Cleanup duration estimation
Estimation duration now uses the already parsed GCode instead of reparsing it. It also computes a per layer duration estimation which can probably be used to produce better ETAs. The only difference is that it does not compute duration for Z layers changes, but it was probably super wrong already given how it is done (it only changes the estimation by than 2s over 2 hours of print and 54 layers, and the feedrate stuff mixes all the axes together). I also detected a few potential issues in the code, which are marked by FIXMEs.master
Guillaume Seguin
parent
9816ea7c8a
commit
ea604380db
154
gcoder.py
154
gcoder.py
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@ -19,15 +19,6 @@ import re
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import math
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import datetime
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def get_coordinate_value(axis, parts):
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for i in parts:
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if (axis in i):
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return float(i[1:])
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return None
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def hypot3d(X1, Y1, Z1, X2 = 0.0, Y2 = 0.0, Z2 = 0.0):
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return math.hypot(X2-X1, math.hypot(Y2-Y1, Z2-Z1))
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gcode_parsed_args = ["x", "y", "e", "f", "z", "p"]
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class Line(object):
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@ -47,6 +38,8 @@ class Line(object):
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command = None
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is_move = False
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duration = None
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def __init__(self, l):
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self.raw = l.lower()
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if ";" in self.raw:
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@ -67,14 +60,17 @@ class Line(object):
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if code in gcode_parsed_args and len(bit) > 1:
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setattr(self, code, float(bit[1:]))
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def __str__(self):
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return self.raw
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def __repr__(self):
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return self.raw.upper()
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class Layer(object):
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def __init__(self,lines):
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lines = None
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duration = None
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def __init__(self, lines):
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self.lines = lines
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def measure(self):
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xmin = float("inf")
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ymin = float("inf")
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@ -121,9 +117,12 @@ class Layer(object):
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current_z = z or current_z
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return (xmin, xmax), (ymin, ymax), (zmin, zmax)
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class GCode(object):
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lines = None
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layers = None
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def __init__(self,data):
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self.lines = [Line(l2) for l2 in
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(l.strip() for l in data)
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@ -132,7 +131,7 @@ class GCode(object):
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self._create_layers()
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def _preprocess(self):
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#checks for G20, G21, G90 and G91, sets imperial and relative flags
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"""Checks for G20, G21, G90 and G91, sets imperial and relative flags"""
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imperial = False
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relative = False
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relative_e = False
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@ -155,16 +154,14 @@ class GCode(object):
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line.relative = relative
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line.relative_e = relative_e
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line.parse_coordinates(imperial)
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# FIXME : looks like this needs to be tested with list Z on move
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def _create_layers(self):
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self.layers = []
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layers = {}
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prev_z = None
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cur_z = 0
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cur_lines = []
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layer_index = []
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temp_layers = {}
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for line in self.lines:
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if line.command == "G92" and line.z != None:
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cur_z = line.z
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@ -174,40 +171,35 @@ class GCode(object):
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cur_z += line.z
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else:
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cur_z = line.z
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if cur_z != prev_z:
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old_lines = temp_layers.pop(prev_z,[])
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old_lines += cur_lines
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temp_layers[prev_z] = old_lines
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if not prev_z in layer_index:
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layer_index.append(prev_z)
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if cur_z != prev_z:
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old_lines = layers.get(prev_z, [])
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old_lines += cur_lines
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layers[prev_z] = old_lines
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cur_lines = []
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cur_lines.append(line)
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prev_z = cur_z
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old_lines = temp_layers.pop(prev_z,[])
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old_lines += cur_lines
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temp_layers[prev_z] = old_lines
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if not prev_z in layer_index:
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layer_index.append(prev_z)
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layer_index.sort()
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for idx in layer_index:
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cur_lines = temp_layers[idx]
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old_lines = layers.pop(prev_z, [])
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old_lines += cur_lines
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layers[prev_z] = old_lines
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for idx in layers.keys():
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cur_lines = layers[idx]
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has_movement = False
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for l in cur_lines:
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for l in layers[idx]:
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if l.is_move and l.e != None:
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has_movement = True
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break
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if idx > 15:
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print idx, has_movement, cur_lines
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if has_movement:
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self.layers.append(Layer(cur_lines))
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layers[idx] = Layer(layers[idx])
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else:
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del layers[idx]
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self.layers = layers
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def num_layers(self):
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return len(self.layers)
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@ -220,7 +212,7 @@ class GCode(object):
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ymax = float("-inf")
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zmax = float("-inf")
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for l in self.layers:
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for l in self.layers.values():
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(xm, xM), (ym, yM), (zm, zM) = l.measure()
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xmin = min(xm, xmin)
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xmax = max(xM, xmax)
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@ -257,7 +249,7 @@ class GCode(object):
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return total_e
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def estimate_duration(self, g):
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def estimate_duration(self):
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lastx = lasty = lastz = laste = lastf = 0.0
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x = y = z = e = f = 0.0
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currenttravel = 0.0
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@ -272,58 +264,53 @@ class GCode(object):
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# get device caps from firmware: max speed, acceleration/axis (including extruder)
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# calculate the maximum move duration accounting for above ;)
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# self.log(".... estimating ....")
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for i in g:
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i = i.split(";")[0]
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if "G4" in i or "G1" in i:
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if "G4" in i:
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parts = i.split(" ")
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moveduration = get_coordinate_value("P", parts[1:])
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if moveduration is None:
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zs = self.layers.keys()
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zs.sort()
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for z in zs:
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layer = self.layers[z]
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for line in layer.lines:
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if line.command not in ["G4", "G1"]:
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continue
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if line.command == "G4":
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moveduration = line.p
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if not moveduration:
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continue
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else:
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moveduration /= 1000.0
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if "G1" in i:
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parts = i.split(" ")
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x = get_coordinate_value("X", parts[1:])
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if x is None: x = lastx
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y = get_coordinate_value("Y", parts[1:])
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if y is None: y = lasty
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z = get_coordinate_value("Z", parts[1:])
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if (z is None) or (z<lastz): z = lastz # Do not increment z if it's below the previous (Lift z on move fix)
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e = get_coordinate_value("E", parts[1:])
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if e is None: e = laste
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f = get_coordinate_value("F", parts[1:])
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if f is None: f = lastf
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else: f /= 60.0 # mm/s vs mm/m
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elif line.command == "G1":
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x = line.x if line.x != None else lastx
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y = line.y if line.y != None else lasty
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e = line.e if line.e != None else laste
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f = line.f / 60.0 if line.f != None else lastf # mm/s vs mm/m
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# given last feedrate and current feedrate calculate the distance needed to achieve current feedrate.
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# if travel is longer than req'd distance, then subtract distance to achieve full speed, and add the time it took to get there.
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# then calculate the time taken to complete the remaining distance
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currenttravel = hypot3d(x, y, z, lastx, lasty, lastz)
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distance = abs(2* ((lastf+f) * (f-lastf) * 0.5 ) / acceleration) #2x because we have to accelerate and decelerate
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if distance <= currenttravel and ( lastf + f )!=0 and f!=0:
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moveduration = 2 * distance / ( lastf + f )
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currenttravel = math.hypot(x - lastx, y - lasty)
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# FIXME: review this better
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# this looks wrong : there's little chance that the feedrate we'll decelerate to is the previous feedrate
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# shouldn't we instead look at three consecutive moves ?
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distance = 2 * abs(((lastf + f) * (f - lastf) * 0.5) / acceleration) # multiply by 2 because we have to accelerate and decelerate
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if distance <= currenttravel and lastf + f != 0 and f != 0:
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# Unsure about this formula -- iXce reviewing this code
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moveduration = 2 * distance / (lastf + f)
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currenttravel -= distance
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moveduration += currenttravel/f
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else:
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moveduration = math.sqrt( 2 * distance / acceleration )
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moveduration = math.sqrt(2 * distance / acceleration) # probably buggy : not taking actual travel into account
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totalduration += moveduration
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if z > lastz:
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layercount +=1
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#self.log("layer z: ", lastz, " will take: ", time.strftime('%H:%M:%S', time.gmtime(totalduration-layerbeginduration)))
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layerbeginduration = totalduration
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lastx = x
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lasty = y
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lastz = z
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laste = e
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lastf = f
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#self.log("Total Duration: " #, time.strftime('%H:%M:%S', time.gmtime(totalduration)))
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return "{0:d} layers, ".format(int(layercount)) + str(datetime.timedelta(seconds = int(totalduration)))
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layer.duration = totalduration - layerbeginduration
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layerbeginduration = totalduration
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return "%d layers, %s" % (len(self.layers), str(datetime.timedelta(seconds = int(totalduration))))
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def main():
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if len(sys.argv) < 2:
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@ -332,8 +319,7 @@ def main():
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# d = [i.replace("\n","") for i in open(sys.argv[1])]
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# gcode = GCode(d)
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d = list(open(sys.argv[1]))
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gcode = GCode(d)
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gcode = GCode(open(sys.argv[1]))
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gcode.measure()
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@ -343,7 +329,7 @@ def main():
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print "\tZ: %0.02f - %0.02f (%0.02f)" % (gcode.zmin,gcode.zmax,gcode.height)
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print "Filament used: %0.02fmm" % gcode.filament_length()
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print "Number of layers: %d" % gcode.num_layers()
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print "Estimated duration (pessimistic): ", gcode.estimate_duration(d)
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print "Estimated duration (pessimistic): %s" % gcode.estimate_duration()
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if __name__ == '__main__':
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Reference in New Issue