ENH: add initial layer travel acceleration

jira: none
Change-Id: I1a9bb6bc8d260cb76a62b18ddaaac54bf74e8602
(cherry picked from commit ab91cb76eb7b3916e4b377ea6a30dcec2ff7bc97)

resources/profiles/BBL/process/fdm_process_common.json

@@ -123,6 +123,9 @@
     "top_surface_speed": [
         "30"
     ],
+    "initial_layer_travel_acceleration": [
+        "6000"
+    ],
     "travel_acceleration": [
         "10000"
     ],

resources/profiles/BBL/process/fdm_process_dual_common.json

@@ -16,6 +16,12 @@
         "10000",
         "10000"
     ],
+    "initial_layer_travel_acceleration": [
+        "6000",
+        "6000",
+        "6000",
+        "6000"
+    ],
     "travel_acceleration": [
         "10000",
         "10000",

src/libslic3r/GCode.cpp

@@ -2427,7 +2427,12 @@ void GCode::_do_export(Print& print, GCodeOutputStream &file, ThumbnailsGenerato
     for (auto value : m_config.travel_acceleration.values) {
         travel_accelerations.emplace_back((unsigned int) floor(value + 0.5));
     }
+    std::vector<unsigned int> first_layer_travel_accelerations;
+    for (auto value : m_config.initial_layer_travel_acceleration.values) {
+        first_layer_travel_accelerations.emplace_back((unsigned int) floor(value + 0.5));
+    }
     m_writer.set_travel_acceleration(travel_accelerations);
+    m_writer.set_first_layer_travel_acceleration(first_layer_travel_accelerations);
 
     // OrcaSlicer: calib
     if (print.calib_params().mode == CalibMode::Calib_PA_Line) {
@@ -3683,6 +3688,8 @@ GCode::LayerResult GCode::process_layer(
     //BBS: set layer time fan speed after layer change gcode
     gcode += ";_SET_FAN_SPEED_CHANGING_LAYER\n";
 
+    m_writer.set_first_layer(this->on_first_layer());
+
     if (print.calib_mode() == CalibMode::Calib_PA_Tower) {
         gcode += writer().set_pressure_advance(print.calib_params().start + static_cast<int>(print_z) * print.calib_params().step);
     }

src/libslic3r/GCode/WipeTower.cpp

@@ -1218,8 +1218,11 @@ public:
         }
     }
 
+    void set_first_layer(bool is_first_layer) { m_is_first_layer = is_first_layer; }
     void set_normal_acceleration(const std::vector<unsigned int> &accelerations) { m_normal_accelerations = accelerations; };
+    void set_first_layer_normal_acceleration(const std::vector<unsigned int> &accelerations) { m_first_layer_normal_accelerations = accelerations; };
     void set_travel_acceleration(const std::vector<unsigned int> &accelerations) { m_travel_accelerations = accelerations; };
+    void set_first_layer_travel_acceleration(const std::vector<unsigned int> &accelerations) { m_first_layer_travel_accelerations = accelerations; };
     void set_max_acceleration(unsigned int acceleration) { m_max_acceleration = acceleration; };
     void set_filament_map(const std::vector<int> &filament_map) { m_filament_map = filament_map; }
     void set_accel_to_decel_enable(bool enable) { m_accel_to_decel_enable = enable; }
@@ -1227,18 +1230,20 @@ public:
 
 private:
     std::string set_normal_acceleration() {
-        if (m_normal_accelerations.empty() || m_filament_map.empty())
+        std::vector<unsigned int> accelerations = m_is_first_layer ? m_first_layer_normal_accelerations : m_normal_accelerations;
+        if (accelerations.empty() || m_filament_map.empty())
             return std::string();
 
-        unsigned int acc = m_normal_accelerations[m_filament_map[m_current_tool] - 1];
+        unsigned int acc = accelerations[m_filament_map[m_current_tool] - 1];
         return set_acceleration_impl(acc);
     }
     std::string set_travel_acceleration()
     {
-        if (m_travel_accelerations.empty() || m_filament_map.empty())
+        std::vector<unsigned int> accelerations = m_is_first_layer ? m_first_layer_travel_accelerations : m_travel_accelerations;
+        if (accelerations.empty() || accelerations.empty())
             return std::string();
 
-        unsigned int acc = m_travel_accelerations[m_filament_map[m_current_tool] - 1];
+        unsigned int acc = accelerations[m_filament_map[m_current_tool] - 1];
         return set_acceleration_impl(acc);
     }
     std::string set_acceleration_impl(unsigned int acceleration) {
@@ -1278,7 +1283,10 @@ private:
         return gcode.str();
     }
     std::vector<unsigned int> m_normal_accelerations;
+    std::vector<unsigned int> m_first_layer_normal_accelerations;
     std::vector<unsigned int> m_travel_accelerations;
+    std::vector<unsigned int> m_first_layer_travel_accelerations;
+    bool                      m_is_first_layer{false};
     unsigned int              m_max_acceleration{0};
     unsigned int              m_last_acceleration{0};
     std::vector<int>          m_filament_map;
@@ -1606,11 +1614,21 @@ WipeTower::WipeTower(const PrintConfig& config, int plate_idx, Vec3d plate_origi
         m_normal_accels.emplace_back((unsigned int) floor(value + 0.5));
     }
 
+    m_first_layer_normal_accels.clear();
+    for (auto value : config.initial_layer_acceleration.values) {
+        m_first_layer_normal_accels.emplace_back((unsigned int) floor(value + 0.5));
+    }
+
     m_travel_accels.clear();
     for (auto value : config.travel_acceleration.values) {
         m_travel_accels.emplace_back((unsigned int) floor(value + 0.5));
     }
 
+    m_first_layer_travel_accels.clear();
+    for (auto value : config.initial_layer_travel_acceleration.values) {
+        m_first_layer_travel_accels.emplace_back((unsigned int) floor(value + 0.5));
+    }
+
     m_max_accels = config.machine_max_acceleration_extruding.values.front();
 
     // Read absolute value of first layer speed, if given as percentage,
@@ -2423,10 +2441,13 @@ void WipeTower::set_for_wipe_tower_writer(WipeTowerWriter &writer)
 {
     writer.set_normal_acceleration(m_normal_accels);
     writer.set_travel_acceleration(m_travel_accels);
+    writer.set_first_layer_normal_acceleration(m_first_layer_normal_accels);
+    writer.set_first_layer_travel_acceleration(m_first_layer_travel_accels);
     writer.set_max_acceleration(m_max_accels);
     writer.set_filament_map(m_filament_map);
     writer.set_accel_to_decel_enable(m_accel_to_decel_enable);
     writer.set_accel_to_decel_factor(m_accel_to_decel_factor);
+    writer.set_first_layer(m_cur_layer_id == 0);
 }
 
 WipeTower::ToolChangeResult WipeTower::finish_layer(bool extrude_perimeter, bool extruder_fill)

src/libslic3r/GCode/WipeTower.hpp

@@ -462,7 +462,9 @@ private:
     GCodeFlavor     m_gcode_flavor;
 
     std::vector<unsigned int> m_normal_accels;
+    std::vector<unsigned int> m_first_layer_normal_accels;
     std::vector<unsigned int> m_travel_accels;
+    std::vector<unsigned int> m_first_layer_travel_accels;
     unsigned int              m_max_accels;
     bool                      m_accel_to_decel_enable;
     float                     m_accel_to_decel_factor;

src/libslic3r/GCodeWriter.cpp

@@ -175,6 +175,16 @@ void GCodeWriter::set_travel_acceleration(const std::vector<unsigned int>& accel
     m_travel_accelerations = accelerations;
 }
 
+void GCodeWriter::set_first_layer_travel_acceleration(const std::vector<unsigned int> &travel_accelerations)
+{
+    m_first_layer_travel_accelerations = travel_accelerations;
+}
+
+void GCodeWriter::set_first_layer(bool is_first_layer)
+{
+    m_is_first_layer = is_first_layer;
+}
+
 std::string GCodeWriter::set_extrude_acceleration()
 {
     return set_acceleration_impl(m_acceleration);
@@ -182,14 +192,15 @@ std::string GCodeWriter::set_extrude_acceleration()
 
 std::string GCodeWriter::set_travel_acceleration()
 {
-    if (m_travel_accelerations.empty())
+    std::vector<unsigned int> travel_accelerations = m_is_first_layer ? m_first_layer_travel_accelerations : m_travel_accelerations;
+    if (travel_accelerations.empty())
         return std::string();
 
     Extruder *cur_filament = filament();
     if (!cur_filament)
         return std::string();
 
-    return set_acceleration_impl(m_travel_accelerations[cur_filament->extruder_id()]);
+    return set_acceleration_impl(travel_accelerations[cur_filament->extruder_id()]);
 }
 
 std::string GCodeWriter::set_acceleration_impl(unsigned int acceleration)
@@ -529,7 +540,7 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
         }
         m_pos = dest_point;
         this->set_current_position_clear(true);
-        return slop_move + xy_z_move;
+        return set_travel_acceleration() + slop_move + xy_z_move;
     }
     else if (!this->will_move_z(point(2))) {
         double nominal_z = m_pos(2) - m_lifted;

src/libslic3r/GCodeWriter.hpp

@@ -56,6 +56,8 @@ public:
     std::string set_chamber_temperature(int temperature, bool wait = false);
     void set_acceleration(unsigned int acceleration);
     void set_travel_acceleration(const std::vector<unsigned int>& travel_accelerations);
+    void set_first_layer_travel_acceleration(const std::vector<unsigned int>& travel_accelerations);
+    void set_first_layer(bool is_first_layer);
     std::string set_pressure_advance(double pa) const;
     std::string set_jerk_xy(double jerk);
     std::string reset_e(bool force = false);
@@ -158,8 +160,10 @@ private:
     std::string m_gcode_label_objects_start;
     std::string m_gcode_label_objects_end;
 
+    bool m_is_first_layer{false};
     unsigned int m_acceleration{0};
     std::vector<unsigned int> m_travel_accelerations;  // multi extruder, extruder size
+    std::vector<unsigned int> m_first_layer_travel_accelerations; // multi extruder, extruder size
 
     std::string _travel_to_z(double z, const std::string &comment,bool tool_change=false);
     std::string _spiral_travel_to_z(double z, const Vec2d &ij_offset, const std::string &comment, bool tool_change = false);

src/libslic3r/Preset.cpp

@@ -860,7 +860,7 @@ static std::vector<std::string> s_Preset_print_options {
     "inner_wall_speed", "outer_wall_speed", "sparse_infill_speed", "internal_solid_infill_speed",
     "top_surface_speed", "support_speed", "support_object_xy_distance", "support_object_first_layer_gap","support_interface_speed",
     "bridge_speed", "gap_infill_speed", "travel_speed", "travel_speed_z", "initial_layer_speed", "outer_wall_acceleration",
-    "initial_layer_acceleration", "top_surface_acceleration", "default_acceleration", "travel_acceleration", "inner_wall_acceleration", "sparse_infill_acceleration",
+    "initial_layer_acceleration", "top_surface_acceleration", "default_acceleration", "travel_acceleration", "initial_layer_travel_acceleration", "inner_wall_acceleration", "sparse_infill_acceleration",
     "accel_to_decel_enable", "accel_to_decel_factor", "skirt_loops", "skirt_distance",
     "skirt_height", "draft_shield",
     "brim_width", "brim_object_gap", "brim_type", "enable_support", "support_type", "support_threshold_angle", "enforce_support_layers",

src/libslic3r/Print.cpp

@@ -105,8 +105,6 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "overhang_fan_threshold",
         "overhang_threshold_participating_cooling",
         "slow_down_for_layer_cooling",
-        "default_acceleration",
-        "travel_acceleration",
         "deretraction_speed",
         "close_fan_the_first_x_layers",
         "machine_end_gcode",
@@ -299,7 +297,10 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
             || opt_key == "initial_layer_infill_speed"
             || opt_key == "travel_speed"
             || opt_key == "travel_speed_z"
-            || opt_key == "initial_layer_speed") {
+            || opt_key == "initial_layer_speed"
+            || opt_key == "default_acceleration"
+            || opt_key == "travel_acceleration"
+            || opt_key == "initial_layer_travel_acceleration") {
             //|| opt_key == "z_offset") {
             steps.emplace_back(psWipeTower);
             steps.emplace_back(psSkirtBrim);

src/libslic3r/PrintConfig.cpp

@@ -1258,6 +1258,15 @@ void PrintConfigDef::init_fff_params()
     def->nullable = true;
     def->set_default_value(new ConfigOptionFloatsNullable{500.0});
 
+    def           = this->add("initial_layer_travel_acceleration", coFloats);
+    def->label    = L("Initial layer travel");
+    def->tooltip  = L("The acceleration of travel of initial layer");
+    def->sidetext = "mm/s²";
+    def->min      = 0;
+    def->mode     = comAdvanced;
+    def->nullable = true;
+    def->set_default_value(new ConfigOptionFloatsNullable{500.0});
+
     def = this->add("default_filament_profile", coStrings);
     def->label = L("Default filament profile");
     def->tooltip = L("Default filament profile when switch to this machine profile");
@@ -5647,6 +5656,7 @@ std::set<std::string> print_options_with_variant = {
     "travel_speed_z",
     "default_acceleration",
     "travel_acceleration",
+    "initial_layer_travel_acceleration",
     "initial_layer_acceleration",
     "outer_wall_acceleration",
     "inner_wall_acceleration",

src/libslic3r/PrintConfig.hpp

@@ -1156,6 +1156,7 @@ PRINT_CONFIG_CLASS_DERIVED_DEFINE(
     ((ConfigOptionBools,              slow_down_for_layer_cooling))
     ((ConfigOptionFloatsNullable,     default_acceleration))
     ((ConfigOptionFloatsNullable,     travel_acceleration))
+    ((ConfigOptionFloatsNullable,     initial_layer_travel_acceleration))
     ((ConfigOptionFloatsNullable,     inner_wall_acceleration))
     ((ConfigOptionFloatsOrPercentsNullable,   sparse_infill_acceleration))
     ((ConfigOptionBools,              activate_air_filtration))

src/slic3r/GUI/Tab.cpp

@@ -2176,6 +2176,7 @@ void TabPrint::build()
         optgroup = page->new_optgroup(L("Acceleration"), L"param_acceleration", 15);
         optgroup->append_single_option_line("default_acceleration", "", 0);
         optgroup->append_single_option_line("travel_acceleration", "", 0);
+        optgroup->append_single_option_line("initial_layer_travel_acceleration", "", 0);
         optgroup->append_single_option_line("initial_layer_acceleration", "", 0);
         optgroup->append_single_option_line("outer_wall_acceleration", "", 0);
         optgroup->append_single_option_line("inner_wall_acceleration", "", 0);