# Copyright (c) 2020 Ultimaker B.V. # Cura is released under the terms of the LGPLv3 or higher. import sys from PyQt5.QtCore import Qt from PyQt5.QtGui import QOpenGLContext from PyQt5.QtWidgets import QApplication from UM.Application import Application from UM.Event import Event, KeyEvent from UM.Job import Job from UM.Logger import Logger from UM.Math.Color import Color from UM.Mesh.MeshBuilder import MeshBuilder from UM.Message import Message from UM.Platform import Platform from UM.PluginRegistry import PluginRegistry from UM.Qt.QtApplication import QtApplication from UM.Resources import Resources from UM.Scene.Iterator.DepthFirstIterator import DepthFirstIterator from UM.Scene.Selection import Selection from UM.Signal import Signal from UM.View.CompositePass import CompositePass from UM.View.GL.OpenGL import OpenGL from UM.View.GL.OpenGLContext import OpenGLContext from UM.View.GL.ShaderProgram import ShaderProgram from UM.i18n import i18nCatalog from cura.CuraView import CuraView from cura.Scene.ConvexHullNode import ConvexHullNode from cura.CuraApplication import CuraApplication from .NozzleNode import NozzleNode from .SimulationPass import SimulationPass from .SimulationViewProxy import SimulationViewProxy import numpy import os.path from typing import Optional, TYPE_CHECKING, List, cast if TYPE_CHECKING: from UM.Scene.SceneNode import SceneNode from UM.Scene.Scene import Scene from UM.Settings.ContainerStack import ContainerStack catalog = i18nCatalog("cura") ## The preview layer view. It is used to display g-code paths. class SimulationView(CuraView): # Must match SimulationViewMenuComponent.qml LAYER_VIEW_TYPE_MATERIAL_TYPE = 0 LAYER_VIEW_TYPE_LINE_TYPE = 1 LAYER_VIEW_TYPE_FEEDRATE = 2 LAYER_VIEW_TYPE_THICKNESS = 3 _no_layers_warning_preference = "view/no_layers_warning" def __init__(self, parent = None) -> None: super().__init__(parent) self._max_layers = 0 self._current_layer_num = 0 self._minimum_layer_num = 0 self._current_layer_mesh = None self._current_layer_jumps = None self._top_layers_job = None # type: Optional["_CreateTopLayersJob"] self._activity = False self._old_max_layers = 0 self._max_paths = 0 self._current_path_num = 0 self._minimum_path_num = 0 self.currentLayerNumChanged.connect(self._onCurrentLayerNumChanged) self._busy = False self._simulation_running = False self._ghost_shader = None # type: Optional["ShaderProgram"] self._layer_pass = None # type: Optional[SimulationPass] self._composite_pass = None # type: Optional[CompositePass] self._old_layer_bindings = None # type: Optional[List[str]] self._simulationview_composite_shader = None # type: Optional["ShaderProgram"] self._old_composite_shader = None # type: Optional["ShaderProgram"] self._max_feedrate = sys.float_info.min self._min_feedrate = sys.float_info.max self._max_thickness = sys.float_info.min self._min_thickness = sys.float_info.max self._global_container_stack = None # type: Optional[ContainerStack] self._proxy = None self._resetSettings() self._legend_items = None self._show_travel_moves = False self._nozzle_node = None # type: Optional[NozzleNode] Application.getInstance().getPreferences().addPreference("view/top_layer_count", 5) Application.getInstance().getPreferences().addPreference("view/only_show_top_layers", False) Application.getInstance().getPreferences().addPreference("view/force_layer_view_compatibility_mode", False) Application.getInstance().getPreferences().addPreference("layerview/layer_view_type", 0) Application.getInstance().getPreferences().addPreference("layerview/extruder_opacities", "") Application.getInstance().getPreferences().addPreference("layerview/show_travel_moves", False) Application.getInstance().getPreferences().addPreference("layerview/show_helpers", True) Application.getInstance().getPreferences().addPreference("layerview/show_skin", True) Application.getInstance().getPreferences().addPreference("layerview/show_infill", True) self._updateWithPreferences() self._solid_layers = int(Application.getInstance().getPreferences().getValue("view/top_layer_count")) self._only_show_top_layers = bool(Application.getInstance().getPreferences().getValue("view/only_show_top_layers")) self._compatibility_mode = self._evaluateCompatibilityMode() self._wireprint_warning_message = Message(catalog.i18nc("@info:status", "Cura does not accurately display layers when Wire Printing is enabled."), title = catalog.i18nc("@info:title", "Simulation View")) self._slice_first_warning_message = Message(catalog.i18nc("@info:status", "Nothing is shown because you need to slice first."), title = catalog.i18nc("@info:title", "No layers to show"), option_text = catalog.i18nc("@info:option_text", "Do not show this message again"), option_state = False) self._slice_first_warning_message.optionToggled.connect(self._onDontAskMeAgain) CuraApplication.getInstance().getPreferences().addPreference(self._no_layers_warning_preference, True) QtApplication.getInstance().engineCreatedSignal.connect(self._onEngineCreated) def _onEngineCreated(self) -> None: plugin_path = PluginRegistry.getInstance().getPluginPath(self.getPluginId()) if plugin_path: self.addDisplayComponent("main", os.path.join(plugin_path, "SimulationViewMainComponent.qml")) self.addDisplayComponent("menu", os.path.join(plugin_path, "SimulationViewMenuComponent.qml")) else: Logger.log("e", "Unable to find the path for %s", self.getPluginId()) def _evaluateCompatibilityMode(self) -> bool: return OpenGLContext.isLegacyOpenGL() or bool(Application.getInstance().getPreferences().getValue("view/force_layer_view_compatibility_mode")) def _resetSettings(self) -> None: self._layer_view_type = 0 # type: int # 0 is material color, 1 is color by linetype, 2 is speed, 3 is layer thickness self._extruder_count = 0 self._extruder_opacity = [1.0, 1.0, 1.0, 1.0] self._show_travel_moves = False self._show_helpers = True self._show_skin = True self._show_infill = True self.resetLayerData() def getActivity(self) -> bool: return self._activity def setActivity(self, activity: bool) -> None: if self._activity == activity: return self._activity = activity self._updateSliceWarningVisibility() self.activityChanged.emit() def getSimulationPass(self) -> SimulationPass: if not self._layer_pass: # Currently the RenderPass constructor requires a size > 0 # This should be fixed in RenderPass's constructor. self._layer_pass = SimulationPass(1, 1) self._compatibility_mode = self._evaluateCompatibilityMode() self._layer_pass.setSimulationView(self) return self._layer_pass def getCurrentLayer(self) -> int: return self._current_layer_num def getMinimumLayer(self) -> int: return self._minimum_layer_num def getMaxLayers(self) -> int: return self._max_layers def getCurrentPath(self) -> int: return self._current_path_num def getMinimumPath(self) -> int: return self._minimum_path_num def getMaxPaths(self) -> int: return self._max_paths def getNozzleNode(self) -> NozzleNode: if not self._nozzle_node: self._nozzle_node = NozzleNode() return self._nozzle_node def _onSceneChanged(self, node: "SceneNode") -> None: if node.getMeshData() is None: return self.setActivity(False) self.calculateMaxLayers() self.calculateMaxPathsOnLayer(self._current_layer_num) def isBusy(self) -> bool: return self._busy def setBusy(self, busy: bool) -> None: if busy != self._busy: self._busy = busy self.busyChanged.emit() def isSimulationRunning(self) -> bool: return self._simulation_running def setSimulationRunning(self, running: bool) -> None: self._simulation_running = running def resetLayerData(self) -> None: self._current_layer_mesh = None self._current_layer_jumps = None self._max_feedrate = sys.float_info.min self._min_feedrate = sys.float_info.max self._max_thickness = sys.float_info.min self._min_thickness = sys.float_info.max def beginRendering(self) -> None: scene = self.getController().getScene() renderer = self.getRenderer() if renderer is None: return if not self._ghost_shader: self._ghost_shader = OpenGL.getInstance().createShaderProgram(Resources.getPath(Resources.Shaders, "color.shader")) theme = CuraApplication.getInstance().getTheme() if theme is not None: self._ghost_shader.setUniformValue("u_color", Color(*theme.getColor("layerview_ghost").getRgb())) for node in DepthFirstIterator(scene.getRoot()): # We do not want to render ConvexHullNode as it conflicts with the bottom layers. # However, it is somewhat relevant when the node is selected, so do render it then. if type(node) is ConvexHullNode and not Selection.isSelected(cast(ConvexHullNode, node).getWatchedNode()): continue if not node.render(renderer): if (node.getMeshData()) and node.isVisible(): renderer.queueNode(node, transparent = True, shader = self._ghost_shader) def setLayer(self, value: int) -> None: if self._current_layer_num != value: self._current_layer_num = value if self._current_layer_num < 0: self._current_layer_num = 0 if self._current_layer_num > self._max_layers: self._current_layer_num = self._max_layers if self._current_layer_num < self._minimum_layer_num: self._minimum_layer_num = self._current_layer_num self._startUpdateTopLayers() self.currentLayerNumChanged.emit() def setMinimumLayer(self, value: int) -> None: if self._minimum_layer_num != value: self._minimum_layer_num = value if self._minimum_layer_num < 0: self._minimum_layer_num = 0 if self._minimum_layer_num > self._max_layers: self._minimum_layer_num = self._max_layers if self._minimum_layer_num > self._current_layer_num: self._current_layer_num = self._minimum_layer_num self._startUpdateTopLayers() self.currentLayerNumChanged.emit() def setPath(self, value: int) -> None: if self._current_path_num != value: self._current_path_num = value if self._current_path_num < 0: self._current_path_num = 0 if self._current_path_num > self._max_paths: self._current_path_num = self._max_paths if self._current_path_num < self._minimum_path_num: self._minimum_path_num = self._current_path_num self._startUpdateTopLayers() self.currentPathNumChanged.emit() def setMinimumPath(self, value: int) -> None: if self._minimum_path_num != value: self._minimum_path_num = value if self._minimum_path_num < 0: self._minimum_path_num = 0 if self._minimum_path_num > self._max_layers: self._minimum_path_num = self._max_layers if self._minimum_path_num > self._current_path_num: self._current_path_num = self._minimum_path_num self._startUpdateTopLayers() self.currentPathNumChanged.emit() ## Set the layer view type # # \param layer_view_type integer as in SimulationView.qml and this class def setSimulationViewType(self, layer_view_type: int) -> None: if layer_view_type != self._layer_view_type: self._layer_view_type = layer_view_type self.currentLayerNumChanged.emit() ## Return the layer view type, integer as in SimulationView.qml and this class def getSimulationViewType(self) -> int: return self._layer_view_type ## Set the extruder opacity # # \param extruder_nr 0..3 # \param opacity 0.0 .. 1.0 def setExtruderOpacity(self, extruder_nr: int, opacity: float) -> None: if 0 <= extruder_nr <= 3: self._extruder_opacity[extruder_nr] = opacity self.currentLayerNumChanged.emit() def getExtruderOpacities(self)-> List[float]: return self._extruder_opacity def setShowTravelMoves(self, show): self._show_travel_moves = show self.currentLayerNumChanged.emit() def getShowTravelMoves(self): return self._show_travel_moves def setShowHelpers(self, show: bool) -> None: self._show_helpers = show self.currentLayerNumChanged.emit() def getShowHelpers(self) -> bool: return self._show_helpers def setShowSkin(self, show: bool) -> None: self._show_skin = show self.currentLayerNumChanged.emit() def getShowSkin(self) -> bool: return self._show_skin def setShowInfill(self, show: bool) -> None: self._show_infill = show self.currentLayerNumChanged.emit() def getShowInfill(self) -> bool: return self._show_infill def getCompatibilityMode(self) -> bool: return self._compatibility_mode def getExtruderCount(self) -> int: return self._extruder_count def getMinFeedrate(self) -> float: if abs(self._min_feedrate - sys.float_info.max) < 10: # Some lenience due to floating point rounding. return 0.0 # If it's still max-float, there are no measurements. Use 0 then. return self._min_feedrate def getMaxFeedrate(self) -> float: return self._max_feedrate def getMinThickness(self) -> float: if abs(self._min_thickness - sys.float_info.max) < 10: # Some lenience due to floating point rounding. return 0.0 # If it's still max-float, there are no measurements. Use 0 then. return self._min_thickness def getMaxThickness(self) -> float: return self._max_thickness def calculateMaxLayers(self) -> None: scene = self.getController().getScene() self._old_max_layers = self._max_layers ## Recalculate num max layers new_max_layers = -1 for node in DepthFirstIterator(scene.getRoot()): # type: ignore layer_data = node.callDecoration("getLayerData") if not layer_data: continue self.setActivity(True) min_layer_number = sys.maxsize max_layer_number = -sys.maxsize for layer_id in layer_data.getLayers(): # If a layer doesn't contain any polygons, skip it (for infill meshes taller than print objects if len(layer_data.getLayer(layer_id).polygons) < 1: continue # Store the max and min feedrates and thicknesses for display purposes for p in layer_data.getLayer(layer_id).polygons: self._max_feedrate = max(float(p.lineFeedrates.max()), self._max_feedrate) self._min_feedrate = min(float(p.lineFeedrates.min()), self._min_feedrate) self._max_thickness = max(float(p.lineThicknesses.max()), self._max_thickness) try: self._min_thickness = min(float(p.lineThicknesses[numpy.nonzero(p.lineThicknesses)].min()), self._min_thickness) except ValueError: # Sometimes, when importing a GCode the line thicknesses are zero and so the minimum (avoiding # the zero) can't be calculated Logger.log("i", "Min thickness can't be calculated because all the values are zero") if max_layer_number < layer_id: max_layer_number = layer_id if min_layer_number > layer_id: min_layer_number = layer_id layer_count = max_layer_number - min_layer_number if new_max_layers < layer_count: new_max_layers = layer_count if new_max_layers >= 0 and new_max_layers != self._old_max_layers: self._max_layers = new_max_layers # The qt slider has a bit of weird behavior that if the maxvalue needs to be changed first # if it's the largest value. If we don't do this, we can have a slider block outside of the # slider. if new_max_layers > self._current_layer_num: self.maxLayersChanged.emit() self.setLayer(int(self._max_layers)) else: self.setLayer(int(self._max_layers)) self.maxLayersChanged.emit() self._startUpdateTopLayers() def calculateMaxPathsOnLayer(self, layer_num: int) -> None: # Update the currentPath scene = self.getController().getScene() for node in DepthFirstIterator(scene.getRoot()): # type: ignore layer_data = node.callDecoration("getLayerData") if not layer_data: continue layer = layer_data.getLayer(layer_num) if layer is None: return new_max_paths = layer.lineMeshElementCount() if new_max_paths >= 0 and new_max_paths != self._max_paths: self._max_paths = new_max_paths self.maxPathsChanged.emit() self.setPath(int(new_max_paths)) maxLayersChanged = Signal() maxPathsChanged = Signal() currentLayerNumChanged = Signal() currentPathNumChanged = Signal() globalStackChanged = Signal() preferencesChanged = Signal() busyChanged = Signal() activityChanged = Signal() ## Hackish way to ensure the proxy is already created, which ensures that the layerview.qml is already created # as this caused some issues. def getProxy(self, engine, script_engine): if self._proxy is None: self._proxy = SimulationViewProxy(self) return self._proxy def endRendering(self) -> None: pass def event(self, event) -> bool: modifiers = QApplication.keyboardModifiers() ctrl_is_active = modifiers & Qt.ControlModifier shift_is_active = modifiers & Qt.ShiftModifier if event.type == Event.KeyPressEvent and ctrl_is_active: amount = 10 if shift_is_active else 1 if event.key == KeyEvent.UpKey: self.setLayer(self._current_layer_num + amount) return True if event.key == KeyEvent.DownKey: self.setLayer(self._current_layer_num - amount) return True if event.type == Event.ViewActivateEvent: # Start listening to changes. Application.getInstance().getPreferences().preferenceChanged.connect(self._onPreferencesChanged) self._controller.getScene().getRoot().childrenChanged.connect(self._onSceneChanged) self.calculateMaxLayers() self.calculateMaxPathsOnLayer(self._current_layer_num) # FIX: on Max OS X, somehow QOpenGLContext.currentContext() can become None during View switching. # This can happen when you do the following steps: # 1. Start Cura # 2. Load a model # 3. Switch to Custom mode # 4. Select the model and click on the per-object tool icon # 5. Switch view to Layer view or X-Ray # 6. Cura will very likely crash # It seems to be a timing issue that the currentContext can somehow be empty, but I have no clue why. # This fix tries to reschedule the view changing event call on the Qt thread again if the current OpenGL # context is None. if Platform.isOSX(): if QOpenGLContext.currentContext() is None: Logger.log("d", "current context of OpenGL is empty on Mac OS X, will try to create shaders later") CuraApplication.getInstance().callLater(lambda e=event: self.event(e)) return False # Make sure the SimulationPass is created layer_pass = self.getSimulationPass() renderer = self.getRenderer() if renderer is None: return False renderer.addRenderPass(layer_pass) # Make sure the NozzleNode is add to the root nozzle = self.getNozzleNode() nozzle.setParent(self.getController().getScene().getRoot()) nozzle.setVisible(False) Application.getInstance().globalContainerStackChanged.connect(self._onGlobalStackChanged) self._onGlobalStackChanged() if not self._simulationview_composite_shader: plugin_path = cast(str, PluginRegistry.getInstance().getPluginPath("SimulationView")) self._simulationview_composite_shader = OpenGL.getInstance().createShaderProgram(os.path.join(plugin_path, "simulationview_composite.shader")) theme = CuraApplication.getInstance().getTheme() if theme is not None: self._simulationview_composite_shader.setUniformValue("u_background_color", Color(*theme.getColor("viewport_background").getRgb())) self._simulationview_composite_shader.setUniformValue("u_outline_color", Color(*theme.getColor("model_selection_outline").getRgb())) if not self._composite_pass: self._composite_pass = cast(CompositePass, renderer.getRenderPass("composite")) self._old_layer_bindings = self._composite_pass.getLayerBindings()[:] # make a copy so we can restore to it later self._composite_pass.getLayerBindings().append("simulationview") self._old_composite_shader = self._composite_pass.getCompositeShader() self._composite_pass.setCompositeShader(self._simulationview_composite_shader) self._updateSliceWarningVisibility() elif event.type == Event.ViewDeactivateEvent: self._controller.getScene().getRoot().childrenChanged.disconnect(self._onSceneChanged) Application.getInstance().getPreferences().preferenceChanged.disconnect(self._onPreferencesChanged) self._wireprint_warning_message.hide() self._slice_first_warning_message.hide() Application.getInstance().globalContainerStackChanged.disconnect(self._onGlobalStackChanged) if self._global_container_stack: self._global_container_stack.propertyChanged.disconnect(self._onPropertyChanged) if self._nozzle_node: self._nozzle_node.setParent(None) renderer = self.getRenderer() if renderer is None: return False if self._layer_pass is not None: renderer.removeRenderPass(self._layer_pass) if self._composite_pass: self._composite_pass.setLayerBindings(cast(List[str], self._old_layer_bindings)) self._composite_pass.setCompositeShader(cast(ShaderProgram, self._old_composite_shader)) return False def getCurrentLayerMesh(self): return self._current_layer_mesh def getCurrentLayerJumps(self): return self._current_layer_jumps def _onGlobalStackChanged(self) -> None: if self._global_container_stack: self._global_container_stack.propertyChanged.disconnect(self._onPropertyChanged) self._global_container_stack = Application.getInstance().getGlobalContainerStack() if self._global_container_stack: self._global_container_stack.propertyChanged.connect(self._onPropertyChanged) self._extruder_count = self._global_container_stack.getProperty("machine_extruder_count", "value") self._onPropertyChanged("wireframe_enabled", "value") self.globalStackChanged.emit() else: self._wireprint_warning_message.hide() def _onPropertyChanged(self, key: str, property_name: str) -> None: if key == "wireframe_enabled" and property_name == "value": if self._global_container_stack and self._global_container_stack.getProperty("wireframe_enabled", "value"): self._wireprint_warning_message.show() else: self._wireprint_warning_message.hide() def _onCurrentLayerNumChanged(self) -> None: self.calculateMaxPathsOnLayer(self._current_layer_num) scene = Application.getInstance().getController().getScene() scene.sceneChanged.emit(scene.getRoot()) def _startUpdateTopLayers(self) -> None: if not self._compatibility_mode: return if self._top_layers_job: self._top_layers_job.finished.disconnect(self._updateCurrentLayerMesh) self._top_layers_job.cancel() self.setBusy(True) self._top_layers_job = _CreateTopLayersJob(self._controller.getScene(), self._current_layer_num, self._solid_layers) self._top_layers_job.finished.connect(self._updateCurrentLayerMesh) # type: ignore # mypy doesn't understand the whole private class thing that's going on here. self._top_layers_job.start() # type: ignore def _updateCurrentLayerMesh(self, job: "_CreateTopLayersJob") -> None: self.setBusy(False) if not job.getResult(): return self.resetLayerData() # Reset the layer data only when job is done. Doing it now prevents "blinking" data. self._current_layer_mesh = job.getResult().get("layers") if self._show_travel_moves: self._current_layer_jumps = job.getResult().get("jumps") self._controller.getScene().sceneChanged.emit(self._controller.getScene().getRoot()) self._top_layers_job = None def _updateWithPreferences(self) -> None: self._solid_layers = int(Application.getInstance().getPreferences().getValue("view/top_layer_count")) self._only_show_top_layers = bool(Application.getInstance().getPreferences().getValue("view/only_show_top_layers")) self._compatibility_mode = self._evaluateCompatibilityMode() self.setSimulationViewType(int(float(Application.getInstance().getPreferences().getValue("layerview/layer_view_type")))) for extruder_nr, extruder_opacity in enumerate(Application.getInstance().getPreferences().getValue("layerview/extruder_opacities").split("|")): try: opacity = float(extruder_opacity) except ValueError: opacity = 1.0 self.setExtruderOpacity(extruder_nr, opacity) self.setShowTravelMoves(bool(Application.getInstance().getPreferences().getValue("layerview/show_travel_moves"))) self.setShowHelpers(bool(Application.getInstance().getPreferences().getValue("layerview/show_helpers"))) self.setShowSkin(bool(Application.getInstance().getPreferences().getValue("layerview/show_skin"))) self.setShowInfill(bool(Application.getInstance().getPreferences().getValue("layerview/show_infill"))) self._startUpdateTopLayers() self.preferencesChanged.emit() def _onPreferencesChanged(self, preference: str) -> None: if preference not in { "view/top_layer_count", "view/only_show_top_layers", "view/force_layer_view_compatibility_mode", "layerview/layer_view_type", "layerview/extruder_opacities", "layerview/show_travel_moves", "layerview/show_helpers", "layerview/show_skin", "layerview/show_infill", }: return self._updateWithPreferences() def _updateSliceWarningVisibility(self): if not self.getActivity()\ and not CuraApplication.getInstance().getPreferences().getValue("general/auto_slice")\ and CuraApplication.getInstance().getPreferences().getValue(self._no_layers_warning_preference): self._slice_first_warning_message.show() else: self._slice_first_warning_message.hide() def _onDontAskMeAgain(self, checked: bool) -> None: CuraApplication.getInstance().getPreferences().setValue(self._no_layers_warning_preference, not checked) class _CreateTopLayersJob(Job): def __init__(self, scene: "Scene", layer_number: int, solid_layers: int) -> None: super().__init__() self._scene = scene self._layer_number = layer_number self._solid_layers = solid_layers self._cancel = False def run(self) -> None: layer_data = None for node in DepthFirstIterator(self._scene.getRoot()): # type: ignore layer_data = node.callDecoration("getLayerData") if layer_data: break if self._cancel or not layer_data: return layer_mesh = MeshBuilder() for i in range(self._solid_layers): layer_number = self._layer_number - i if layer_number < 0: continue try: layer = layer_data.getLayer(layer_number).createMesh() except Exception: Logger.logException("w", "An exception occurred while creating layer mesh.") return if not layer or layer.getVertices() is None: continue layer_mesh.addIndices(layer_mesh.getVertexCount() + layer.getIndices()) layer_mesh.addVertices(layer.getVertices()) # Scale layer color by a brightness factor based on the current layer number # This will result in a range of 0.5 - 1.0 to multiply colors by. brightness = numpy.ones((1, 4), dtype=numpy.float32) * (2.0 - (i / self._solid_layers)) / 2.0 brightness[0, 3] = 1.0 layer_mesh.addColors(layer.getColors() * brightness) if self._cancel: return Job.yieldThread() if self._cancel: return Job.yieldThread() jump_mesh = layer_data.getLayer(self._layer_number).createJumps() if not jump_mesh or jump_mesh.getVertices() is None: jump_mesh = None self.setResult({"layers": layer_mesh.build(), "jumps": jump_mesh}) def cancel(self) -> None: self._cancel = True super().cancel()