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MeatPack serial encoding (#20802)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
ellensp 2021-01-24 19:43:23 +13:00 committed by Scott Lahteine
parent 60c9a9e654
commit 56383d3ca0
8 changed files with 487 additions and 78 deletions
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2
Marlin/Configuration_adv.h
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@ -3298,6 +3298,8 @@
//#define GCODE_QUOTED_STRINGS // Support for quoted string parameters
#endif
//#define MEATPACK // Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack)
//#define GCODE_CASE_INSENSITIVE // Accept G-code sent to the firmware in lowercase
//#define REPETIER_GCODE_M360 // Add commands originally from Repetier FW

254
Marlin/src/feature/meatpack.cpp Normal file
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@ -0,0 +1,254 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* MeatPack G-code Compression
*
* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
* Date: Dec. 2020
*
* Character Frequencies from ~30 MB of comment-stripped gcode:
* '1' -> 4451136 '4' -> 1353273 '\n' -> 1087683 '-' -> 90242
* '0' -> 4253577 '9' -> 1352147 'G' -> 1075806 'Z' -> 34109
* ' ' -> 3053297 '3' -> 1262929 'X' -> 975742 'M' -> 11879
* '.' -> 3035310 '5' -> 1189871 'E' -> 965275 'S' -> 9910
* '2' -> 1523296 '6' -> 1127900 'Y' -> 965274
* '8' -> 1366812 '7' -> 1112908 'F' -> 99416
*
* When space is omitted the letter 'E' is used in its place
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(MEATPACK)
#include "meatpack.h"
MeatPack meatpack;
#define MeatPack_ProtocolVersion "PV01"
//#define MEATPACK_LOOKUP_TABLE
//#define MP_DEBUG
#define DEBUG_OUT ENABLED(MP_DEBUG)
#include "../core/debug_out.h"
bool MeatPack::cmd_is_next = false; // A command is pending
uint8_t MeatPack::state = 0; // Configuration state OFF
uint8_t MeatPack::second_char = 0; // The unpacked 2nd character from an out-of-sequence packed pair
uint8_t MeatPack::cmd_count = 0, // Counts how many command bytes are received (need 2)
MeatPack::full_char_count = 0, // Counts how many full-width characters are to be received
MeatPack::char_out_count = 0; // Stores number of characters to be read out.
uint8_t MeatPack::char_out_buf[2]; // Output buffer for caching up to 2 characters
#if ENABLED(MEATPACK_LOOKUP_TABLE)
// The 15 most-common characters used in G-code, ~90-95% of all G-code uses these characters
// Stored in SRAM for performance.
static const uint8_t meatPackLookupTable[16] = {
'0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
'.', ' ', '\n', 'G', 'X',
'\0' // Unused. 0b1111 indicates a literal character
};
#endif
uint8_t MeatPack::unpacked_char(register const uint8_t in) {
#if ENABLED(MEATPACK_LOOKUP_TABLE)
return meatPackLookupTable[in];
#else
switch (in) {
case 0b0000 ... 0b1001: return '0' + in;
case 0b1010: return '.';
case 0b1011: return (state & MPConfig_Bit_NoSpaces) ? kSpaceCharReplace : ' ';
case 0b1100: return '\n';
case 0b1101: return 'G';
case 0b1110: return 'X';
}
return 0;
#endif
}
TERN_(MP_DEBUG, uint8_t chars_decoded = 0); // Log the first 64 bytes after each reset
void MeatPack::reset_state() {
state = 0;
cmd_is_next = false;
second_char = 0;
cmd_count = full_char_count = char_out_count = 0;
TERN_(MP_DEBUG, chars_decoded = 0);
report_state();
}
/**
* Unpack one or two characters from a packed byte into a buffer.
* Return flags indicating whether any literal bytes follow.
*/
uint8_t MeatPack::unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out) {
uint8_t out = 0;
// If lower nybble is 1111, the higher nybble is unused, and next char is full.
if ((pk & kFirstNotPacked) == kFirstNotPacked)
out = kFirstCharIsLiteral;
else {
const uint8_t chr = pk & 0x0F;
chars_out[0] = unpacked_char(chr); // Set the first char
}
// Check if upper nybble is 1111... if so, we don't need the second char.
if ((pk & kSecondNotPacked) == kSecondNotPacked)
out |= kSecondCharIsLiteral;
else {
const uint8_t chr = (pk >> 4) & 0x0F;
chars_out[1] = unpacked_char(chr); // Set the second char
}
return out;
}
/**
* Interpret a single (non-command) character
* according to the current MeatPack state.
*/
void MeatPack::handle_rx_char_inner(const uint8_t c) {
if (TEST(state, MPConfig_Bit_Active)) { // Is MeatPack active?
if (!full_char_count) { // No literal characters to fetch?
uint8_t buf[2] = { 0, 0 };
register const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters.
if (res & kFirstCharIsLiteral) { // The 1st character couldn't be packed.
++full_char_count; // So the next stream byte is a full character.
if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. Another stream byte is a full character.
else second_char = buf[1]; // Retain the unpacked second character.
}
else {
handle_output_char(buf[0]); // Send the unpacked first character out.
if (buf[0] != '\n') { // After a newline the next char won't be set
if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. The next stream byte is a full character.
else handle_output_char(buf[1]); // Send the unpacked second character out.
}
}
}
else {
handle_output_char(c); // Pass through the character that couldn't be packed...
if (second_char) {
handle_output_char(second_char); // ...and send an unpacked 2nd character, if set.
second_char = 0;
}
--full_char_count; // One literal character was consumed
}
}
else // Packing not enabled, just copy character to output
handle_output_char(c);
}
/**
* Buffer a single output character which will be picked up in
* GCodeQueue::get_serial_commands via calls to get_result_char
*/
void MeatPack::handle_output_char(const uint8_t c) {
char_out_buf[char_out_count++] = c;
#if ENABLED(MP_DEBUG)
if (chars_decoded < 1024) {
++chars_decoded;
DEBUG_ECHOPGM("RB: ");
MYSERIAL.print((char)c);
DEBUG_EOL();
}
#endif
}
/**
* Process a MeatPack command byte to update the state.
* Report the new state to serial.
*/
void MeatPack::handle_command(const MeatPack_Command c) {
switch (c) {
case MPCommand_EnablePacking: SBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] ENA REC"); break;
case MPCommand_DisablePacking: CBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] DIS REC"); break;
case MPCommand_TogglePacking: TBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] TGL REC"); break;
case MPCommand_ResetAll: reset_state(); DEBUG_ECHOLNPGM("[MPDBG] RESET REC"); break;
case MPCommand_EnableNoSpaces: SBI(state, MPConfig_Bit_NoSpaces); DEBUG_ECHOLNPGM("[MPDBG] ENA NSP");
TERN_(USE_LOOKUP_TABLE, MeatPackLookupTbl[kSpaceCharIdx] = kSpaceCharReplace);
break;
case MPCommand_DisableNoSpaces: CBI(state, MPConfig_Bit_NoSpaces); DEBUG_ECHOLNPGM("[MPDBG] DIS NSP");
TERN_(USE_LOOKUP_TABLE, MeatPackLookupTbl[kSpaceCharIdx] = ' ');
break;
default: DEBUG_ECHOLNPGM("[MPDBG] UNK CMD REC");
case MPCommand_QueryConfig: break;
}
report_state();
}
void MeatPack::report_state() {
// NOTE: if any configuration vars are added below, the outgoing sync text for host plugin
// should not contain the "PV' substring, as this is used to indicate protocol version
SERIAL_ECHOPGM("[MP] ");
SERIAL_ECHOPGM(MeatPack_ProtocolVersion);
serialprint_onoff(TEST(state, MPConfig_Bit_Active));
SERIAL_CHAR(' ');
serialprintPGM(TEST(state, MPConfig_Bit_NoSpaces) ? PSTR("NSP") : PSTR("ESP"));
SERIAL_EOL();
}
/**
* Interpret a single character received from serial
* according to the current meatpack state.
*/
void MeatPack::handle_rx_char(const uint8_t c) {
if (c == kCommandByte) { // A command (0xFF) byte?
if (cmd_count) { // In fact, two in a row?
cmd_is_next = true; // Then a MeatPack command follows
cmd_count = 0;
}
else
++cmd_count; // cmd_count = 1 // One command byte received so far...
return;
}
if (cmd_is_next) { // Were two command bytes received?
handle_command((MeatPack_Command)c); // Then the byte is a MeatPack command
cmd_is_next = false;
return;
}
if (cmd_count) { // Only a single 0xFF was received
handle_rx_char_inner(kCommandByte); // A single 0xFF is passed on literally so it can be interpreted as kFirstNotPacked|kSecondNotPacked
cmd_count = 0;
}
handle_rx_char_inner(c); // Other characters are passed on for MeatPack decoding
}
uint8_t MeatPack::get_result_char(char* const __restrict out) {
uint8_t res = 0;
if (char_out_count) {
res = char_out_count;
char_out_count = 0;
for (register uint8_t i = 0; i < res; ++i)
out[i] = (char)char_out_buf[i];
}
return res;
}
#endif // MEATPACK

124
Marlin/src/feature/meatpack.h Normal file
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@ -0,0 +1,124 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/*
* MeatPack G-code Compression
*
* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
* Date: Dec. 2020
*
* Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method
* which packs ~180-190% more data into the same amount of bytes going to the CNC controller.
* As a majority of G-Code can be represented by a restricted alphabet, I performed histogram
* analysis on a wide variety of 3D printing gcode samples, and found ~93% of all gcode could
* be represented by the same 15-character alphabet.
*
* This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming
* they fall within this limited 15-character alphabet. Using a 4-bit lookup table, these 8-bit
* characters can be represented by a 4-bit index.
*
* Combined with some logic to allow commingling of full-width characters outside of this 15-
* character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping
* out unnecessary comments, the end result is gcode which is roughly half the original size.
*
* Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing
* objects with high curvature, especially at high speeds. There is also the issue of the limited
* baud rate provided by Prusa's Atmega2560-based boards, over the USB serial connection. So soft-
* ware like OctoPrint would also suffer this same micro-stuttering and poor print quality issue.
*
*/
#pragma once
#include <stdint.h>
/**
* Commands sent to MeatPack to control its behavior.
* They are sent by first sending 2x MeatPack_CommandByte (0xFF) in sequence,
* followed by one of the command bytes below.
* Provided that 0xFF is an exceedingly rare character that is virtually never
* present in G-code naturally, it is safe to assume 2 in sequence should never
* happen naturally, and so it is used as a signal here.
*
* 0xFF *IS* used in "packed" G-code (used to denote that the next 2 characters are
* full-width), however 2 in a row will never occur, as the next 2 bytes will always
* some non-0xFF character.
*/
enum MeatPack_Command : uint8_t {
MPCommand_None = 0,
MPCommand_TogglePacking = 0xFD,
MPCommand_EnablePacking = 0xFB,
MPCommand_DisablePacking = 0xFA,
MPCommand_ResetAll = 0xF9,
MPCommand_QueryConfig = 0xF8,
MPCommand_EnableNoSpaces = 0xF7,
MPCommand_DisableNoSpaces = 0xF6
};
enum MeatPack_ConfigStateBits : uint8_t {
MPConfig_Bit_Active = 0,
MPConfig_Bit_NoSpaces = 1
};
class MeatPack {
private:
friend class GCodeQueue;
// Utility definitions
static const uint8_t kCommandByte = 0b11111111,
kFirstNotPacked = 0b00001111,
kSecondNotPacked = 0b11110000,
kFirstCharIsLiteral = 0b00000001,
kSecondCharIsLiteral = 0b00000010;
static const uint8_t kSpaceCharIdx = 11;
static const char kSpaceCharReplace = 'E';
static bool cmd_is_next; // A command is pending
static uint8_t state; // Configuration state
static uint8_t second_char; // Buffers a character if dealing with out-of-sequence pairs
static uint8_t cmd_count, // Counter of command bytes received (need 2)
full_char_count, // Counter for full-width characters to be received
char_out_count; // Stores number of characters to be read out.
static uint8_t char_out_buf[2]; // Output buffer for caching up to 2 characters
// Pass in a character rx'd by SD card or serial. Automatically parses command/ctrl sequences,
// and will control state internally.
static void handle_rx_char(const uint8_t c);
/**
* After passing in rx'd char using above method, call this to get characters out.
* Can return from 0 to 2 characters at once.
* @param out [in] Output pointer for unpacked/processed data.
* @return Number of characters returned. Range from 0 to 2.
*/
static uint8_t get_result_char(char* const __restrict out);
static void reset_state();
static void report_state();
static uint8_t unpacked_char(register const uint8_t in);
static uint8_t unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out);
static void handle_command(const MeatPack_Command c);
static void handle_output_char(const uint8_t c);
static void handle_rx_char_inner(const uint8_t c);
};
extern MeatPack meatpack;

3
Marlin/src/gcode/host/M115.cpp
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@ -141,6 +141,9 @@ void GcodeSuite::M115() {
// CHAMBER_TEMPERATURE (M141, M191)
cap_line(PSTR("CHAMBER_TEMPERATURE"), ENABLED(HAS_HEATED_CHAMBER));
// MEATPACK Compresson
cap_line(PSTR("MEATPACK"), ENABLED(MEATPACK));
// Machine Geometry
#if ENABLED(M115_GEOMETRY_REPORT)
const xyz_pos_t dmin = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },

19
Marlin/src/gcode/queue.cpp
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@ -48,6 +48,10 @@ GCodeQueue queue;
#include "../feature/binary_stream.h"
#endif
#if ENABLED(MEATPACK)
#include "../feature/meatpack.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "../feature/powerloss.h"
#endif
@ -474,7 +478,16 @@ void GCodeQueue::get_serial_commands() {
const int c = read_serial(i);
if (c < 0) continue;
const char serial_char = c;
#if ENABLED(MEATPACK)
meatpack.handle_rx_char(uint8_t(c));
char c_res[2] = { 0, 0 };
const uint8_t char_count = meatpack.get_result_char(c_res);
#else
constexpr uint8_t char_count = 1;
#endif
LOOP_L_N(char_index, char_count) {
const char serial_char = TERN(MEATPACK, c_res[char_index], c);
if (ISEOL(serial_char)) {
@ -565,7 +578,9 @@ void GCodeQueue::get_serial_commands() {
else
process_stream_char(serial_char, serial_input_state[i], serial_line_buffer[i], serial_count[i]);
} // for NUM_SERIAL
} // char_count loop
} // NUM_SERIAL loop
} // queue has space, serial has data
}

8
Marlin/src/inc/SanityCheck.h
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@ -3303,6 +3303,14 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#endif
#endif
/**
* Sanity Check for MEATPACK and BINARY_FILE_TRANSFER Features
*/
#if BOTH(MEATPACK, BINARY_FILE_TRANSFER)
#error "Either enable MEATPACK or enable BINARY_FILE_TRANSFER."
#endif
/**
* Sanity check for valid stepper driver types
*/

1
buildroot/tests/FYSETC_S6-tests
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@ -9,6 +9,7 @@ set -e
# Build examples
restore_configs
use_example_configs FYSETC/S6
opt_enable MEATPACK
opt_set Y_DRIVER_TYPE TMC2209
opt_set Z_DRIVER_TYPE TMC2130
exec_test $1 $2 "FYSETC S6 Example" "$3"

4
platformio.ini
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@ -97,6 +97,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
-<src/feature/leds/printer_event_leds.cpp>
-<src/feature/leds/tempstat.cpp>
-<src/feature/max7219.cpp>
-<src/feature/meatpack.cpp>
-<src/feature/mixing.cpp>
-<src/feature/mmu/mmu.cpp>
-<src/feature/mmu/mmu2.cpp> -<src/gcode/feature/prusa_MMU2>
@ -319,6 +320,7 @@ PCA9632 = src_filter=+<src/feature/leds/pca9632.cpp>
PRINTER_EVENT_LEDS = src_filter=+<src/feature/leds/printer_event_leds.cpp>
TEMP_STAT_LEDS = src_filter=+<src/feature/leds/tempstat.cpp>
MAX7219_DEBUG = src_filter=+<src/feature/max7219.cpp> +<src/gcode/feature/leds/M7219.cpp>
MEATPACK = src_filter=+<src/feature/meatpack.cpp>
MIXING_EXTRUDER = src_filter=+<src/feature/mixing.cpp> +<src/gcode/feature/mixing/M163-M165.cpp>
HAS_PRUSA_MMU1 = src_filter=+<src/feature/mmu/mmu.cpp>
HAS_PRUSA_MMU2 = src_filter=+<src/feature/mmu/mmu2.cpp> +<src/gcode/feature/prusa_MMU2>
@ -706,7 +708,7 @@ extra_scripts = ${common.extra_scripts}
src_filter = ${common.default_src_filter} +<src/HAL/LPC1768> +<src/HAL/shared/backtrace>
lib_deps = ${common.lib_deps}
Servo
custom_marlin.USES_LIQUIDCRYSTAL = LiquidCrystal@1.0.0
custom_marlin.USES_LIQUIDCRYSTAL = LiquidCrystal~1.0.7
custom_marlin.NEOPIXEL_LED = Adafruit NeoPixel=https://github.com/p3p/Adafruit_NeoPixel/archive/1.5.0.zip
build_flags = ${common.build_flags} -DU8G_HAL_LINKS -IMarlin/src/HAL/LPC1768/include -IMarlin/src/HAL/LPC1768/u8g
# debug options for backtrace