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547ac30 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 | """Independent stateful *approximate* physics features (no label access, not Marlin native).
Handles synchronous temperature waits, asynchronous setpoints, motion lengths,
lookahead angle hints, and energy = integrated predicted grid power. The C++
labeler is invoked only by dataset generation, never by this inference module.
"""
import math,re,json
import numpy as np
RE=re.compile(r'([A-Z])([-+]?\d*\.?\d+(?:[eE][-+]?\d+)?)')
CODE=['G0','G1','G2','G3','G4','M104','M109','M140','M190','M106','M107','M204','M205','G90','G91','M82','M83','G92','M220','M221','M400','OTHER','M105','M114','M115','M119','G21','M17','M18','M84']
CMAP={k:i+1 for i,k in enumerate(CODE)}
def parse(line):
s=line.upper().split(';')[0].strip();t=s.split()
if not t:return 'OTHER',{}
c={'G00':'G0','G01':'G1','G02':'G2','G03':'G3'}.get(t[0],t[0]);a={k:float(v) for k,v in RE.findall(' '.join(t[1:]))}
return (c if c in CMAP else 'OTHER'),a
def motion_info(code,a,pos,feed,absolute=True):
old=np.array(pos[:3],dtype=float); end=old.copy()
for j,k in enumerate('XYZ'):
if k in a:end[j]=a[k] if absolute else end[j]+a[k]
vec=end-old;dist=float(np.linalg.norm(vec));arc_r=0.;sweep=0.
if code in ('G2','G3') and ('I' in a or 'J' in a):
cx=old[0]+a.get('I',0.);cy=old[1]+a.get('J',0.)
r=math.hypot(old[0]-cx,old[1]-cy);end_r=math.hypot(end[0]-cx,end[1]-cy)
if r>1e-7 and abs(r-end_r)<max(.5,r*.05):
b0=math.atan2(old[1]-cy,old[0]-cx);b1=math.atan2(end[1]-cy,end[0]-cx)
if code=='G2':sweep=-((b0-b1)%(2*math.pi))
else:sweep=(b1-b0)%(2*math.pi)
if abs(sweep)<1e-8:sweep=(2*math.pi if code=='G3' else -2*math.pi)
arc_r=r;dist=math.hypot(r*abs(sweep),vec[2])
f=max(.1,a.get('F',feed)/60.) if 'F' in a else max(.1,feed/60.)
return end,vec,dist,f,arc_r,abs(sweep)
def trapezoid(d,v,a,entry=0.,exit=0.):
if d<=1.e-10:return 0.
v=max(v,.01);a=max(a,1.);entry=min(max(entry,0),v);exit=min(max(exit,0),v)
da=max(0,(v*v-entry*entry)/(2*a));dd=max(0,(v*v-exit*exit)/(2*a))
if da+dd<=d:return (v-entry)/a+(d-da-dd)/v+(v-exit)/a
vp=max(entry,exit,math.sqrt(max(0,a*d+(entry*entry+exit*exit)/2)))
return max(0.,(vp-entry)/a+(vp-exit)/a)
class Thermal:
def __init__(self,p):
self.ambient=float(p['ambient']);self.nozzle=float(p['nozzle_start']);self.bed=float(p['bed_start'])
self.nt=self.nozzle;self.bt=self.bed;self.fan=float(p['fan_start']);self.enabled=True
def step(self,dt,moving):
# Lumped coefficients match the labeled synthetic reference configuration.
# These are NOT measured coefficients of a physical Ender 3.
hn=.13*(1+.25*self.fan/255); hb=2.1
un=1. if self.nt>0 and self.nozzle<self.nt-.3 else 0.
ub=1. if self.bt>0 and self.bed<self.bt-.3 else 0.
w=13.+(13. if self.enabled else 0.)+(7. if moving else 0.)+3*self.fan/255+40*un+220*ub
self.nozzle+=(40*un-hn*(self.nozzle-self.ambient))*dt/25.0
self.bed+=(220*ub-hb*(self.bed-self.ambient))*dt/650.
return w*dt/3600.
def advance(self,seconds,moving):
if seconds<=0:return 0.
steps=max(1,math.ceil(seconds/.1));dt=seconds/steps
return sum(self.step(dt,moving) for _ in range(steps))
def wait(self,which,target,allow_cooling=False):
start=self.nozzle if which=='nozzle' else self.bed
heating=target>start
if not heating and not allow_cooling:return 0.,0.
e=0.;t=0.
while t<900.:
current=self.nozzle if which=='nozzle' else self.bed
if heating and current>=target-.8:break
if not heating and current<=target+.8:break
e+=self.step(.1,False);t+=.1
return t,e
def planned_motion_times(rows, p, parsed):
"""Offline multi-block velocity planning: approximate junction and accel passes.
This planner is independently implemented and does not query label targets.
It is a deliberately simplified model (arcs are not firmware-segmented).
"""
state=np.array([p['start_x'],p['start_y'],p['start_z']],float)
feed=1800.;ap=float(p['accel_print']);at=float(p['accel_travel']);jerk=float(p['jerk']);
absolute=True;speed_mult=1.;events=[]
for idx,(c,a) in enumerate(parsed):
if c=='G90':absolute=True
if c=='G91':absolute=False
if c=='G92':
for ax,k in enumerate('XYZ'):
if k in a:state[ax]=a[k]
if c=='M204':
ap=a.get('P',a.get('S',ap));at=a.get('T',a.get('S',at))
if c=='M205':jerk=a.get('X',jerk)
if c=='M220':speed_mult=a.get('S',100)/100
if c in ('G0','G1','G2','G3'):
new,vect,dist,v,radius,sweep=motion_info(c,a,state,feed,absolute)
if 'F' in a:feed=a['F']
v*=speed_mult;accel=at if c=='G0' else ap
if radius>0:
# For arc, represent local start/end tangents; full toolpath is curved.
center=state[:2]+[a.get('I',0.),a.get('J',0.)]
rs=state[:2]-center;re=new[:2]-center
tangent_start=np.array([-rs[1],rs[0],0.]);tangent_end=np.array([-re[1],re[0],0.])
if c=='G2':tangent_start*=-1;tangent_end*=-1
vstart=tangent_start/(np.linalg.norm(tangent_start)+1.e-12)
vend=tangent_end/(np.linalg.norm(tangent_end)+1.e-12)
else:
vend=vstart=vect/(np.linalg.norm(vect)+1.e-12)
if dist>1e-8:events.append(dict(i=idx,d=dist,v=v,a=max(accel,1.),jerk=jerk,
enter_dir=vstart,exit_dir=vend,arc=(radius>0)))
state=new
result={};block=[]
def flush(b):
if not b:return
n=len(b);limits=np.zeros(n+1,dtype=float)
for j in range(1,n):
a=b[j-1];q=b[j]
diff=np.abs(q['v']*q['enter_dir']-a['v']*a['exit_dir'])
multiplier=min(1.,min(a['jerk'],q['jerk'])/(max(diff[0],diff[1],.000001)))
limits[j]=max(0.,min(a['v'],q['v'])*multiplier)
vel=limits.copy()
for j in range(n-1,-1,-1):
ev=b[j];vel[j]=min(vel[j],math.sqrt(max(0,vel[j+1]**2+2*ev['a']*ev['d'])))
for j in range(n):
ev=b[j];vel[j+1]=min(vel[j+1],math.sqrt(max(0,vel[j]**2+2*ev['a']*ev['d'])))
for j,ev in enumerate(b):
result[ev['i']]=(trapezoid(ev['d'],ev['v'],ev['a'],vel[j],vel[j+1]),vel[j],vel[j+1])
last=-1
for ev in events:
if last>=0 and any(parsed[j][0] in ('G4','M109','M190','M400') for j in range(last+1,ev['i'])):
flush(block);block=[]
block.append(ev);last=ev['i']
flush(block)
return result
def state_features(program_rows):
"""Return (codes[T], raw_features[T,F], prior[T,3]) for ONE whole G-code program.
No labels are touched. Offline lookahead uses at most next 2 commands.
"""
rows=sorted(program_rows,key=lambda r:int(r['step_index']))
p=json.loads(rows[0]['initial_profile']);thermal=Thermal(p)
pos=np.array([p['start_x'],p['start_y'],p['start_z']],float)
feed=1800.;acc_print=float(p['accel_print']);acc_travel=float(p['accel_travel']);jerk=float(p['jerk']);flow=1.;speed_mult=1.
absolute=True;extruder_abs=True;e_pos=0.;ret_debt=0.;prev_vec=np.zeros(3);prev_feed=0.
parsed=[parse(r['gcode']) for r in rows]
plans=planned_motion_times(rows,p,parsed)
codes=[];feats=[];priors=[]
for i,(r,(c,a)) in enumerate(zip(rows,parsed)):
prev=parsed[max(0,i-1)][0] if i else 'OTHER'
nextc=parsed[min(i+1,len(rows)-1)][0] if i+1<len(rows) else 'OTHER'
newpos,vec,length,v,radius,sweep=motion_info(c,a,pos,feed,absolute)
if 'F' in a and c in ('G0','G1','G2','G3'):feed=a['F']
v*=speed_mult
# Estimate junction information from current/next segment.
nextdir=np.zeros(3);nextfeed=0.;nextdist=0.
if i+1<len(rows):
nc,na=parsed[i+1]
if nc in ('G0','G1','G2','G3'):
_,nextdir,nextdist,nextfeed,_,_=motion_info(nc,na,newpos,feed,absolute)
cos_next=0.;cos_prev=0.
if np.linalg.norm(vec)>1e-8 and np.linalg.norm(nextdir)>1e-8:
cos_next=float(np.dot(vec,nextdir)/(np.linalg.norm(vec)*np.linalg.norm(nextdir)))
if np.linalg.norm(vec)>1e-8 and np.linalg.norm(prev_vec)>1e-8:
cos_prev=float(np.dot(vec,prev_vec)/(np.linalg.norm(vec)*np.linalg.norm(prev_vec)))
de=0.
if c in ('G0','G1','G2','G3') and 'E' in a:
e_new=(a['E'] if extruder_abs else e_pos+a['E'])
de=(e_new-e_pos)*flow; e_pos=e_new
accel=acc_travel if c=='G0' else acc_print
# Approximate lookahead junction: geometry-dependent exit/entry speed.
est_exit=0.;est_entry=0.
if c in ('G0','G1','G2','G3'):
if nextdist>1e-8:
est_exit=min(v,nextfeed,jerk/(max(.1,math.sqrt(max(0,2-2*cos_next)))))
if prev_feed>0 and np.linalg.norm(prev_vec)>1e-8:
est_entry=min(v,prev_feed,jerk/(max(.1,math.sqrt(max(0,2-2*cos_prev)))))
tt=0.;ee=0.;mm=0.
if c in ('G0','G1','G2','G3'):
# Arc motion's segmentation can shift time vs lumped arc estimate.
plan=plans.get(i)
if plan is not None:
tt,est_entry,est_exit=plan
else:
tt=trapezoid(length,v,accel,est_entry,est_exit)
ee=thermal.advance(tt,True)
if de<0:ret_debt+=-de
elif de>0:
unretract=min(de,ret_debt);ret_debt-=unretract
if length>1e-9:
mm=(de-unretract)*math.pi*(1.75/2)**2*1.24/1000.
pos=newpos;prev_vec=vec.copy();prev_feed=v
elif c=='G4':
tt=max(0.,a.get('P',0)/1000+a.get('S',0));ee=thermal.advance(tt,False)
prev_feed=0.
elif c in ('M104','M109'):
thermal.nt=a.get('S',a.get('R',thermal.nt))
if c=='M109':tt,ee=thermal.wait('nozzle',thermal.nt,'R' in a)
prev_feed=0.
elif c in ('M140','M190'):
thermal.bt=a.get('S',a.get('R',thermal.bt))
if c=='M190':tt,ee=thermal.wait('bed',thermal.bt,'R' in a)
prev_feed=0.
elif c=='M106':thermal.fan=a.get('S',255.)
elif c=='M107':thermal.fan=0.
elif c=='M204':
acc_print=a.get('P',a.get('S',acc_print));acc_travel=a.get('T',a.get('S',acc_travel))
elif c=='M205':jerk=a.get('X',jerk)
elif c=='M220':speed_mult=a.get('S',100)/100
elif c=='M221':flow=a.get('S',100)/100
elif c=='G90':absolute=True
elif c=='G91':absolute=False
elif c=='M82':extruder_abs=True
elif c=='M83':extruder_abs=False
elif c=='G92':
for ax,k in enumerate('XYZ'):
if k in a:pos[ax]=a[k]
if 'E' in a:e_pos=a['E']
# A compact physically meaningful feature vector, including state.
f=[float(i)/max(1,len(rows)-1),float(CMAP.get(prev,CMAP['OTHER'])),float(CMAP.get(nextc,CMAP['OTHER'])),
math.log1p(length),math.log1p(v),math.log1p(accel),math.log1p(jerk),
cos_next,cos_prev,math.log1p(nextdist),math.log1p(nextfeed),
math.log1p(est_entry),math.log1p(est_exit),math.log1p(radius),sweep,
de,float(max(0.,de)),float(ret_debt),float(thermal.fan)/255,
(thermal.nozzle-thermal.ambient)/200,(thermal.bed-thermal.ambient)/100,
(thermal.nt-thermal.nozzle)/200,(thermal.bt-thermal.bed)/100,
thermal.ambient/30,pos[0]/235,pos[1]/235,pos[2]/250,
acc_print/1000,acc_travel/1000,speed_mult,flow,
float(c=='G0'),float(c=='G1'),float(c in ('G2','G3')),
float(c in ('M109','M190')),float(c=='G4'),
math.log1p(max(tt,0.)),math.log1p(max(ee,0.)*3600)]
codes.append(CMAP.get(c,CMAP['OTHER']));feats.append(f);priors.append([max(0.,tt),max(0.,ee),max(0.,mm)])
return np.array(codes,np.int64),np.array(feats,np.float32),np.array(priors,np.float32)
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