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OrcaSlicer/bbs_test_tools/bbs_gcode_checker/GCodeChecker.cpp
qing.zhang 026be61af7 ENH: bring GCodeChecker up to ci to check some issues 
Fix some issues in gcode checker to make it work
normally in following cases.
1 Bridge cmd could pass the checker
2 Some G1 cmd could pass the checker
3 All axis cmd could pass the checker

Signed-off-by: qing.zhang <qing.zhang@bambulab.com>
Change-Id: Ib21b3f8c11a0982c15166c77fb9765f248a5c6aa
2022-12-15 04:33:48 -05:00

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#include "GCodeChecker.h"
#include <fstream>
#include <math.h>
#include <map>
namespace BambuStudio {
//BBS: only check wodth when dE is longer than this value
const double CHECK_WIDTH_E_THRESHOLD = 0.0025;
const double WIDTH_THRESHOLD = 0.03;
const double RADIUS_THRESHOLD = 0.005;
const double filament_diameter = 1.75;
const double Pi = 3.14159265358979323846;
const std::string Extrusion_Role_Tag = " FEATURE: ";
const std::string Width_Tag = " LINE_WIDTH: ";
const std::string Wipe_Start_Tag = " WIPE_START";
const std::string Wipe_End_Tag = " WIPE_END";
const std::string Layer_Change_Tag = " CHANGE_LAYER";
const std::string Height_Tag = " LAYER_HEIGHT: ";
GCodeCheckResult GCodeChecker::parse_file(const std::string& path)
{
std::ifstream file(path);
if (file.fail()) {
std::cout << "Failed to open file " << path << std::endl;
return GCodeCheckResult::ParseFailed;
}
std::string line_raw;
std::string line;
while (std::getline(file, line_raw)) {
const char *c = line_raw.c_str();
c = skip_whitespaces(c);
if (std::toupper(*c) == 'N')
c = skip_word(c);
c = skip_whitespaces(c);
line = c;
if (parse_line(line) != GCodeCheckResult::Success) {
std::cout << "Failed to parse line " << line_raw << std::endl;
return GCodeCheckResult::ParseFailed;
}
}
if (m_layer_num == 0) {
std::cout << "Invalid gcode file without layer change comment" << std::endl;
return GCodeCheckResult::ParseFailed;
}
return GCodeCheckResult::Success;
}
bool GCodeChecker::include_chinese(const char* str)
{
char c;
while(1)
{
c=*str++;
if (is_end_of_line(c))
break;
if ((c & 0x80) && (*str & 0x80))
return true;
}
return false;
}
GCodeCheckResult GCodeChecker::parse_line(const std::string& line)
{
// update start position
m_start_position = m_end_position;
GCodeCheckResult ret;
const char *c = skip_whitespaces(line.c_str());
if (include_chinese(c)) {
//chinese is forbidden
return GCodeCheckResult::ParseFailed;
} if (is_end_of_line(*c)) {
//BBS: skip empty line
return GCodeCheckResult::Success;
} else if (is_comment_line(*c)) {
GCodeLine gcode_line;
gcode_line.m_raw = c;
ret = parse_comment(gcode_line);
if (ret != GCodeCheckResult::Success)
return ret;
} else {
GCodeLine gcode_line;
gcode_line.m_raw = c;
ret = parse_command(gcode_line);
if (ret != GCodeCheckResult::Success)
return ret;
ret = check_line_width(gcode_line);
if (ret != GCodeCheckResult::Success)
return ret;
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_comment(GCodeLine& line)
{
const char *c = line.m_raw.c_str();
c++;
std::string comment = c;
// extrusion role tag
if (starts_with(comment, Extrusion_Role_Tag)) {
m_role = string_to_role(comment.substr(Extrusion_Role_Tag.length()));
} else if (starts_with(comment, Wipe_Start_Tag)) {
m_wiping = true;
} else if (starts_with(comment, Wipe_End_Tag)) {
m_wiping = false;
} else if (starts_with(comment, Height_Tag)) {
std::string str = comment.substr(Height_Tag.size());
if (!parse_double_from_str(str, m_height)) {
std::cout << "invalid height comment with invalid value!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
} else if (starts_with(comment, Width_Tag)) {
std::string str = comment.substr(Width_Tag.size());
if (!parse_double_from_str(str, m_width)) {
std::cout << "invalid width comment with invalid value!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
} else if (starts_with(comment, Layer_Change_Tag)) {
m_layer_num++;
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_command(GCodeLine& gcode_line)
{
const std::string cmd = gcode_line.cmd();
GCodeCheckResult ret = GCodeCheckResult::Success;
switch (::toupper(cmd[0])) {
case 'G':
{
switch (::atoi(&cmd[1]))
{
case 0:
case 1: { ret = parse_G0_G1(gcode_line); break; } // Move
case 2:
case 3: { ret = parse_G2_G3(gcode_line); break; } // Move
case 90: { ret = parse_G90(gcode_line); break; } // Set to Absolute Positioning
case 91: { ret = parse_G91(gcode_line); break; } // Set to Relative Positioning
case 92: { ret = parse_G92(gcode_line); break; } // Set Position
default: { break; }
}
break;
}
case 'M':{
switch (::atoi(&cmd[1]))
{
case 82: { ret = parse_M82(gcode_line); break; } // Set to Absolute extrusion
case 83: { ret = parse_M83(gcode_line); break; } // Set to Relative extrusion
default: { break; }
}
break;
}
case 'T':{
break;
}
default: {
//BBS: other g command? impossible! must be invalid
ret = GCodeCheckResult::ParseFailed;
break;
}
}
return ret;
}
GCodeCheckResult GCodeChecker::parse_axis(GCodeLine& gcode_line)
{
const std::string cmd = gcode_line.m_raw;
const char* c = cmd.c_str();
c = skip_word(c);
while (! is_end_of_gcode_line(*c)) {
c = skip_whitespaces(c);
if (is_end_of_gcode_line(*c))
break;
Axis axis = UNKNOWN_AXIS;
switch (*c) {
case 'X': axis = X; break;
case 'Y': axis = Y; break;
case 'Z': axis = Z; break;
case 'E': axis = E; break;
case 'F': axis = F; break;
case 'I': axis = I; break;
case 'J': axis = J; break;
case 'P': axis = P; break;
default:
//BBS: invalid command which has invalid axis
std::cout << "Invalid gcode because of invalid axis!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
char *pend = nullptr;
double v = strtod(++c, &pend);
if (pend != nullptr && is_end_of_word(*pend) && !isnan(v) && !isinf(v)) {
gcode_line.m_axis[int(axis)] = v;
if (gcode_line.m_mask & (1 << int(axis))) {
//BBS: invalid command which has duplicated axis
std::cout << "Invalid gcode because of duplicated axis!" << std::endl;
return GCodeCheckResult::ParseFailed;
} else {
gcode_line.m_mask |= 1 << int(axis);
}
if (c == pend) {
//BBS: invalid command which has invalid axis value
std::cout << "Invalid gcode because of invalid axis value!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
c = pend;
} else {
//BBS: invalid command for invalid axis value
std::cout << "Invalid gcode because of invalid axis value!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_G0_G1(GCodeLine& gcode_line)
{
if (parse_axis(gcode_line) != GCodeCheckResult::Success)
return GCodeCheckResult::ParseFailed;
//BBS: invalid G1 command which has no axis or invalid axis
if ((!gcode_line.m_mask) ||
gcode_line.has(I) ||
gcode_line.has(J)) {
std::cout << "Invalid G0_G1 gcode because of no axis or invalid axis!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
//BBS: invalid G1 command which has zero speed
if (gcode_line.has(F) && gcode_line.get(F) == 0.0) {
std::cout << "Invalid G0_G1 gcode because has F axis but 0 speed!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_G2_G3(GCodeLine& gcode_line)
{
if (parse_axis(gcode_line) != GCodeCheckResult::Success)
return GCodeCheckResult::ParseFailed;
//BBS: invalid G2_G3 command which has no axis or Z axis
if (!gcode_line.m_mask) {
std::cout << "Invalid G2_G3 gcode because of no axis or has Z axis!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
//BBS: invalid G2_G3 command which has zero speed
if (gcode_line.has(F) && gcode_line.get(F) == 0.0) {
std::cout << "Invalid G2_G3 gcode because has F axis but 0 speed!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
//BBS: invalid G2_G3 command which has no I and J axis
if (!gcode_line.has(I) &&
!gcode_line.has(J)) {
std::cout << "Invalid G2_G3 gcode because of no I and J axis at same time!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
//BBS: invalid G2_G3 command which has no X and Y axis at same time
if (!gcode_line.has(X) && !gcode_line.has(Y) && !gcode_line.has(I) && !gcode_line.has(J)) {
if (!gcode_line.has(X) || !gcode_line.has(P) || (int)gcode_line.get(P) != 1) {
std::cout << "Invalid G2_G3 gcode because of no X and Y axis at same time!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_G90(const GCodeLine& gcode_line)
{
const char* c = gcode_line.m_raw.c_str();
//BBS: G90 is single command with no argument
if (!is_single_gcode_word(c)) {
std::cout << "Invalid G90 gcode with invalid end!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
m_global_positioning_type = EPositioningType::Absolute;
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_G91(const GCodeLine& gcode_line)
{
const char* c = gcode_line.m_raw.c_str();
//BBS: G91 is single command with no argument
if (!is_single_gcode_word(c)) {
std::cout << "Invalid G91 gcode with invalid end!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
m_global_positioning_type = EPositioningType::Relative;
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_G92(GCodeLine& gcode_line)
{
if (parse_axis(gcode_line) != GCodeCheckResult::Success)
return GCodeCheckResult::ParseFailed;
//BBS: invalid G92 command which has no axis or invalid axis
if (!gcode_line.m_mask ||
gcode_line.has(F) ||
gcode_line.has(I) ||
gcode_line.has(J)) {
std::cout << "Invalid G2_G3 gcode because of no axis or invalid axis!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
if (gcode_line.has(X))
m_origin[X] = m_end_position[X] - gcode_line.get(X);
if (gcode_line.has(Y))
m_origin[Y] = m_end_position[Y] - gcode_line.get(Y);
if (gcode_line.has(Z))
m_origin[Z] = m_end_position[Z] - gcode_line.get(Z);
if (gcode_line.has(E))
m_end_position[E] = gcode_line.get(E);
for (unsigned char a = X; a <= E; ++a) {
m_origin[a] = m_end_position[a];
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_M82(const GCodeLine& gcode_line)
{
const char* c = gcode_line.m_raw.c_str();
//BBS: M82 is single command with no argument
if (!is_single_gcode_word(c)) {
std::cout << "Invalid M82 gcode with invalid end!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
m_e_local_positioning_type = EPositioningType::Absolute;
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::parse_M83(const GCodeLine& gcode_line)
{
const char* c = gcode_line.m_raw.c_str();
//BBS: M83 is single command with no argument
if (!is_single_gcode_word(c)) {
std::cout << "Invalid M83 gcode with invalid end!" << std::endl;
return GCodeCheckResult::ParseFailed;
}
m_e_local_positioning_type = EPositioningType::Relative;
return GCodeCheckResult::Success;
}
double GCodeChecker::calculate_G1_width(const std::array<double, 3>& source,
const std::array<double, 3>& target,
double e, double height, bool is_bridge) const
{
double volume = e * Pi * (filament_diameter/2.0f) * (filament_diameter/2.0f);
std::array<double, 3> delta = { target[0] - source[0],
target[1] - source[1],
target[2] - source[2] };
double length = sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
double mm3_per_mm = volume / length;
return is_bridge? 2 * sqrt(mm3_per_mm/Pi) :
(mm3_per_mm / height) + height * (1 - 0.25 * Pi);
}
double GCodeChecker::calculate_G2_G3_width(const std::array<double, 2>& source,
const std::array<double, 2>& target,
const std::array<double, 2>& center,
bool is_ccw, double e, double height,
bool is_bridge) const
{
std::array<double, 2> v1 = { source[0] - center[0], source[1] - center[1] };
std::array<double, 2> v2 = { target[0] - center[0], target[1] - center[1] };
double dot = v1[0] * v2[0] + v1[1] * v2[1];
double cross = v1[0] * v2[1] - v1[1] * v2[0];
double radian = atan2(cross, dot);
radian = is_ccw ?
(radian < 0 ? 2 * Pi + radian : radian) :
(radian < 0 ? -radian : 2 * Pi - radian);
double radius = sqrt(v1[0] * v1[0] + v1[1] * v1[1]);
double length = radius * radian;
double volume = e * Pi * (filament_diameter/2) * (filament_diameter/2);
double mm3_per_mm = volume / length;
return is_bridge? 2 * sqrt(mm3_per_mm/Pi) :
(mm3_per_mm / height) + height * (1 - 0.25 * Pi);
}
GCodeCheckResult GCodeChecker::check_line_width(const GCodeLine& gcode_line)
{
//BBS: don't need to check extrusion before first layer
if (m_layer_num <= 0) {
return GCodeCheckResult::Success;
}
GCodeCheckResult ret = GCodeCheckResult::Success;
//BBS: only need to handle G0 G1 G2 G3
const std::string cmd = gcode_line.cmd();
int cmd_id = ::atoi(&cmd[1]);
if (::toupper(cmd[0]) == 'G')
switch (::atoi(&cmd[1]))
{
case 0:
case 1: { ret = check_G0_G1_width(gcode_line); break; }
case 2:
case 3: { ret = check_G2_G3_width(gcode_line); break; }
default: { break; }
}
return ret;
}
GCodeCheckResult GCodeChecker::check_G0_G1_width(const GCodeLine& line)
{
auto absolute_position = [this](Axis axis, const GCodeLine& lineG1) {
bool is_relative = (m_global_positioning_type == EPositioningType::Relative);
if (axis == E)
is_relative |= (m_e_local_positioning_type == EPositioningType::Relative);
if (lineG1.has(Axis(axis))) {
double ret = lineG1.get(Axis(axis));
return is_relative ? m_start_position[axis] + ret : m_origin[axis] + ret;
} else
return m_start_position[axis];
};
auto move_type = [this](const std::array<double, 4>& delta_pos) {
EMoveType type = EMoveType::Noop;
if (m_wiping)
type = EMoveType::Wipe;
else if (delta_pos[E] < 0.0f)
type = (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f || delta_pos[Z] != 0.0f) ? EMoveType::Travel : EMoveType::Retract;
else if (delta_pos[E] > 0.0f) {
if (delta_pos[X] == 0.0f && delta_pos[Y] == 0.0f)
type = (delta_pos[Z] == 0.0f) ? EMoveType::Unretract : EMoveType::Travel;
else if (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f)
type = EMoveType::Extrude;
}
else if (delta_pos[X] != 0.0f || delta_pos[Y] != 0.0f || delta_pos[Z] != 0.0f)
type = EMoveType::Travel;
return type;
};
for (unsigned char a = X; a <= E; ++a) {
m_end_position[a] = absolute_position((Axis)a, line);
}
// calculates movement deltas
std::array<double, 4> delta_pos;
for (unsigned char a = X; a <= E; ++a)
delta_pos[a] = m_end_position[a] - m_start_position[a];
// Todo: currently, for precision, there alwasy has possible to generate
// such gcode because of decimal truncation
/*if (line.has(Axis(E)) && delta_pos[E] == 0.0 && !m_wiping) {
std::cout << "Invalid GCode because has E axis but 0 extrusion" << std::endl;
return GCodeCheckResult::CheckFailed;
}*/
EMoveType type = move_type(delta_pos);
if (type == EMoveType::Extrude && m_end_position[Z] == 0.0f)
type = EMoveType::Travel;
//BBS: calculate line width and compare.
//Don't need to check gap fill which has verious width
if (type == EMoveType::Extrude &&
m_role != erGapFill &&
delta_pos[E] > CHECK_WIDTH_E_THRESHOLD) {
std::array<double, 3> source = { m_start_position[X], m_start_position[Y], m_start_position[Z] };
std::array<double, 3> target = { m_end_position[X], m_end_position[Y], m_end_position[Z] };
bool is_bridge = m_role == erOverhangPerimeter || m_role == erBridgeInfill;
if (!is_bridge) {
double width_real = calculate_G1_width(source, target, delta_pos[E], m_height, is_bridge);
if (fabs(width_real - m_width) > WIDTH_THRESHOLD) {
std::cout << "Invalid G0_G1 because has abnormal line width." << std::endl;
std::cout << "Width: " << m_width << " Width_real: " << width_real << std::endl;
return GCodeCheckResult::CheckFailed;
}
}
}
return GCodeCheckResult::Success;
}
GCodeCheckResult GCodeChecker::check_G2_G3_width(const GCodeLine& line)
{
auto absolute_position = [this](Axis axis, const GCodeLine& lineG2_3) {
bool is_relative = (m_global_positioning_type == EPositioningType::Relative);
if (axis == E)
is_relative |= (m_e_local_positioning_type == EPositioningType::Relative);
if (lineG2_3.has(Axis(axis))) {
double ret = lineG2_3.get(Axis(axis));
if (axis == I)
return m_start_position[X] + ret;
else if (axis == J)
return m_start_position[Y] + ret;
else
return is_relative ? m_start_position[axis] + ret : m_origin[axis] + ret;
} else {
if (axis == I)
return m_start_position[X];
else if (axis == J)
return m_start_position[Y];
else
return m_start_position[axis];
}
};
auto move_type = [this](const double& delta_E) {
EMoveType type = EMoveType::Noop;
if (m_wiping)
type = EMoveType::Wipe;
else if (delta_E < 0.0f || delta_E == 0.0f)
type = EMoveType::Travel;
else
type = EMoveType::Extrude;
return type;
};
for (unsigned char a = X; a <= E; ++a) {
m_end_position[a] = absolute_position((Axis)a, line);
}
std::array<double, 2> source = { m_start_position[X], m_start_position[Y] };
std::array<double, 2> target = { m_end_position[X], m_end_position[Y] };
std::array<double, 2> center = { absolute_position(I, line),absolute_position(J, line) };
const std::string& cmd = line.cmd();
bool is_ccw = (::atoi(&cmd[1]) == 2) ? false : true;
double delta_e = m_end_position[E] - m_start_position[E];
EMoveType type = move_type(delta_e);
//BBS: judge whether is normal arc by radius
double radius1 = sqrt(pow((source[0] - center[0]), 2) + pow((source[1] - center[1]), 2));
double radius2 = sqrt(pow((target[0] - center[0]), 2) + pow((target[1] - center[1]), 2));
if (fabs(radius2 - radius1) > RADIUS_THRESHOLD) {
std::cout << "Invalid G2_G3 because of abnormal radius." << std::endl;
std::cout << "radius1: " << radius1 << " radius2: " << radius2 << std::endl;
return GCodeCheckResult::CheckFailed;
}
//BBS: calculate line width and compare
//Don't need to check gap fill which has verious width
if (type == EMoveType::Extrude &&
m_role != erGapFill &&
delta_e > CHECK_WIDTH_E_THRESHOLD) {
bool is_bridge = m_role == erOverhangPerimeter || m_role == erBridgeInfill;
if (!is_bridge) {
double width_real = calculate_G2_G3_width(source, target, center, is_ccw, delta_e, m_height, is_bridge);
if (fabs(width_real - m_width) > WIDTH_THRESHOLD) {
std::cout << "Invalid G2_G3 because has abnormal line width." << std::endl;
std::cout << "Width: " << m_width << " Width_real: " << width_real << std::endl;
return GCodeCheckResult::CheckFailed;
}
}
}
return GCodeCheckResult::Success;
}
const std::map<std::string, ExtrusionRole> string_to_role_map = {
{ "Inner wall", erPerimeter },
{ "Outer wall", erExternalPerimeter },
{ "Overhang wall", erOverhangPerimeter },
{ "Sparse infill", erInternalInfill },
{ "Internal solid infill", erSolidInfill },
{ "Top surface", erTopSolidInfill },
{ "Bottom surface", erBottomSurface },
{ "Ironing", erIroning },
{ "Bridge", erBridgeInfill },
{ "Gap infill", erGapFill },
{ "Skirt", erSkirt },
{ "Brim", erBrim },
{ "Support", erSupportMaterial },
{ "Support interface", erSupportMaterialInterface },
{ "Support transition", erSupportTransition },
{ "Prime tower", erWipeTower },
{ "Custom", erCustom },
{ "Mixed", erMixed }
};
ExtrusionRole GCodeChecker::string_to_role(const std::string &role)
{
for (auto it = string_to_role_map.begin(); it != string_to_role_map.end(); it++) {
if (role == it->first)
return it->second;
}
return erNone;
}
}
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