segments: List[segment] = [] # store segments here
352360
self.blcktype = None

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