MeatPack serial encoding (#20802)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>2.0.x
ellensp
4 years ago
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* MeatPack G-code Compression
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*
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* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
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* Date: Dec. 2020
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*
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* Character Frequencies from ~30 MB of comment-stripped gcode:
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* '1' -> 4451136 '4' -> 1353273 '\n' -> 1087683 '-' -> 90242
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* '0' -> 4253577 '9' -> 1352147 'G' -> 1075806 'Z' -> 34109
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* ' ' -> 3053297 '3' -> 1262929 'X' -> 975742 'M' -> 11879
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* '.' -> 3035310 '5' -> 1189871 'E' -> 965275 'S' -> 9910
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* '2' -> 1523296 '6' -> 1127900 'Y' -> 965274
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* '8' -> 1366812 '7' -> 1112908 'F' -> 99416
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*
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* When space is omitted the letter 'E' is used in its place
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(MEATPACK)
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#include "meatpack.h"
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MeatPack meatpack;
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#define MeatPack_ProtocolVersion "PV01"
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//#define MEATPACK_LOOKUP_TABLE
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//#define MP_DEBUG
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#define DEBUG_OUT ENABLED(MP_DEBUG)
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#include "../core/debug_out.h"
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bool MeatPack::cmd_is_next = false; // A command is pending
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uint8_t MeatPack::state = 0; // Configuration state OFF
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uint8_t MeatPack::second_char = 0; // The unpacked 2nd character from an out-of-sequence packed pair
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uint8_t MeatPack::cmd_count = 0, // Counts how many command bytes are received (need 2)
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MeatPack::full_char_count = 0, // Counts how many full-width characters are to be received
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MeatPack::char_out_count = 0; // Stores number of characters to be read out.
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uint8_t MeatPack::char_out_buf[2]; // Output buffer for caching up to 2 characters
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#if ENABLED(MEATPACK_LOOKUP_TABLE)
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// The 15 most-common characters used in G-code, ~90-95% of all G-code uses these characters
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// Stored in SRAM for performance.
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static const uint8_t meatPackLookupTable[16] = {
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'0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
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'.', ' ', '\n', 'G', 'X',
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'\0' // Unused. 0b1111 indicates a literal character
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};
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#endif
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uint8_t MeatPack::unpacked_char(register const uint8_t in) {
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#if ENABLED(MEATPACK_LOOKUP_TABLE)
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return meatPackLookupTable[in];
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#else
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switch (in) {
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case 0b0000 ... 0b1001: return '0' + in;
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case 0b1010: return '.';
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case 0b1011: return (state & MPConfig_Bit_NoSpaces) ? kSpaceCharReplace : ' ';
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case 0b1100: return '\n';
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case 0b1101: return 'G';
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case 0b1110: return 'X';
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}
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return 0;
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#endif
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}
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TERN_(MP_DEBUG, uint8_t chars_decoded = 0); // Log the first 64 bytes after each reset
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void MeatPack::reset_state() {
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state = 0;
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cmd_is_next = false;
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second_char = 0;
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cmd_count = full_char_count = char_out_count = 0;
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TERN_(MP_DEBUG, chars_decoded = 0);
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report_state();
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}
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/**
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* Unpack one or two characters from a packed byte into a buffer.
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* Return flags indicating whether any literal bytes follow.
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*/
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uint8_t MeatPack::unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out) {
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uint8_t out = 0;
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// If lower nybble is 1111, the higher nybble is unused, and next char is full.
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if ((pk & kFirstNotPacked) == kFirstNotPacked)
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out = kFirstCharIsLiteral;
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else {
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const uint8_t chr = pk & 0x0F;
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chars_out[0] = unpacked_char(chr); // Set the first char
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}
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// Check if upper nybble is 1111... if so, we don't need the second char.
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if ((pk & kSecondNotPacked) == kSecondNotPacked)
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out |= kSecondCharIsLiteral;
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else {
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const uint8_t chr = (pk >> 4) & 0x0F;
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chars_out[1] = unpacked_char(chr); // Set the second char
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}
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return out;
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}
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/**
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* Interpret a single (non-command) character
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* according to the current MeatPack state.
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*/
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void MeatPack::handle_rx_char_inner(const uint8_t c) {
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if (TEST(state, MPConfig_Bit_Active)) { // Is MeatPack active?
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if (!full_char_count) { // No literal characters to fetch?
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uint8_t buf[2] = { 0, 0 };
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register const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters.
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if (res & kFirstCharIsLiteral) { // The 1st character couldn't be packed.
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++full_char_count; // So the next stream byte is a full character.
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if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. Another stream byte is a full character.
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else second_char = buf[1]; // Retain the unpacked second character.
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}
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else {
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handle_output_char(buf[0]); // Send the unpacked first character out.
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if (buf[0] != '\n') { // After a newline the next char won't be set
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if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. The next stream byte is a full character.
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else handle_output_char(buf[1]); // Send the unpacked second character out.
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}
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}
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}
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else {
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handle_output_char(c); // Pass through the character that couldn't be packed...
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if (second_char) {
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handle_output_char(second_char); // ...and send an unpacked 2nd character, if set.
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second_char = 0;
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}
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--full_char_count; // One literal character was consumed
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}
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}
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else // Packing not enabled, just copy character to output
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handle_output_char(c);
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}
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/**
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* Buffer a single output character which will be picked up in
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* GCodeQueue::get_serial_commands via calls to get_result_char
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*/
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void MeatPack::handle_output_char(const uint8_t c) {
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char_out_buf[char_out_count++] = c;
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#if ENABLED(MP_DEBUG)
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if (chars_decoded < 1024) {
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++chars_decoded;
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DEBUG_ECHOPGM("RB: ");
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MYSERIAL.print((char)c);
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DEBUG_EOL();
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}
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#endif
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}
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/**
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* Process a MeatPack command byte to update the state.
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* Report the new state to serial.
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*/
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void MeatPack::handle_command(const MeatPack_Command c) {
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switch (c) {
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case MPCommand_EnablePacking: SBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] ENA REC"); break;
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case MPCommand_DisablePacking: CBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] DIS REC"); break;
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case MPCommand_TogglePacking: TBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] TGL REC"); break;
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case MPCommand_ResetAll: reset_state(); DEBUG_ECHOLNPGM("[MPDBG] RESET REC"); break;
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case MPCommand_EnableNoSpaces: SBI(state, MPConfig_Bit_NoSpaces); DEBUG_ECHOLNPGM("[MPDBG] ENA NSP");
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TERN_(USE_LOOKUP_TABLE, MeatPackLookupTbl[kSpaceCharIdx] = kSpaceCharReplace);
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break;
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case MPCommand_DisableNoSpaces: CBI(state, MPConfig_Bit_NoSpaces); DEBUG_ECHOLNPGM("[MPDBG] DIS NSP");
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TERN_(USE_LOOKUP_TABLE, MeatPackLookupTbl[kSpaceCharIdx] = ' ');
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break;
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default: DEBUG_ECHOLNPGM("[MPDBG] UNK CMD REC");
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case MPCommand_QueryConfig: break;
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}
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report_state();
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}
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void MeatPack::report_state() {
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// NOTE: if any configuration vars are added below, the outgoing sync text for host plugin
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// should not contain the "PV' substring, as this is used to indicate protocol version
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SERIAL_ECHOPGM("[MP] ");
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SERIAL_ECHOPGM(MeatPack_ProtocolVersion);
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serialprint_onoff(TEST(state, MPConfig_Bit_Active));
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SERIAL_CHAR(' ');
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serialprintPGM(TEST(state, MPConfig_Bit_NoSpaces) ? PSTR("NSP") : PSTR("ESP"));
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SERIAL_EOL();
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}
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/**
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* Interpret a single character received from serial
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* according to the current meatpack state.
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*/
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void MeatPack::handle_rx_char(const uint8_t c) {
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if (c == kCommandByte) { // A command (0xFF) byte?
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if (cmd_count) { // In fact, two in a row?
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cmd_is_next = true; // Then a MeatPack command follows
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cmd_count = 0;
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}
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else
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++cmd_count; // cmd_count = 1 // One command byte received so far...
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return;
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}
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if (cmd_is_next) { // Were two command bytes received?
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handle_command((MeatPack_Command)c); // Then the byte is a MeatPack command
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cmd_is_next = false;
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return;
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}
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if (cmd_count) { // Only a single 0xFF was received
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handle_rx_char_inner(kCommandByte); // A single 0xFF is passed on literally so it can be interpreted as kFirstNotPacked|kSecondNotPacked
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cmd_count = 0;
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}
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handle_rx_char_inner(c); // Other characters are passed on for MeatPack decoding
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}
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uint8_t MeatPack::get_result_char(char* const __restrict out) {
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uint8_t res = 0;
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if (char_out_count) {
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res = char_out_count;
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char_out_count = 0;
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for (register uint8_t i = 0; i < res; ++i)
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out[i] = (char)char_out_buf[i];
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}
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return res;
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}
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#endif // MEATPACK
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@ -0,0 +1,124 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/*
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* MeatPack G-code Compression
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*
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* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
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* Date: Dec. 2020
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*
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* Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method
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* which packs ~180-190% more data into the same amount of bytes going to the CNC controller.
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* As a majority of G-Code can be represented by a restricted alphabet, I performed histogram
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* analysis on a wide variety of 3D printing gcode samples, and found ~93% of all gcode could
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* be represented by the same 15-character alphabet.
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*
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* This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming
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* they fall within this limited 15-character alphabet. Using a 4-bit lookup table, these 8-bit
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* characters can be represented by a 4-bit index.
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*
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* Combined with some logic to allow commingling of full-width characters outside of this 15-
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* character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping
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* out unnecessary comments, the end result is gcode which is roughly half the original size.
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*
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* Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing
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* objects with high curvature, especially at high speeds. There is also the issue of the limited
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* baud rate provided by Prusa's Atmega2560-based boards, over the USB serial connection. So soft-
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* ware like OctoPrint would also suffer this same micro-stuttering and poor print quality issue.
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*
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*/
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#pragma once
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#include <stdint.h>
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/**
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* Commands sent to MeatPack to control its behavior.
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* They are sent by first sending 2x MeatPack_CommandByte (0xFF) in sequence,
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* followed by one of the command bytes below.
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* Provided that 0xFF is an exceedingly rare character that is virtually never
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* present in G-code naturally, it is safe to assume 2 in sequence should never
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* happen naturally, and so it is used as a signal here.
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*
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* 0xFF *IS* used in "packed" G-code (used to denote that the next 2 characters are
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* full-width), however 2 in a row will never occur, as the next 2 bytes will always
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* some non-0xFF character.
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*/
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enum MeatPack_Command : uint8_t {
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MPCommand_None = 0,
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MPCommand_TogglePacking = 0xFD,
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MPCommand_EnablePacking = 0xFB,
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MPCommand_DisablePacking = 0xFA,
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MPCommand_ResetAll = 0xF9,
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MPCommand_QueryConfig = 0xF8,
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MPCommand_EnableNoSpaces = 0xF7,
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MPCommand_DisableNoSpaces = 0xF6
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};
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enum MeatPack_ConfigStateBits : uint8_t {
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MPConfig_Bit_Active = 0,
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MPConfig_Bit_NoSpaces = 1
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};
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class MeatPack {
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private:
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friend class GCodeQueue;
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// Utility definitions
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static const uint8_t kCommandByte = 0b11111111,
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kFirstNotPacked = 0b00001111,
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kSecondNotPacked = 0b11110000,
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kFirstCharIsLiteral = 0b00000001,
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kSecondCharIsLiteral = 0b00000010;
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static const uint8_t kSpaceCharIdx = 11;
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static const char kSpaceCharReplace = 'E';
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static bool cmd_is_next; // A command is pending
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static uint8_t state; // Configuration state
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static uint8_t second_char; // Buffers a character if dealing with out-of-sequence pairs
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static uint8_t cmd_count, // Counter of command bytes received (need 2)
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full_char_count, // Counter for full-width characters to be received
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char_out_count; // Stores number of characters to be read out.
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static uint8_t char_out_buf[2]; // Output buffer for caching up to 2 characters
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// Pass in a character rx'd by SD card or serial. Automatically parses command/ctrl sequences,
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// and will control state internally.
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static void handle_rx_char(const uint8_t c);
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/**
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* After passing in rx'd char using above method, call this to get characters out.
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* Can return from 0 to 2 characters at once.
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* @param out [in] Output pointer for unpacked/processed data.
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* @return Number of characters returned. Range from 0 to 2.
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*/
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static uint8_t get_result_char(char* const __restrict out);
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static void reset_state();
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static void report_state();
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static uint8_t unpacked_char(register const uint8_t in);
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static uint8_t unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out);
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static void handle_command(const MeatPack_Command c);
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static void handle_output_char(const uint8_t c);
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static void handle_rx_char_inner(const uint8_t c);
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};
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extern MeatPack meatpack;
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