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FffGcodeWriter.cpp
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FffGcodeWriter.cpp
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//Copyright (c) 2022 Ultimaker B.V.
//CuraEngine is released under the terms of the AGPLv3 or higher.
#include <list>
#include <limits> // numeric_limits
#include <algorithm>
#include <optional>
#include "Application.h"
#include "bridge.h"
#include "ExtruderTrain.h"
#include "FffGcodeWriter.h"
#include "FffProcessor.h"
#include "GcodeLayerThreader.h"
#include "infill.h"
#include "InsetOrderOptimizer.h"
#include "LayerPlan.h"
#include "raft.h"
#include "Slice.h"
#include "WallToolPaths.h"
#include "communication/Communication.h" //To send layer view data.
#include "progress/Progress.h"
#include "utils/math.h"
#include "utils/orderOptimizer.h"
#include "utils/linearAlg2D.h"
#define OMP_MAX_ACTIVE_LAYERS_PROCESSED 30 // TODO: hardcoded-value for the max number of layers being in the pipeline while writing away and destroying layers in a multi-threaded context
namespace cura
{
FffGcodeWriter::FffGcodeWriter()
: max_object_height(0)
, layer_plan_buffer(gcode)
{
for (unsigned int extruder_nr = 0; extruder_nr < MAX_EXTRUDERS; extruder_nr++)
{ // initialize all as max layer_nr, so that they get updated to the lowest layer on which they are used.
extruder_prime_layer_nr[extruder_nr] = std::numeric_limits<int>::max();
}
}
void FffGcodeWriter::setTargetStream(std::ostream* stream)
{
gcode.setOutputStream(stream);
}
double FffGcodeWriter::getTotalFilamentUsed(int extruder_nr)
{
return gcode.getTotalFilamentUsed(extruder_nr);
}
std::vector<Duration> FffGcodeWriter::getTotalPrintTimePerFeature()
{
return gcode.getTotalPrintTimePerFeature();
}
bool FffGcodeWriter::setTargetFile(const char* filename)
{
output_file.open(filename);
if (output_file.is_open())
{
gcode.setOutputStream(&output_file);
return true;
}
return false;
}
void FffGcodeWriter::writeGCode(SliceDataStorage& storage, TimeKeeper& time_keeper)
{
const size_t start_extruder_nr = getStartExtruder(storage);
gcode.preSetup(start_extruder_nr);
Scene& scene = Application::getInstance().current_slice->scene;
if (scene.current_mesh_group == scene.mesh_groups.begin()) //First mesh group.
{
gcode.resetTotalPrintTimeAndFilament();
gcode.setInitialAndBuildVolumeTemps(start_extruder_nr);
}
Application::getInstance().communication->beginGCode();
setConfigFanSpeedLayerTime();
setConfigRetraction(storage);
setConfigWipe(storage);
if (scene.current_mesh_group == scene.mesh_groups.begin())
{
processStartingCode(storage, start_extruder_nr);
}
else
{
processNextMeshGroupCode(storage);
}
size_t total_layers = 0;
for (SliceMeshStorage& mesh : storage.meshes)
{
if (mesh.isPrinted()) //No need to process higher layers if the non-printed meshes are higher than the normal meshes.
{
total_layers = std::max(total_layers, mesh.layers.size());
}
setInfillAndSkinAngles(mesh);
}
setSupportAngles(storage);
gcode.writeLayerCountComment(total_layers);
{ // calculate the mesh order for each extruder
const size_t extruder_count = Application::getInstance().current_slice->scene.extruders.size();
mesh_order_per_extruder.clear(); // Might be not empty in case of sequential printing.
mesh_order_per_extruder.reserve(extruder_count);
for (size_t extruder_nr = 0; extruder_nr < extruder_count; extruder_nr++)
{
mesh_order_per_extruder.push_back(calculateMeshOrder(storage, extruder_nr));
}
}
calculateExtruderOrderPerLayer(storage);
calculatePrimeLayerPerExtruder(storage);
if (scene.current_mesh_group->settings.get<bool>("magic_spiralize"))
{
findLayerSeamsForSpiralize(storage, total_layers);
}
int process_layer_starting_layer_nr = 0;
const bool has_raft = scene.current_mesh_group->settings.get<EPlatformAdhesion>("adhesion_type") == EPlatformAdhesion::RAFT;
if (has_raft)
{
processRaft(storage);
// process filler layers to fill the airgap with helper object (support etc) so that they stick better to the raft.
// only process the filler layers if there is anything to print in them.
for (bool extruder_is_used_in_filler_layers : storage.getExtrudersUsed(-1))
{
if (extruder_is_used_in_filler_layers)
{
process_layer_starting_layer_nr = -Raft::getFillerLayerCount();
break;
}
}
}
const std::function<LayerPlan* (int)>& produce_item =
[&storage, total_layers, this](int layer_nr)
{
LayerPlan& gcode_layer = processLayer(storage, layer_nr, total_layers);
return &gcode_layer;
};
const std::function<void (LayerPlan*)>& consume_item =
[this, total_layers](LayerPlan* gcode_layer)
{
Progress::messageProgress(Progress::Stage::EXPORT, std::max(0, gcode_layer->getLayerNr()) + 1, total_layers);
layer_plan_buffer.handle(*gcode_layer, gcode);
};
const unsigned int max_task_count = OMP_MAX_ACTIVE_LAYERS_PROCESSED;
GcodeLayerThreader<LayerPlan> threader(
process_layer_starting_layer_nr
, static_cast<int>(total_layers)
, produce_item
, consume_item
, max_task_count
);
// process all layers, process buffer for preheating and minimal layer time etc, write layers to gcode:
threader.run();
layer_plan_buffer.flush();
Progress::messageProgressStage(Progress::Stage::FINISH, &time_keeper);
//Store the object height for when we are printing multiple objects, as we need to clear every one of them when moving to the next position.
max_object_height = std::max(max_object_height, storage.model_max.z);
constexpr bool force = true;
gcode.writeRetraction(storage.retraction_config_per_extruder[gcode.getExtruderNr()], force); // retract after finishing each meshgroup
}
unsigned int FffGcodeWriter::findSpiralizedLayerSeamVertexIndex(const SliceDataStorage& storage, const SliceMeshStorage& mesh, const int layer_nr, const int last_layer_nr)
{
const SliceLayer& layer = mesh.layers[layer_nr];
// last_layer_nr will be < 0 until we have processed the first non-empty layer
if (last_layer_nr < 0)
{
// If the user has specified a z-seam location, use the vertex closest to that location for the seam vertex
// in the first layer that has a part with insets. This allows the user to alter the seam start location which
// could be useful if the spiralization has a problem with a particular seam path.
Point seam_pos(0, 0);
if (mesh.settings.get<EZSeamType>("z_seam_type") == EZSeamType::USER_SPECIFIED)
{
seam_pos = mesh.getZSeamHint();
}
return PolygonUtils::findClosest(seam_pos, layer.parts[0].spiral_wall[0]).point_idx;
}
else
{
// note that the code below doesn't assume that last_layer_nr is one less than layer_nr but the print is going
// to come out pretty weird if that isn't true as it implies that there are empty layers
ConstPolygonRef last_wall = (*storage.spiralize_wall_outlines[last_layer_nr])[0];
//Even though this is just one (contiguous) part, the spiralize wall may still be multiple parts if the part is somewhere thinner than 1 line width.
//This case is so rare that we don't bother with finding the best polygon to start with. Just start with the first polygon (`spiral_wall[0]`).
ConstPolygonRef wall = layer.parts[0].spiral_wall[0];
const size_t n_points = wall.size();
const Point last_wall_seam_vertex = last_wall[storage.spiralize_seam_vertex_indices[last_layer_nr]];
// seam_vertex_idx is going to be the index of the seam vertex in the current wall polygon
// initially we choose the vertex that is closest to the seam vertex in the last spiralized layer processed
int seam_vertex_idx = PolygonUtils::findNearestVert(last_wall_seam_vertex, wall);
// now we check that the vertex following the seam vertex is to the left of the seam vertex in the last layer
// and if it isn't, we move forward
if (vSize(last_wall_seam_vertex - wall[seam_vertex_idx]) >= mesh.settings.get<coord_t>("meshfix_maximum_resolution"))
{
// get the inward normal of the last layer seam vertex
Point last_wall_seam_vertex_inward_normal = PolygonUtils::getVertexInwardNormal(last_wall, storage.spiralize_seam_vertex_indices[last_layer_nr]);
// create a vector from the normal so that we can then test the vertex following the candidate seam vertex to make sure it is on the correct side
Point last_wall_seam_vertex_vector = last_wall_seam_vertex + last_wall_seam_vertex_inward_normal;
// now test the vertex following the candidate seam vertex and if it lies to the left of the vector, it's good to use
float a = LinearAlg2D::getAngleLeft(last_wall_seam_vertex_vector, last_wall_seam_vertex, wall[(seam_vertex_idx + 1) % n_points]);
if (a <= 0 || a >= M_PI)
{
// the vertex was not on the left of the vector so move the seam vertex on
seam_vertex_idx = (seam_vertex_idx + 1) % n_points;
a = LinearAlg2D::getAngleLeft(last_wall_seam_vertex_vector, last_wall_seam_vertex, wall[(seam_vertex_idx + 1) % n_points]);
}
}
return seam_vertex_idx;
}
}
void FffGcodeWriter::findLayerSeamsForSpiralize(SliceDataStorage& storage, size_t total_layers)
{
// The spiral has to continue on in an anti-clockwise direction from where the last layer finished, it can't jump backwards
// we track the seam position for each layer and ensure that the seam position for next layer continues in the right direction
storage.spiralize_wall_outlines.assign(total_layers, nullptr); // default is no information available
storage.spiralize_seam_vertex_indices.assign(total_layers, 0);
int last_layer_nr = -1; // layer number of the last non-empty layer processed (for any extruder or mesh)
for (unsigned layer_nr = 0; layer_nr < total_layers; ++layer_nr)
{
bool done_this_layer = false;
// iterate through extruders until we find a mesh that has a part with insets
const std::vector<size_t>& extruder_order = extruder_order_per_layer[layer_nr];
for (unsigned int extruder_idx = 0; !done_this_layer && extruder_idx < extruder_order.size(); ++extruder_idx)
{
const size_t extruder_nr = extruder_order[extruder_idx];
// iterate through this extruder's meshes until we find a part with insets
const std::vector<size_t>& mesh_order = mesh_order_per_extruder[extruder_nr];
for (unsigned int mesh_idx : mesh_order)
{
SliceMeshStorage& mesh = storage.meshes[mesh_idx];
// if this mesh has layer data for this layer process it
if (!done_this_layer && mesh.layers.size() > layer_nr)
{
SliceLayer& layer = mesh.layers[layer_nr];
// if the first part in the layer (if any) has insets, process it
if (!layer.parts.empty() && !layer.parts[0].spiral_wall.empty())
{
// save the seam vertex index for this layer as we need it to determine the seam vertex index for the next layer
storage.spiralize_seam_vertex_indices[layer_nr] = findSpiralizedLayerSeamVertexIndex(storage, mesh, layer_nr, last_layer_nr);
// save the wall outline for this layer so it can be used in the spiralize interpolation calculation
storage.spiralize_wall_outlines[layer_nr] = &layer.parts[0].spiral_wall;
last_layer_nr = layer_nr;
// ignore any further meshes/extruders for this layer
done_this_layer = true;
}
}
}
}
}
}
void FffGcodeWriter::setConfigFanSpeedLayerTime()
{
for (const ExtruderTrain& train : Application::getInstance().current_slice->scene.extruders)
{
fan_speed_layer_time_settings_per_extruder.emplace_back();
FanSpeedLayerTimeSettings& fan_speed_layer_time_settings = fan_speed_layer_time_settings_per_extruder.back();
fan_speed_layer_time_settings.cool_min_layer_time = train.settings.get<Duration>("cool_min_layer_time");
fan_speed_layer_time_settings.cool_min_layer_time_fan_speed_max = train.settings.get<Duration>("cool_min_layer_time_fan_speed_max");
fan_speed_layer_time_settings.cool_fan_speed_0 = train.settings.get<Ratio>("cool_fan_speed_0") * 100.0;
fan_speed_layer_time_settings.cool_fan_speed_min = train.settings.get<Ratio>("cool_fan_speed_min") * 100.0;
fan_speed_layer_time_settings.cool_fan_speed_max = train.settings.get<Ratio>("cool_fan_speed_max") * 100.0;
fan_speed_layer_time_settings.cool_min_speed = train.settings.get<Velocity>("cool_min_speed");
fan_speed_layer_time_settings.cool_fan_full_layer = train.settings.get<LayerIndex>("cool_fan_full_layer");
if (!train.settings.get<bool>("cool_fan_enabled"))
{
fan_speed_layer_time_settings.cool_fan_speed_0 = 0;
fan_speed_layer_time_settings.cool_fan_speed_min = 0;
fan_speed_layer_time_settings.cool_fan_speed_max = 0;
}
}
}
void FffGcodeWriter::setConfigRetraction(SliceDataStorage& storage)
{
Scene& scene = Application::getInstance().current_slice->scene;
for (size_t extruder_index = 0; extruder_index < scene.extruders.size(); extruder_index++)
{
ExtruderTrain& train = scene.extruders[extruder_index];
RetractionConfig& retraction_config = storage.retraction_config_per_extruder[extruder_index];
retraction_config.distance = (train.settings.get<bool>("retraction_enable")) ? train.settings.get<double>("retraction_amount") : 0; //Retraction distance in mm.
retraction_config.prime_volume = train.settings.get<double>("retraction_extra_prime_amount"); //Extra prime volume in mm^3.
retraction_config.speed = train.settings.get<Velocity>("retraction_retract_speed");
retraction_config.primeSpeed = train.settings.get<Velocity>("retraction_prime_speed");
retraction_config.zHop = train.settings.get<coord_t>("retraction_hop");
retraction_config.retraction_min_travel_distance = train.settings.get<coord_t>("retraction_min_travel");
retraction_config.retraction_extrusion_window = train.settings.get<double>("retraction_extrusion_window"); //Window to count retractions in in mm of extruded filament.
retraction_config.retraction_count_max = train.settings.get<size_t>("retraction_count_max");
RetractionConfig& switch_retraction_config = storage.extruder_switch_retraction_config_per_extruder[extruder_index];
switch_retraction_config.distance = train.settings.get<double>("switch_extruder_retraction_amount"); //Retraction distance in mm.
switch_retraction_config.prime_volume = 0.0;
switch_retraction_config.speed = train.settings.get<Velocity>("switch_extruder_retraction_speed");
switch_retraction_config.primeSpeed = train.settings.get<Velocity>("switch_extruder_prime_speed");
switch_retraction_config.zHop = train.settings.get<coord_t>("retraction_hop_after_extruder_switch_height");
switch_retraction_config.retraction_min_travel_distance = 0; // no limitation on travel distance for an extruder switch retract
switch_retraction_config.retraction_extrusion_window = 99999.9; // so that extruder switch retractions won't affect the retraction buffer (extruded_volume_at_previous_n_retractions)
switch_retraction_config.retraction_count_max = 9999999; // extruder switch retraction is never limited
}
}
void FffGcodeWriter::setConfigWipe(SliceDataStorage& storage)
{
Scene& scene = Application::getInstance().current_slice->scene;
for (size_t extruder_index = 0; extruder_index < scene.extruders.size(); extruder_index++)
{
ExtruderTrain& train = scene.extruders[extruder_index];
WipeScriptConfig& wipe_config = storage.wipe_config_per_extruder[extruder_index];
wipe_config.retraction_enable = train.settings.get<bool>("wipe_retraction_enable");
wipe_config.retraction_config.distance = train.settings.get<double>("wipe_retraction_amount");
wipe_config.retraction_config.speed = train.settings.get<Velocity>("wipe_retraction_retract_speed");
wipe_config.retraction_config.primeSpeed = train.settings.get<Velocity>("wipe_retraction_prime_speed");
wipe_config.retraction_config.prime_volume = train.settings.get<double>("wipe_retraction_extra_prime_amount");
wipe_config.retraction_config.retraction_min_travel_distance = 0;
wipe_config.retraction_config.retraction_extrusion_window = std::numeric_limits<double>::max();
wipe_config.retraction_config.retraction_count_max = std::numeric_limits<size_t>::max();
wipe_config.pause = train.settings.get<Duration>("wipe_pause");
wipe_config.hop_enable = train.settings.get<bool>("wipe_hop_enable");
wipe_config.hop_amount = train.settings.get<coord_t>("wipe_hop_amount");
wipe_config.hop_speed = train.settings.get<Velocity>("wipe_hop_speed");
wipe_config.brush_pos_x = train.settings.get<coord_t>("wipe_brush_pos_x");
wipe_config.repeat_count = train.settings.get<size_t>("wipe_repeat_count");
wipe_config.move_distance = train.settings.get<coord_t>("wipe_move_distance");
wipe_config.move_speed = train.settings.get<Velocity>("speed_travel");
wipe_config.max_extrusion_mm3 = train.settings.get<double>("max_extrusion_before_wipe");
wipe_config.clean_between_layers = train.settings.get<bool>("clean_between_layers");
}
}
size_t FffGcodeWriter::getStartExtruder(const SliceDataStorage& storage)
{
const Settings& mesh_group_settings = Application::getInstance().current_slice->scene.current_mesh_group->settings;
const EPlatformAdhesion adhesion_type = mesh_group_settings.get<EPlatformAdhesion>("adhesion_type");
const ExtruderTrain& skirt_brim_extruder = mesh_group_settings.get<ExtruderTrain&>("skirt_brim_extruder_nr");
size_t start_extruder_nr;
if(adhesion_type == EPlatformAdhesion::SKIRT
&& (skirt_brim_extruder.settings.get<int>("skirt_line_count") > 0 || skirt_brim_extruder.settings.get<coord_t>("skirt_brim_minimal_length") > 0))
{
start_extruder_nr = skirt_brim_extruder.extruder_nr;
}
else if((adhesion_type == EPlatformAdhesion::BRIM || mesh_group_settings.get<bool>("prime_tower_brim_enable"))
&& (skirt_brim_extruder.settings.get<int>("brim_line_count") > 0 || skirt_brim_extruder.settings.get<coord_t>("skirt_brim_minimal_length") > 0))
{
start_extruder_nr = skirt_brim_extruder.extruder_nr;
}
else if(adhesion_type == EPlatformAdhesion::RAFT)
{
start_extruder_nr = mesh_group_settings.get<ExtruderTrain&>("raft_base_extruder_nr").extruder_nr;
}
else //No adhesion.
{
if (mesh_group_settings.get<bool>("support_enable") && mesh_group_settings.get<bool>("support_brim_enable"))
{
start_extruder_nr = mesh_group_settings.get<ExtruderTrain&>("support_infill_extruder_nr").extruder_nr;
}
else
{
std::vector<bool> extruder_is_used = storage.getExtrudersUsed();
for (size_t extruder_nr = 0; extruder_nr < extruder_is_used.size(); extruder_nr++)
{
start_extruder_nr = extruder_nr;
if (extruder_is_used[extruder_nr])
{
break;
}
}
}
}
assert(start_extruder_nr < Application::getInstance().current_slice->scene.extruders.size() && "start_extruder_nr must be a valid extruder");
return start_extruder_nr;
}
void FffGcodeWriter::setInfillAndSkinAngles(SliceMeshStorage& mesh)
{
if (mesh.infill_angles.size() == 0)
{
mesh.infill_angles = mesh.settings.get<std::vector<AngleDegrees>>("infill_angles");
if (mesh.infill_angles.size() == 0)
{
// user has not specified any infill angles so use defaults
const EFillMethod infill_pattern = mesh.settings.get<EFillMethod>("infill_pattern");
if (infill_pattern == EFillMethod::CROSS || infill_pattern == EFillMethod::CROSS_3D)
{
mesh.infill_angles.push_back(22); // put most infill lines in between 45 and 0 degrees
}
else
{
mesh.infill_angles.push_back(45); // generally all infill patterns use 45 degrees
if (infill_pattern == EFillMethod::LINES || infill_pattern == EFillMethod::ZIG_ZAG)
{
// lines and zig zag patterns default to also using 135 degrees
mesh.infill_angles.push_back(135);
}
}
}
}
if (mesh.roofing_angles.size() == 0)
{
mesh.roofing_angles = mesh.settings.get<std::vector<AngleDegrees>>("roofing_angles");
if (mesh.roofing_angles.size() == 0)
{
// user has not specified any infill angles so use defaults
mesh.roofing_angles.push_back(45);
mesh.roofing_angles.push_back(135);
}
}
if (mesh.skin_angles.size() == 0)
{
mesh.skin_angles = mesh.settings.get<std::vector<AngleDegrees>>("skin_angles");
if (mesh.skin_angles.size() == 0)
{
// user has not specified any infill angles so use defaults
mesh.skin_angles.push_back(45);
mesh.skin_angles.push_back(135);
}
}
}
void FffGcodeWriter::setSupportAngles(SliceDataStorage& storage)
{
const Settings& mesh_group_settings = Application::getInstance().current_slice->scene.current_mesh_group->settings;
const ExtruderTrain& support_infill_extruder = mesh_group_settings.get<ExtruderTrain&>("support_infill_extruder_nr");
storage.support.support_infill_angles = support_infill_extruder.settings.get<std::vector<AngleDegrees>>("support_infill_angles");
if (storage.support.support_infill_angles.empty())
{
storage.support.support_infill_angles.push_back(0);
}
const ExtruderTrain& support_extruder_nr_layer_0 = mesh_group_settings.get<ExtruderTrain&>("support_extruder_nr_layer_0");
storage.support.support_infill_angles_layer_0 = support_extruder_nr_layer_0.settings.get<std::vector<AngleDegrees>>("support_infill_angles");
if (storage.support.support_infill_angles_layer_0.empty())
{
storage.support.support_infill_angles_layer_0.push_back(0);
}
auto getInterfaceAngles = [&storage](const ExtruderTrain& extruder, const std::string& interface_angles_setting, const EFillMethod pattern, const std::string& interface_height_setting)
{
std::vector<AngleDegrees> angles = extruder.settings.get<std::vector<AngleDegrees>>(interface_angles_setting);
if (angles.empty())
{
if (pattern == EFillMethod::CONCENTRIC)
{
angles.push_back(0); //Concentric has no rotation.
}
else if (pattern == EFillMethod::TRIANGLES)
{
angles.push_back(90); //Triangular support interface shouldn't alternate every layer.
}
else
{
for (const SliceMeshStorage& mesh : storage.meshes)
{
if (mesh.settings.get<coord_t>(interface_height_setting) >= 2 * Application::getInstance().current_slice->scene.current_mesh_group->settings.get<coord_t>("layer_height"))
{
//Some roofs are quite thick.
//Alternate between the two kinds of diagonal: / and \ .
angles.push_back(45);
angles.push_back(135);
}
}
if (angles.empty())
{
angles.push_back(90); //Perpendicular to support lines.
}
}
}
return angles;
};
const ExtruderTrain& roof_extruder = mesh_group_settings.get<ExtruderTrain&>("support_roof_extruder_nr");
storage.support.support_roof_angles = getInterfaceAngles(roof_extruder, "support_roof_angles", roof_extruder.settings.get<EFillMethod>("support_roof_pattern"), "support_roof_height");
const ExtruderTrain& bottom_extruder = mesh_group_settings.get<ExtruderTrain&>("support_bottom_extruder_nr");
storage.support.support_bottom_angles = getInterfaceAngles(bottom_extruder, "support_bottom_angles", bottom_extruder.settings.get<EFillMethod>("support_bottom_pattern"), "support_bottom_height");
}
void FffGcodeWriter::processInitialLayerTemperature(const SliceDataStorage& storage, const size_t start_extruder_nr)
{
std::vector<bool> extruder_is_used = storage.getExtrudersUsed();
Scene& scene = Application::getInstance().current_slice->scene;
const size_t num_extruders = scene.extruders.size();
if (gcode.getFlavor() == EGCodeFlavor::GRIFFIN)
{
ExtruderTrain& train = scene.extruders[start_extruder_nr];
constexpr bool wait = true;
const Temperature print_temp_0 = train.settings.get<Temperature>("material_print_temperature_layer_0");
const Temperature print_temp_here = (print_temp_0 != 0) ? print_temp_0 : train.settings.get<Temperature>("material_print_temperature");
gcode.writeTemperatureCommand(start_extruder_nr, print_temp_here, wait);
}
else if (gcode.getFlavor() != EGCodeFlavor::ULTIGCODE)
{
if (num_extruders > 1 || gcode.getFlavor() == EGCodeFlavor::REPRAP)
{
std::ostringstream tmp;
tmp << "T" << start_extruder_nr;
gcode.writeLine(tmp.str().c_str());
}
if(scene.current_mesh_group->settings.get<bool>("material_bed_temp_prepend") && scene.current_mesh_group->settings.get<bool>("machine_heated_bed"))
{
const Temperature bed_temp = scene.current_mesh_group->settings.get<Temperature>("material_bed_temperature_layer_0");
if(scene.current_mesh_group == scene.mesh_groups.begin() //Always write bed temperature for first mesh group.
|| bed_temp != (scene.current_mesh_group - 1)->settings.get<Temperature>("material_bed_temperature")) //Don't write bed temperature if identical to temperature of previous group.
{
if (bed_temp != 0)
{
gcode.writeBedTemperatureCommand(bed_temp, scene.current_mesh_group->settings.get<bool>("material_bed_temp_wait"));
}
}
}
if (scene.current_mesh_group->settings.get<bool>("material_print_temp_prepend"))
{
for (unsigned extruder_nr = 0; extruder_nr < num_extruders; extruder_nr++)
{
if (extruder_is_used[extruder_nr])
{
const ExtruderTrain& train = scene.extruders[extruder_nr];
Temperature extruder_temp;
if (extruder_nr == start_extruder_nr)
{
const Temperature print_temp_0 = train.settings.get<Temperature>("material_print_temperature_layer_0");
extruder_temp = (print_temp_0 != 0) ? print_temp_0 : train.settings.get<Temperature>("material_print_temperature");
}
else
{
extruder_temp = train.settings.get<Temperature>("material_standby_temperature");
}
gcode.writeTemperatureCommand(extruder_nr, extruder_temp);
}
}
if (scene.current_mesh_group->settings.get<bool>("material_print_temp_wait"))
{
for (unsigned extruder_nr = 0; extruder_nr < num_extruders; extruder_nr++)
{
if (extruder_is_used[extruder_nr])
{
const ExtruderTrain& train = scene.extruders[extruder_nr];
Temperature extruder_temp;
if (extruder_nr == start_extruder_nr)
{
const Temperature print_temp_0 = train.settings.get<Temperature>("material_print_temperature_layer_0");
extruder_temp = (print_temp_0 != 0) ? print_temp_0 : train.settings.get<Temperature>("material_print_temperature");
}
else
{
extruder_temp = train.settings.get<Temperature>("material_standby_temperature");
}
gcode.writeTemperatureCommand(extruder_nr, extruder_temp, true);
}
}
}
}
}
}
void FffGcodeWriter::processStartingCode(const SliceDataStorage& storage, const size_t start_extruder_nr)
{
std::vector<bool> extruder_is_used = storage.getExtrudersUsed();
if (Application::getInstance().communication->isSequential()) //If we must output the g-code sequentially, we must already place the g-code header here even if we don't know the exact time/material usages yet.
{
std::string prefix = gcode.getFileHeader(extruder_is_used);
gcode.writeCode(prefix.c_str());
}
gcode.writeComment("Generated with Cura_SteamEngine " VERSION);
if (gcode.getFlavor() == EGCodeFlavor::GRIFFIN)
{
std::ostringstream tmp;
tmp << "T" << start_extruder_nr;
gcode.writeLine(tmp.str().c_str());
}
else
{
processInitialLayerTemperature(storage, start_extruder_nr);
}
const Settings& mesh_group_settings = Application::getInstance().current_slice->scene.current_mesh_group->settings;
gcode.writeExtrusionMode(false); // ensure absolute extrusion mode is set before the start gcode
gcode.writeCode(mesh_group_settings.get<std::string>("machine_start_gcode").c_str());
// in case of shared nozzle assume that the machine-start gcode reset the extruders as per machine description
if (Application::getInstance().current_slice->scene.settings.get<bool>("machine_extruders_share_nozzle"))
{
for (const ExtruderTrain& train : Application::getInstance().current_slice->scene.extruders)
{
gcode.resetExtruderToPrimed(train.extruder_nr, train.settings.get<double>("machine_extruders_shared_nozzle_initial_retraction"));
}
}
if (mesh_group_settings.get<bool>("machine_heated_build_volume"))
{
gcode.writeBuildVolumeTemperatureCommand(mesh_group_settings.get<Temperature>("build_volume_temperature"));
}
Application::getInstance().communication->sendCurrentPosition(gcode.getPositionXY());
gcode.startExtruder(start_extruder_nr);
if (gcode.getFlavor() == EGCodeFlavor::BFB)
{
gcode.writeComment("enable auto-retraction");
std::ostringstream tmp;
tmp << "M227 S" << (mesh_group_settings.get<coord_t>("retraction_amount") * 2560 / 1000) << " P" << (mesh_group_settings.get<coord_t>("retraction_amount") * 2560 / 1000);
gcode.writeLine(tmp.str().c_str());
}
else if (gcode.getFlavor() == EGCodeFlavor::GRIFFIN)
{ // initialize extruder trains
ExtruderTrain& train = Application::getInstance().current_slice->scene.extruders[start_extruder_nr];
processInitialLayerTemperature(storage, start_extruder_nr);
gcode.writePrimeTrain(train.settings.get<Velocity>("speed_travel"));
extruder_prime_layer_nr[start_extruder_nr] = std::numeric_limits<int>::min(); // set to most negative number so that layer processing never primes this extruder any more.
const RetractionConfig& retraction_config = storage.retraction_config_per_extruder[start_extruder_nr];
gcode.writeRetraction(retraction_config);
}
if (mesh_group_settings.get<bool>("relative_extrusion"))
{
gcode.writeExtrusionMode(true);
}
if (gcode.getFlavor() != EGCodeFlavor::GRIFFIN)
{
if (mesh_group_settings.get<bool>("retraction_enable"))
{
// ensure extruder is zeroed
gcode.resetExtrusionValue();
// retract before first travel move
gcode.writeRetraction(storage.retraction_config_per_extruder[start_extruder_nr]);
}
}
gcode.setExtruderFanNumber(start_extruder_nr);
}
void FffGcodeWriter::processNextMeshGroupCode(const SliceDataStorage& storage)
{
gcode.writeFanCommand(0);
gcode.setZ(max_object_height + MM2INT(5));
Application::getInstance().communication->sendCurrentPosition(gcode.getPositionXY());
gcode.writeTravel(gcode.getPositionXY(), Application::getInstance().current_slice->scene.extruders[gcode.getExtruderNr()].settings.get<Velocity>("speed_travel"));
Point start_pos(storage.model_min.x, storage.model_min.y);
gcode.writeTravel(start_pos, Application::getInstance().current_slice->scene.extruders[gcode.getExtruderNr()].settings.get<Velocity>("speed_travel"));
processInitialLayerTemperature(storage, gcode.getExtruderNr());
}
void FffGcodeWriter::processRaft(const SliceDataStorage& storage)
{
Settings& mesh_group_settings = Application::getInstance().current_slice->scene.current_mesh_group->settings;
const size_t base_extruder_nr = mesh_group_settings.get<ExtruderTrain&>("raft_base_extruder_nr").extruder_nr;
const size_t interface_extruder_nr = mesh_group_settings.get<ExtruderTrain&>("raft_interface_extruder_nr").extruder_nr;
const size_t surface_extruder_nr = mesh_group_settings.get<ExtruderTrain&>("raft_surface_extruder_nr").extruder_nr;
coord_t z = 0;
const LayerIndex initial_raft_layer_nr = -Raft::getTotalExtraLayers();
const Settings& interface_settings = mesh_group_settings.get<ExtruderTrain&>("raft_interface_extruder_nr").settings;
const size_t num_interface_layers = interface_settings.get<size_t>("raft_interface_layers");
const Settings& surface_settings = mesh_group_settings.get<ExtruderTrain&>("raft_surface_extruder_nr").settings;
const size_t num_surface_layers = surface_settings.get<size_t>("raft_surface_layers");
// some infill config for all lines infill generation below
constexpr double fill_overlap = 0; // raft line shouldn't be expanded - there is no boundary polygon printed
constexpr int infill_multiplier = 1; // rafts use single lines
constexpr int extra_infill_shift = 0;
Polygons raft_polygons; // should remain empty, since we only have the lines pattern for the raft...
std::optional<Point> last_planned_position = std::optional<Point>();
unsigned int current_extruder_nr = base_extruder_nr;
{ // raft base layer
const Settings& base_settings = mesh_group_settings.get<ExtruderTrain&>("raft_base_extruder_nr").settings;
LayerIndex layer_nr = initial_raft_layer_nr;
const coord_t layer_height = base_settings.get<coord_t>("raft_base_thickness");
z += layer_height;
const coord_t comb_offset = base_settings.get<coord_t>("raft_base_line_spacing");
std::vector<FanSpeedLayerTimeSettings> fan_speed_layer_time_settings_per_extruder_raft_base = fan_speed_layer_time_settings_per_extruder; // copy so that we change only the local copy
for (FanSpeedLayerTimeSettings& fan_speed_layer_time_settings : fan_speed_layer_time_settings_per_extruder_raft_base)
{
double regular_fan_speed = base_settings.get<Ratio>("raft_base_fan_speed") * 100.0;
fan_speed_layer_time_settings.cool_fan_speed_min = regular_fan_speed;
fan_speed_layer_time_settings.cool_fan_speed_0 = regular_fan_speed; // ignore initial layer fan speed stuff
}
const coord_t line_width = base_settings.get<coord_t>("raft_base_line_width");
const coord_t avoid_distance = base_settings.get<coord_t>("travel_avoid_distance");
LayerPlan& gcode_layer = *new LayerPlan(storage, layer_nr, z, layer_height, base_extruder_nr, fan_speed_layer_time_settings_per_extruder_raft_base, comb_offset, line_width, avoid_distance);
gcode_layer.setIsInside(true);
gcode_layer.setExtruder(base_extruder_nr);
Application::getInstance().communication->sendLayerComplete(layer_nr, z, layer_height);
Polygons raftLines;
AngleDegrees fill_angle = (num_surface_layers + num_interface_layers) % 2 ? 45 : 135; //90 degrees rotated from the interface layer.
constexpr bool zig_zaggify_infill = false;
constexpr bool connect_polygons = true; // causes less jerks, so better adhesion
constexpr bool retract_before_outer_wall = false;
constexpr coord_t wipe_dist = 0;
const size_t wall_line_count = base_settings.get<size_t>("raft_base_wall_count");
const coord_t line_spacing = base_settings.get<coord_t>("raft_base_line_spacing");
const Point& infill_origin = Point();
constexpr bool skip_stitching = false;
constexpr bool connected_zigzags = false;
constexpr bool use_endpieces = true;
constexpr bool skip_some_zags = false;
constexpr int zag_skip_count = 0;
constexpr coord_t pocket_size = 0;
const coord_t max_resolution = base_settings.get<coord_t>("meshfix_maximum_resolution");
const coord_t max_deviation = base_settings.get<coord_t>("meshfix_maximum_deviation");
Infill infill_comp(
EFillMethod::LINES, zig_zaggify_infill, connect_polygons, storage.raftOutline, gcode_layer.configs_storage.raft_base_config.getLineWidth(), line_spacing,
fill_overlap, infill_multiplier, fill_angle, z, extra_infill_shift,
max_resolution, max_deviation,
wall_line_count, infill_origin, skip_stitching, connected_zigzags, use_endpieces, skip_some_zags, zag_skip_count, pocket_size
);
std::vector<VariableWidthLines> raft_paths;
infill_comp.generate(raft_paths, raft_polygons, raftLines, base_settings);
if(!raft_paths.empty())
{
const GCodePathConfig& config = gcode_layer.configs_storage.raft_base_config;
const ZSeamConfig z_seam_config(EZSeamType::SHORTEST, gcode_layer.getLastPlannedPositionOrStartingPosition(), EZSeamCornerPrefType::Z_SEAM_CORNER_PREF_NONE, false);
InsetOrderOptimizer wall_orderer(*this, storage, gcode_layer, base_settings, base_extruder_nr,
config, config, config, config,
retract_before_outer_wall, wipe_dist, wipe_dist, base_extruder_nr, base_extruder_nr, z_seam_config, raft_paths);
wall_orderer.addToLayer();
}
gcode_layer.addLinesByOptimizer(raftLines, gcode_layer.configs_storage.raft_base_config, SpaceFillType::Lines);
// When we use raft, we need to make sure that all used extruders for this print will get primed on the first raft layer,
// and then switch back to the original extruder.
std::vector<size_t> extruder_order = getUsedExtrudersOnLayerExcludingStartingExtruder(storage, base_extruder_nr, layer_nr);
for (const size_t to_be_primed_extruder_nr : extruder_order)
{
setExtruder_addPrime(storage, gcode_layer, to_be_primed_extruder_nr);
current_extruder_nr = to_be_primed_extruder_nr;
}
layer_plan_buffer.handle(gcode_layer, gcode);
last_planned_position = gcode_layer.getLastPlannedPositionOrStartingPosition();
}
const coord_t interface_layer_height = interface_settings.get<coord_t>("raft_interface_thickness");
const coord_t interface_line_spacing = interface_settings.get<coord_t>("raft_interface_line_spacing");
const Ratio interface_fan_speed = interface_settings.get<Ratio>("raft_interface_fan_speed");
const coord_t interface_line_width = interface_settings.get<coord_t>("raft_interface_line_width");
const coord_t interface_avoid_distance = interface_settings.get<coord_t>("travel_avoid_distance");
const coord_t interface_max_resolution = interface_settings.get<coord_t>("meshfix_maximum_resolution");
const coord_t interface_max_deviation = interface_settings.get<coord_t>("meshfix_maximum_deviation");
for(LayerIndex raft_interface_layer = 1; static_cast<size_t>(raft_interface_layer) <= num_interface_layers; ++raft_interface_layer)
{ // raft interface layer
const LayerIndex layer_nr = initial_raft_layer_nr + raft_interface_layer;
z += interface_layer_height;
std::vector<FanSpeedLayerTimeSettings> fan_speed_layer_time_settings_per_extruder_raft_interface = fan_speed_layer_time_settings_per_extruder; // copy so that we change only the local copy
for (FanSpeedLayerTimeSettings& fan_speed_layer_time_settings : fan_speed_layer_time_settings_per_extruder_raft_interface)
{
const double regular_fan_speed = interface_fan_speed * 100.0;
fan_speed_layer_time_settings.cool_fan_speed_min = regular_fan_speed;
fan_speed_layer_time_settings.cool_fan_speed_0 = regular_fan_speed; // ignore initial layer fan speed stuff
}
const coord_t comb_offset = interface_line_spacing;
LayerPlan& gcode_layer = *new LayerPlan(storage, layer_nr, z, interface_layer_height, current_extruder_nr, fan_speed_layer_time_settings_per_extruder_raft_interface, comb_offset, interface_line_width, interface_avoid_distance);
gcode_layer.setIsInside(true);
setExtruder_addPrime(storage, gcode_layer, interface_extruder_nr);
current_extruder_nr = interface_extruder_nr;
Application::getInstance().communication->sendLayerComplete(layer_nr, z, interface_layer_height);
Polygons raft_outline_path = storage.raftOutline.offset(-gcode_layer.configs_storage.raft_interface_config.getLineWidth() / 2); //Do this manually because of micron-movement created in corners when insetting a polygon that was offset with round joint type.
raft_outline_path.simplify(); //Remove those micron-movements.
const coord_t infill_outline_width = gcode_layer.configs_storage.raft_interface_config.getLineWidth();
Polygons raftLines;
AngleDegrees fill_angle = (num_surface_layers + num_interface_layers - raft_interface_layer) % 2 ? 45 : 135; //90 degrees rotated from the first top layer.
constexpr bool zig_zaggify_infill = true;
constexpr bool connect_polygons = true; // why not?
constexpr int wall_line_count = 0;
const Point infill_origin = Point();
constexpr bool skip_stitching = false;
constexpr bool connected_zigzags = false;
constexpr bool use_endpieces = true;
constexpr bool skip_some_zags = false;
constexpr int zag_skip_count = 0;
constexpr coord_t pocket_size = 0;
Infill infill_comp(
EFillMethod::ZIG_ZAG, zig_zaggify_infill, connect_polygons, raft_outline_path, infill_outline_width, interface_line_spacing,
fill_overlap, infill_multiplier, fill_angle, z, extra_infill_shift,
interface_max_resolution, interface_max_deviation,
wall_line_count, infill_origin, skip_stitching, connected_zigzags, use_endpieces, skip_some_zags, zag_skip_count, pocket_size
);
std::vector<VariableWidthLines> raft_paths; //Should remain empty, since we have no walls.
infill_comp.generate(raft_paths, raft_polygons, raftLines, interface_settings);
gcode_layer.addLinesByOptimizer(raftLines, gcode_layer.configs_storage.raft_interface_config, SpaceFillType::Lines, false, 0, 1.0, last_planned_position);
layer_plan_buffer.handle(gcode_layer, gcode);
last_planned_position = gcode_layer.getLastPlannedPositionOrStartingPosition();
}
const coord_t surface_layer_height = surface_settings.get<coord_t>("raft_surface_thickness");
const coord_t surface_line_spacing = surface_settings.get<coord_t>("raft_surface_line_spacing");
const coord_t surface_max_resolution = surface_settings.get<coord_t>("meshfix_maximum_resolution");
const coord_t surface_max_deviation = surface_settings.get<coord_t>("meshfix_maximum_deviation");
const coord_t surface_line_width = surface_settings.get<coord_t>("raft_surface_line_width");
const coord_t surface_avoid_distance = surface_settings.get<coord_t>("travel_avoid_distance");
const Ratio surface_fan_speed = surface_settings.get<Ratio>("raft_surface_fan_speed");
for (LayerIndex raft_surface_layer = 1; static_cast<size_t>(raft_surface_layer) <= num_surface_layers; raft_surface_layer++)
{ // raft surface layers
const LayerIndex layer_nr = initial_raft_layer_nr + 1 + num_interface_layers + raft_surface_layer - 1; // +1: 1 base layer
z += surface_layer_height;
std::vector<FanSpeedLayerTimeSettings> fan_speed_layer_time_settings_per_extruder_raft_surface = fan_speed_layer_time_settings_per_extruder; // copy so that we change only the local copy
for (FanSpeedLayerTimeSettings& fan_speed_layer_time_settings : fan_speed_layer_time_settings_per_extruder_raft_surface)
{
const double regular_fan_speed = surface_fan_speed * 100.0;
fan_speed_layer_time_settings.cool_fan_speed_min = regular_fan_speed;
fan_speed_layer_time_settings.cool_fan_speed_0 = regular_fan_speed; // ignore initial layer fan speed stuff
}
const coord_t comb_offset = surface_line_spacing;
LayerPlan& gcode_layer = *new LayerPlan(storage, layer_nr, z, surface_layer_height, current_extruder_nr, fan_speed_layer_time_settings_per_extruder_raft_surface, comb_offset, surface_line_width, surface_avoid_distance);
gcode_layer.setIsInside(true);
// make sure that we are using the correct extruder to print raft
setExtruder_addPrime(storage, gcode_layer, surface_extruder_nr);
current_extruder_nr = surface_extruder_nr;
Application::getInstance().communication->sendLayerComplete(layer_nr, z, surface_layer_height);
Polygons raft_outline_path = storage.raftOutline.offset(-gcode_layer.configs_storage.raft_surface_config.getLineWidth() / 2); //Do this manually because of micron-movement created in corners when insetting a polygon that was offset with round joint type.
raft_outline_path.simplify(); //Remove those micron-movements.
const coord_t infill_outline_width = gcode_layer.configs_storage.raft_interface_config.getLineWidth();
Polygons raft_lines;
AngleDegrees fill_angle = (num_surface_layers - raft_surface_layer) % 2 ? 45 : 135; //Alternate between -45 and +45 degrees, ending up 90 degrees rotated from the default skin angle.
constexpr bool zig_zaggify_infill = true;
constexpr size_t wall_line_count = 0;
const Point& infill_origin = Point();
constexpr bool skip_stitching = false;
constexpr bool connected_zigzags = false;
constexpr bool connect_polygons = false; // midway connections between polygons can make the surface less smooth
constexpr bool use_endpieces = true;
constexpr bool skip_some_zags = false;
constexpr size_t zag_skip_count = 0;
constexpr coord_t pocket_size = 0;
Infill infill_comp(
EFillMethod::ZIG_ZAG, zig_zaggify_infill, connect_polygons, raft_outline_path, infill_outline_width, surface_line_spacing,
fill_overlap, infill_multiplier, fill_angle, z, extra_infill_shift,
surface_max_resolution, surface_max_deviation,
wall_line_count, infill_origin, skip_stitching, connected_zigzags, use_endpieces, skip_some_zags, zag_skip_count, pocket_size
);
std::vector<VariableWidthLines> raft_paths; //Should remain empty, since we have no walls.
infill_comp.generate(raft_paths, raft_polygons, raft_lines, surface_settings);
gcode_layer.addLinesByOptimizer(raft_lines, gcode_layer.configs_storage.raft_surface_config, SpaceFillType::Lines, false, 0, 1.0, last_planned_position);
layer_plan_buffer.handle(gcode_layer, gcode);
}
}
LayerPlan& FffGcodeWriter::processLayer(const SliceDataStorage& storage, LayerIndex layer_nr, const size_t total_layers) const
{
logDebug("GcodeWriter processing layer %i of %i\n", layer_nr, total_layers);
const Settings& mesh_group_settings = Application::getInstance().current_slice->scene.current_mesh_group->settings;
coord_t layer_thickness = mesh_group_settings.get<coord_t>("layer_height");
coord_t z;
bool include_helper_parts = true;
if (layer_nr < 0)
{
#ifdef DEBUG
assert(mesh_group_settings.get<EPlatformAdhesion>("adhesion_type") == EPlatformAdhesion::RAFT && "negative layer_number means post-raft, pre-model layer!");
#endif // DEBUG
const int filler_layer_count = Raft::getFillerLayerCount();
layer_thickness = Raft::getFillerLayerHeight();
z = Raft::getTotalThickness() + (filler_layer_count + layer_nr + 1) * layer_thickness;
}
else
{
z = storage.meshes[0].layers[layer_nr].printZ; // stub default
// find printZ of first actual printed mesh
for (const SliceMeshStorage& mesh : storage.meshes)
{
if (layer_nr >= static_cast<int>(mesh.layers.size())
|| mesh.settings.get<bool>("support_mesh")
|| mesh.settings.get<bool>("anti_overhang_mesh")
|| mesh.settings.get<bool>("cutting_mesh")
|| mesh.settings.get<bool>("infill_mesh"))
{
continue;
}
z = mesh.layers[layer_nr].printZ;
layer_thickness = mesh.layers[layer_nr].thickness;
break;
}
if (layer_nr == 0)
{
if (mesh_group_settings.get<EPlatformAdhesion>("adhesion_type") == EPlatformAdhesion::RAFT)
{
include_helper_parts = false;
}
}
}
const Scene& scene = Application::getInstance().current_slice->scene;
#pragma omp critical
Application::getInstance().communication->sendLayerComplete(layer_nr, z, layer_thickness);
coord_t avoid_distance = 0; // minimal avoid distance is zero
const std::vector<bool> extruder_is_used = storage.getExtrudersUsed();
for (size_t extruder_nr = 0; extruder_nr < scene.extruders.size(); extruder_nr++)
{
if (extruder_is_used[extruder_nr])
{
const ExtruderTrain& extruder = scene.extruders[extruder_nr];
if (extruder.settings.get<bool>("travel_avoid_other_parts"))
{
avoid_distance = std::max(avoid_distance, extruder.settings.get<coord_t>("travel_avoid_distance"));
}
}
}
coord_t max_inner_wall_width = 0;
for (const SliceMeshStorage& mesh : storage.meshes)
{
coord_t mesh_inner_wall_width = mesh.settings.get<coord_t>((mesh.settings.get<size_t>("wall_line_count") > 1) ? "wall_line_width_x" : "wall_line_width_0");
if(layer_nr == 0)
{
const ExtruderTrain& train = mesh.settings.get<ExtruderTrain&>((mesh.settings.get<size_t>("wall_line_count") > 1) ? "wall_0_extruder_nr" : "wall_x_extruder_nr");
mesh_inner_wall_width *= train.settings.get<Ratio>("initial_layer_line_width_factor");
}
max_inner_wall_width = std::max(max_inner_wall_width, mesh_inner_wall_width);
}
const coord_t comb_offset_from_outlines = max_inner_wall_width * 2;
assert(static_cast<LayerIndex>(extruder_order_per_layer_negative_layers.size()) + layer_nr >= 0 && "Layer numbers shouldn't get more negative than there are raft/filler layers");
const std::vector<size_t>& extruder_order =
(layer_nr < 0) ?
extruder_order_per_layer_negative_layers[extruder_order_per_layer_negative_layers.size() + layer_nr]
:
extruder_order_per_layer[layer_nr];
const coord_t first_outer_wall_line_width = scene.extruders[extruder_order.front()].settings.get<coord_t>("wall_line_width_0");
LayerPlan& gcode_layer = *new LayerPlan(storage, layer_nr, z, layer_thickness, extruder_order.front(), fan_speed_layer_time_settings_per_extruder, comb_offset_from_outlines, first_outer_wall_line_width, avoid_distance);