How to use inject_state method in localstack
Best Python code snippet using localstack_python
prime_tower.py
Source:prime_tower.py 
1from tool_change_plan import LayerInfo, ToolChangeInfo, ToolChangeException2from gcode_analyzer import Token3import tool_change_plan4import gcode_analyzer5import doublelinkedlist6import conf7import copy, math, time, logging8from collections import deque9import logging10logger = logging.getLogger(__name__)11# Function to generate vertices for a circle 12def circle_generate_vertices(cx, cy, radius, num_faces):13 vertices = []14 for indx in range(0, num_faces):15 alpha = 2 * math.pi * float(indx) / num_faces16 x = round(radius * math.cos(alpha) + cx, 3)17 y = round(radius * math.sin(alpha) + cy, 3)18 vertices.append([x, y])19 return vertices 20# Function to Generate a Zig-Zag between two circles21def zigzag_generate_vertices(cx, cy, r1, r2, num_faces):22 v1 = circle_generate_vertices(cx, cy, r1, num_faces)23 v2 = circle_generate_vertices(cx, cy, r2, num_faces)24 v = []25 for indx in range(0, num_faces):26 v.append(v1[indx])27 v.append(v2[indx])28 return v29# Tool change exception30class PrimeTowerException(Exception):31 def __init__(self, message):32 self.message = message 33###########################################################################################################34# Prime Tower Layer Info35class PrimeTowerLayerInfo(LayerInfo):36 def __init__(self, layer_num = 0, layer_z = 0.0, layer_height = 0.0, tool_change_seq = None, prime_tower = None):37 LayerInfo.__init__(self, 38 layer_num = layer_num, 39 layer_z = layer_z, 40 layer_height = layer_height, 41 tool_change_seq = tool_change_seq)42 self.prime_tower = prime_tower43 # Create tokens for printing a shape44 # Moves to the first point 45 def gcode_print_shape(self, vertices, tool_id, retract_on_move = True, closed = True):46 tokens = doublelinkedlist.DLList()47 if tool_id not in self.tools_active:48 raise gcode_analyzer.GCodeSerializeException("Tool {tool_id} not in active set of prime tower layer #{layer_num}".format(49 tool_id = tool_id,50 layer_num = self.layer_num))51 52 tokens.append_node(gcode_analyzer.GCode('G1', {'X' : vertices[0][0], 'Y' : vertices[0][1]}))53 tokens.append_node(gcode_analyzer.GCode('G1', {'F' : conf.prime_tower_print_speed}))54 for v in range(1, len(vertices)):55 distance = math.sqrt((vertices[v][0] - vertices[v-1][0])**2 + (vertices[v][1] - vertices[v-1][1])**2)56 E = conf.calculate_E(tool_id, self.layer_height, distance)57 tokens.append_node(gcode_analyzer.GCode('G1', {'X' : vertices[v][0], 'Y' : vertices[v][1], 'E' : E}))58 if closed:59 distance = math.sqrt((vertices[-1][0] - vertices[0][0])**2 + (vertices[-1][1] - vertices[0][1])**2)60 E = conf.calculate_E(tool_id, self.layer_height, distance)61 tokens.append_node(gcode_analyzer.GCode('G1', {'X' : vertices[0][0], 'Y' : vertices[0][1], 'E' : E}))62 return tokens63 # Create gcode for band for specific tool64 def gcode_pillar_band(self, tool_id):65 band_gcode = doublelinkedlist.DLList()66 for radius in self.prime_tower.get_pillar_bands(self.layer_num, tool_id):67 # Start each circle at a different point to avoid weakening the tower68 circle_vertices = deque(circle_generate_vertices(conf.prime_tower_x, conf.prime_tower_y, radius, conf.prime_tower_band_num_faces))69 circle_vertices.rotate(self.layer_num)70 band_gcode.append_nodes(self.gcode_print_shape(circle_vertices, tool_id))71 if conf.GCODE_VERBOSE:72 band_gcode.head.comment = "TC-PSPP - T{tool} - Pillar - Start".format(tool = tool_id)73 band_gcode.tail.comment = "TC-PSPP - T{tool} - Pillar - End".format(tool = tool_id)74 75 return band_gcode76 # Generate gcode for pillar bands for IDLE tools77 def gcode_pillar_idle_tool_bands(self, tool_id): 78 # Generate vertices79 tokens = doublelinkedlist.DLList()80 for idle_tool_id in self.tools_idle:81 gcode_band = doublelinkedlist.DLList()82 for radius in self.prime_tower.get_pillar_bands(self.layer_num, idle_tool_id):83 vertices = circle_generate_vertices(conf.prime_tower_x, conf.prime_tower_y, radius, conf.prime_tower_band_num_faces)84 gcode_band.append_nodes(self.gcode_print_shape(vertices, tool_id))85 86 gcode_band.head.append_node(gcode_analyzer.GCode('G11'))87 gcode_band.head.append_node_left(gcode_analyzer.GCode('G10'))88 tokens.append_nodes(gcode_band)89 if conf.GCODE_VERBOSE:90 tokens.head.comment = "TC-PSPP - Prime tower idle tool infill for layer #{layer} - start".format(layer = self.layer_num)91 tokens.tail.comment = "TC-PSPP - Prime tower idle tool infill for layer #{layer} - end".format(layer = self.layer_num)92 return tokens93 # Find wipe end point94 def gcode_wipe_path(self, start_point, length, retract_length):95 path = []96 x0, y0, z0 = start_point.state_post.x, start_point.state_post.y, start_point.state_post.z97 previous_move = start_point98 accumulated_dist = 0.099 while accumulated_dist < length:100 if previous_move.state_pre == None:101 break102 x1, y1, z1 = previous_move.state_pre.x, previous_move.state_pre.y, previous_move.state_pre.z103 if z1 != z0:104 break105 dist = math.sqrt((x1-x0)**2 + (y1-y0)**2)106 # If end107 if dist + accumulated_dist > length:108 # Check cutoff109 dist_corrected = length - accumulated_dist110 x1 = x0 + (x1 - x0) * (dist_corrected / dist)111 y1 = y0 + (y1 - y0) * (dist_corrected / dist)112 dist = dist_corrected113 if dist != 0.0:114 accumulated_dist += dist115 x0, y0 = x1, y1116 path.append((x1, y1, dist))117 if previous_move.prev is not None:118 previous_move = previous_move.prev119 if accumulated_dist < length:120 logger.warn("Calculated wipe path {wipe_length:0.2f}[mm] less then configured {length:0.2f}[mm]".format(wipe_length = accumulated_dist, length = length))121 # Generate GCodes122 gcode = doublelinkedlist.DLList()123 if len(path) > 2:124 for vertex in path:125 to_retract = -retract_length * (vertex[2]) / accumulated_dist126 gcode.append_node(gcode_analyzer.GCode('G1', {'X' : vertex[0], 'Y' : vertex[1], 'E' : to_retract}))127 logger.info("Calculated wipe path: {length}".format(length = accumulated_dist))128 else:129 # Just add retraction130 gcode.append_node(gcode_analyzer.GCode('G1', {'E', -retract_length}))131 gcode.head.comment = "wipe start"132 return gcode133 # Inject move to prime tower134 # Assumes first gcode in gcode is G1 - move135 def inject_prime_tower_move_in(self, inject_point, gcode):136 inject_state = inject_point.state_post137 gcode_pre = doublelinkedlist.DLList()138 gcode_post = doublelinkedlist.DLList()139 # If firmware retracts - it is quite simple140 if conf.retraction_firmware:141 # - if prime tower Z is higher then current Z - inject Z move before moving to brim XY142 # - if prime tower Z is lower then current Z - inject Z move after brim XY143 if inject_state.z == None or inject_state.z < self.layer_z:144 gcode.head.append_node_left(gcode_analyzer.GCode('G1', { 'Z' : self.layer_z} ))145 elif inject_state.z > self.layer_z:146 gcode.head.append_node(gcode_analyzer.GCode('G1', { 'Z' : self.layer_z} ))147 # - if was unretracted - add retraction/unretraction around the first move from gcode148 if not inject_state.is_retracted:149 gcode.head.append_node(gcode_analyzer.GCode('G11', comment = 'move-in detract'))150 gcode.head.append_node_left(gcode_analyzer.GCode('G10', comment = 'move-in retract' ))151 152 # - if was retracted, just add unretraction after first move from gcode153 if inject_state.is_retracted:154 gcode.head.append_node(gcode_analyzer.GCode('G11', comment = 'move-in detract'))155 gcode.head.append_node_left(gcode_analyzer.GCode('G1', { 'F' : conf.prime_tower_move_speed }))156 # If not firmware retract - do a move manually157 # If not retracted also do a wipe move (not longer then 1mm)158 if not conf.retraction_firmware:159 # If not retracted do a wipe move160 to_detract = 0.0161 if inject_state.is_retracted:162 to_detract = abs(inject_state.retraction)163 else:164 # We will need to detract same what retract in next step165 to_detract = conf.retraction_length[inject_state.tool_selected]166 # If retracted but we need to ajust the Z167 gcode_pre = doublelinkedlist.DLList()168 if inject_state.is_retracted:169 move_z = self.layer_z + conf.retraction_zhop[inject_state.tool_selected]170 if move_z > inject_state.z:171 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'F', conf.prime_tower_move_speed}))172 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'Z', move_z }))173 else:174 # Need to retract and Z-hop175 move_z = max(inject_state.z, self.layer_z) + conf.retraction_zhop[inject_state.tool_selected]176 177 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'F' : conf.retraction_speed[inject_state.tool_selected]}))178 # Add the wipe179 if conf.wipe_distance > 0.0:180 wipe_gcode = self.gcode_wipe_path(inject_point, conf.wipe_distance, conf.retraction_length[inject_state.tool_selected] / 2.0)181 gcode_pre.append_nodes(wipe_gcode)182 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'E' : -conf.retraction_length[inject_state.tool_selected] / 2.0}))183 else:184 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'E' : -conf.retraction_length[inject_state.tool_selected]}))185 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'F', conf.prime_tower_move_speed}))186 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'Z', move_z }))187 # Add the speed188 gcode_pre.append_node(gcode_analyzer.GCode('G1', {'F', conf.prime_tower_move_speed}))189 gcode_post = doublelinkedlist.DLList()190 gcode_post.append_node(gcode_analyzer.GCode('G1', {'Z' : self.layer_z, 'E' : conf.retraction_length[inject_state.tool_selected]}))191 # Add to gcode 192 gcode.head.append_nodes_right(gcode_post)193 gcode.head.append_nodes_left(gcode_pre)194 return gcode195 # Inject move out of prime tower196 def inject_prime_tower_move_out(self, inject_point, gcode):197 inject_state = inject_point.state_post198 # - if prime tower is higher then inject point Z, move XY first and then Z199 # - if prime tower is lower then inject point Z, move Z first and then XY200 if inject_state.z is None:201 raise PrimeTowerException("Malformed GCode - injecting prime tower move-out code where Z is not set")202 # If firmware retracts - it is quite simple203 if conf.retraction_firmware:204 # No need to move out in 205 # -To handle the situation where state is not set initially206 # - Inject point is BEFORE_LAYER_END207 # 208 if inject_point.type != Token.PARAMS or inject_point.label != 'BEFORE_LAYER_CHANGE':209 gcode.append_node(gcode_analyzer.GCode('G10', comment = 'move-out retract'))210 if inject_state.x != None and inject_state.y != None:211 gcode.append_node(gcode_analyzer.GCode('G1', { 'F' : conf.prime_tower_move_speed }))212 if inject_state.z < self.layer_z:213 gcode.append_node(gcode_analyzer.GCode('G1', { 'X' : inject_state.x, 'Y' : inject_state.y }))214 gcode.append_node(gcode_analyzer.GCode('G1', { 'Z' : inject_state.z }))215 elif inject_state.z > self.layer_z:216 gcode.append_node(gcode_analyzer.GCode('G1', { 'Z' : inject_state.z }))217 gcode.append_node(gcode_analyzer.GCode('G1', { 'X' : inject_state.x, 'Y' : inject_state.y }))218 else:219 gcode.append_node(gcode_analyzer.GCode('G1', { 'X' : inject_state.x, 'Y' : inject_state.y }))220 gcode.append_node(gcode_analyzer.GCode('G1', { 'F' : inject_state.feed_rate}))221 else:222 logger.warn("X/Y position state not present, if this error apears more then once the GCode is malformed")223 # Retract before 224 # - if tool was unretracted before entry point - unretract after the move225 if not inject_state.is_retracted:226 gcode.append_node(gcode_analyzer.GCode('G11', comment = 'move-out detract'))227 else:228 if inject_state.is_retracted:229 gcode.append_node(gcode_analyzer.GCode('G10', comment = 'move-out retract'))230 # If slicer retracts - more work231 if not conf.retraction_firmware:232 # No need to move out in:233 # - to handle the situation where state is not set initially234 # - Inject point is BEFORE_LAYER_END235 if inject_point.type != Token.PARAMS or inject_point.label != 'BEFORE_LAYER_CHANGE':236 move_z = max(inject_state.z, self.layer_z) + conf.retraction_zhop[inject_state.tool_selected]237 gcode.append_node(gcode_analyzer.GCode('G1', {'F' : conf.retraction_speed[inject_state.tool_selected]}, comment = 'move-out retract'))238 gcode.append_node(gcode_analyzer.GCode('G1', {'E' : -conf.retraction_length[inject_state.tool_selected]}))239 gcode.append_node(gcode_analyzer.GCode('G1', {'F' : conf.prime_tower_move_speed}))240 gcode.append_node(gcode_analyzer.GCode('G1', {'Z' : move_z }))241 gcode.append_node(gcode_analyzer.GCode('G1', {'X' : inject_state.x, 'Y' : inject_state.y}))242 gcode.append_node(gcode_analyzer.GCode('G1', {'Z' : inject_state.z}))243 if not inject_state.is_retracted:244 gcode.append_node(gcode_analyzer.GCode('G1', {'F' : conf.retraction_speed[inject_state.tool_selected]}))245 gcode.append_node(gcode_analyzer.GCode('G1', {'E' : conf.retraction_length[inject_state.tool_selected]}))246 else:247 if inject_state.is_retracted:248 gcode.append_node(gcode_analyzer.GCode('G1', {'F' : conf.retraction_speed[inject_state.tool_selected]}))249 gcode.append_node(gcode_analyzer.GCode('G1', {'E' : -conf.retraction_length[inject_state.tool_selected]}))250 251 return gcode252 # Inject prime tower layer gcode253 def inject_gcode(self):254 255 filled_idle_gaps = False256 # Check if we need to continue constructing the tower257 if len(self.tools_active) == 1 and len(self.tools_idle) == 0:258 logger.debug("One tool ACTIVE and no more IDLE tools - can stop generating prime tower")259 return 260 tool_indx = 0261 for tool_change in self.tools_sequence:262 inject_point = None263 if tool_indx == 0 and self.layer_num == 0:264 inject_point = self.layer_start265 elif tool_indx == 0 and len(self.tool_change_seq) == 0:266 inject_point = self.layer_end267 elif tool_indx == 0 and len(self.tools_sequence) > 0:268 # de-prime (fill the gap) - prefered because we use same filament269 inject_point = tool_change.block_end270 else:271 inject_point = tool_change.block_start272 # Not gonna happen - because we will cut off earlier but273 if inject_point is None:274 raise PrimeTowerException("Inject-Point is None...")275 # Generate BAND276 gcode_band = self.gcode_pillar_band(tool_id = tool_change.tool_id)277 logger.debug("Generated prime tower band for layer #{layer_num} for T{tool}".format(layer_num = self.layer_num, tool = tool_change.tool_id))278 gcode_idle = None279 if not filled_idle_gaps and len(self.tools_idle) != 0:280 gcode_idle = self.gcode_pillar_idle_tool_bands(tool_change.tool_id)281 filled_idle_gaps = True282 logger.debug("Generated prime tower idle tools infill for layer #{layer_num} with T{tool}".format(layer_num = self.layer_num, tool = tool_change.tool_id))283 # Finally inject 284 gcode = gcode_band285 # 1) Move to Z of Prime Tower layer 286 # 2) Check if the tool has been already retracted, if not don't retract again287 gcode = self.inject_prime_tower_move_in(inject_point, gcode) 288 289 # 3) Add the idle tools290 if gcode_idle is not None:291 gcode.append_nodes(gcode_idle)292 # 4) If was retracted - retract293 # 5) Go back to the previous position - but not if block end 294 if inject_point.type == Token.PARAMS and inject_point.label != 'TOOL_BLOCK_END':295 gcode = self.inject_prime_tower_move_out(inject_point, gcode)296 # Info297 gcode.head.append_node_left(gcode_analyzer.Comment("prime-tower layer #{layer_num}".format(layer_num = self.layer_num)))298 inject_point.append_nodes_right(gcode)299 logger.debug("(DEBUG) Generated prime tower band for layer #{layer} for T{tool}".format(layer = self.layer_num, tool = tool_change.tool_id))300 tool_indx += 1301###########################################################################################################302# Prime Tower 303# Contains all the information related to prime tower generation304class PrimeTower:305 def __init__(self, layers = None):306 pass307 #if layers is not None:308 # self.generate_layers(layers)309 310 # Generate bands for a layer/tool311 def generate_pillar_bands(self):312 self.band_radiuses = {} 313 self.brim_radiuses = {}314 # Enabled tools - in sequence315 layer0_tools = [tool.tool_id for tool in self.layers[0].tools_sequence] + sorted(self.layers[0].tools_idle)316 # - BRIM317 current_r = conf.prime_tower_r318 for tool in layer0_tools:319 self.brim_radiuses[tool] = []320 for indx in range(0, conf.brim_width):321 current_r += conf.tool_nozzle_diameter[tool] / 2.0322 self.brim_radiuses[tool].append(current_r)323 current_r += conf.tool_nozzle_diameter[tool] / 2.0324 current_r = conf.prime_tower_r325 while current_r > 1.5 * conf.tool_nozzle_diameter[0]:326 current_r -= conf.tool_nozzle_diameter[0] / 2.0327 self.brim_radiuses[tool].insert(0, current_r)328 current_r -= conf.tool_nozzle_diameter[0] / 2.0329 # - BAND330 current_r = conf.prime_tower_r331 for tool in layer0_tools:332 self.band_radiuses[tool] = []333 for indx in range(0, conf.prime_tower_band_width):334 current_r += conf.tool_nozzle_diameter[tool] / 2.0335 self.band_radiuses[tool].append(current_r)336 current_r += conf.tool_nozzle_diameter[tool] / 2.0337 # Get the bands for specific layer338 def get_pillar_bands(self, layer_num, tool_id):339 if layer_num < conf.brim_height:340 return self.brim_radiuses[tool_id]341 else:342 return self.band_radiuses[tool_id]343 # Analyze the tool status344 def analyze_tool_status(self):345 current_tool = None346 enabled_tools = set()347 # Analyse which tools are active per layer (active = printing)348 for layer_info in self.layers:349 # Reset the statuses350 layer_info.reset_status()351 if current_tool is not None:352 layer_info.tools_active.add(current_tool.tool_id)353 for tool_change in layer_info.tool_change_seq:354 current_tool = tool_change355 layer_info.tools_active.add(tool_change.tool_id)356 # add the tools to enabled tools set 357 enabled_tools |= layer_info.tools_active358 # Analyse which tools are disabled (temp = 0) or idle (on standby) per layer359 for layer_info in reversed(self.layers):360 next_layer = layer_info.layer_num + 1361 362 if next_layer == len(self.layers):363 # If it's the last layer 364 # - everything that is not active is disabled365 layer_info.tools_idle = set()366 layer_info.tools_disabled = enabled_tools - layer_info.tools_active367 else:368 # If it's not the last layer369 # - suspended in this layer = (suspended in next layer & active in next layer) & !active in this layer)370 # - disabled in this layer = disabled in next layer & !active in this layer371 layer_info.tools_idle = (self.layers[next_layer].tools_idle | self.layers[next_layer].tools_active) - layer_info.tools_active372 layer_info.tools_disabled = self.layers[next_layer].tools_disabled - layer_info.tools_active373 # Generate the layers for prime tower printing374 def analyze_gcode(self, gcode_analyzer):375 self.layers = [PrimeTowerLayerInfo(prime_tower = self)]376 t_start = time.time()377 # Active tool378 current_tool = None # Tool Change Info379 layer_info = self.layers[-1] # Layer Info380 for token in gcode_analyzer.analyze_state():381 # Check if AFTER_LAYER_CHANGE label382 if token.type == Token.PARAMS and token.label == 'AFTER_LAYER_CHANGE':383 current_layer, current_layer_z = token.param[0], token.param[1]384 previous_layer_z = 0.0385 # This is because will put first tool before the AFTER_LAYER_CHANGE-BEFORE_LAYER_CHANGE block386 if current_layer != 0:387 previous_layer_z = layer_info.layer_z388 layer_info = PrimeTowerLayerInfo(prime_tower = self)389 self.layers.append(layer_info)390 391 # Update the value392 layer_info.layer_num = current_layer393 layer_info.layer_z = current_layer_z394 layer_info.layer_height = current_layer_z - previous_layer_z395 396 # Update the values397 layer_info.layer_start = token398 # If current tool is not none 399 if current_tool is not None:400 self.layers[-1].tools_sequence = [current_tool]401 else:402 self.layers[-1].tools_sequence = []403 continue404 # Check if BEFORE_LAYER_CHANGE label405 if token.type == Token.PARAMS and token.label == 'BEFORE_LAYER_CHANGE':406 # Mark the last layer end as the token before BEFORE_LAYER_CHANGE407 layer_info.layer_end = token408 # Validate the height409 toolset = [tool_change_info.tool_id for tool_change_info in layer_info.tools_sequence]410 toolset_max_layer_height = conf.max_layer_height(toolset)411 # Layer height higher then max for the toolset (shouldn't happen!)412 if round(layer_info.layer_height, 5) > toolset_max_layer_height:413 raise PrimeTowerException("Input layer #{layer_num} height {layer_height:0.4f} higher then max allowed for the toolset {tools}".format(414 layer_num = layer_info.layer_num,415 layer_height = layer_info.layer_height, 416 tools = ','.join(['T' + str(tool_id) for tool_id in toolset])))417 continue418 # Check if Tool change419 if token.type == Token.TOOLCHANGE:420 if token.next_tool != -1:421 current_tool = ToolChangeInfo(tool_change = token)422 logger.debug("PrimeTower - Added tool T{tool_id} to layer #{layer_num}".format(tool_id = token.next_tool, layer_num = self.layers[-1].layer_num))423 layer_info.tool_change_seq.append(current_tool)424 layer_info.tools_sequence.append(current_tool)425 continue426 # Beginning to Tool block427 if token.type == Token.PARAMS and token.label == 'TOOL_BLOCK_START':428 tool_id = token.param[0]429 if tool_id != -1:430 if tool_id != current_tool.tool_id:431 raise ToolChangeException(message = "Tool id {tool_id} from TOOL_BLOCK_START doesn't match last active tool in layer".format(tool_id = tool_id), tool_id = tool_id)432 current_tool.block_start = token433 continue434 # End of Tool block435 if token.type == Token.PARAMS and token.label == 'TOOL_BLOCK_END':436 tool_id = token.param[0]437 if tool_id != -1:438 if tool_id != current_tool.tool_id:439 raise ToolChangeException(message = "Tool id {tool_id} from TOOL_BLOCK_END doesn't match last active tool in layer".format(tool_id = tool_id), tool_id = tool_id)440 current_tool.block_end = token441 continue442 443 # Generate the active/idle/disabled list444 #-----------------------------------------------------------445 self.analyze_tool_status()446 # Calc band and brim info447 self.generate_pillar_bands()448 t_end = time.time()449 logger.info("PrimeTower: analysis done [elapsed: {elapsed:0.2f}s]".format(elapsed = t_end - t_start))450 return True451 # Optimize the layers of prime tower452 # Squish the layers of prime tower following the rules:453 # For layer {prev,next}454 # - only squish if tool changes in layer next are not in tool changes for layer prev455 # - only squish if layer_height after squish is less then max layer height for new active toolset456 def optimize_layers(self):457 # New layers458 optimized_layers = [self.layers[0]]459 optimized_layer_indx = 0460 for layer_info in self.layers[1:]:461 # 0) number of active tools is just 1 - no need to continue462 if len(layer_info.tools_active) == 1 and len(layer_info.tools_idle) == 0:463 break464 # 1) tool changes not in previous layer tool changes465 prev_layer_tool_seq = [tool.tool_id for tool in optimized_layers[optimized_layer_indx].tools_sequence]466 next_layer_tool_seq = [tool.tool_id for tool in layer_info.tools_sequence]467 can_squish = False468 # Can only squish if:469 # - last tool of the previous layer is same as first tool of next layer (i.e. no immediedate change on layer)470 # AND471 # - every tool used in next layer (after first) is different from every tool used in previous layer (except the last)472 if prev_layer_tool_seq[-1] == next_layer_tool_seq[0] and len(set(prev_layer_tool_seq[:-1]) & set(next_layer_tool_seq[1:])) == 0:473 can_squish = True474 # Update existing475 if can_squish:476 # New tool change sequence477 optimized_layer_height = optimized_layers[optimized_layer_indx].layer_height + layer_info.layer_height478 optimized_active_tools = copy.copy(optimized_layers[optimized_layer_indx].tools_active)479 optimized_active_tools.update(next_layer_tool_seq[1:])480 min_layer_height = conf.min_layer_height(optimized_active_tools)481 max_layer_height = conf.max_layer_height(optimized_active_tools)482 # 2) new layer height within margins483 if min_layer_height <= optimized_layer_height <= max_layer_height:484 # Update the old layer485 optimized_layers[optimized_layer_indx].tool_change_seq += copy.copy(layer_info.tool_change_seq)486 optimized_layers[optimized_layer_indx].tools_active = optimized_active_tools487 optimized_layers[optimized_layer_indx].tools_sequence += layer_info.tools_sequence[1:]488 optimized_layers[optimized_layer_indx].layer_z = layer_info.layer_z489 optimized_layers[optimized_layer_indx].layer_height = round(optimized_layer_height, 2)490 optimized_layers[optimized_layer_indx].layer_end = layer_info.layer_end491 492 logger.debug("Optimized layer height : {height:0.2f} within [{min:0.2f},{max:0.2f}] for tools active [{tools}]".format(493 height = optimized_layer_height, 494 min = min_layer_height, 495 max = max_layer_height,496 tools = ','.join([str(tool.tool_id) for tool in optimized_layers[optimized_layer_indx].tools_sequence])))497 logger.debug("Prime tower layer #{layer_num} can be combined with previous layer, squashing...".format(layer_num = layer_info.layer_num))498 logger.debug(" >> prev layer tools active : {seq}".format(seq = [str(tool) for tool in prev_layer_tool_seq]))499 logger.debug(" >> next layer tools active : {seq}".format(seq = [str(tool) for tool in next_layer_tool_seq]))500 continue501 # Not able to squash - just copying502 optimized_layer_indx += 1503 optimized_layers.append(layer_info)504 optimized_layers[optimized_layer_indx].layer_num = optimized_layer_indx505 # Copy over506 self.layers = optimized_layers507 # Update the statuses508 self.analyze_tool_status()509 return True510 # Inject code into the token list511 def inject_gcode(self):512 # Inject code for all layers513 for layer in self.layers:514 layer.inject_gcode()515 # Generate report on the prime tower composition516 def print_report(self):517 # Dict with layer information518 num_layers_by_height = {}519 for layer in self.layers:520 if layer.layer_height not in num_layers_by_height:521 num_layers_by_height[layer.layer_height] = 1522 else:523 num_layers_by_height[layer.layer_height] += 1524 # Print info525 logger.info("Prime Tower Info :")526 logger.info(" - num layers : {layers_num}".format(layers_num = len(self.layers)))...
judgeAst.py
Source:judgeAst.py
1#!/usr/bin/pythin2#-*- coding: utf-8 -*-3import json4import os5from colorPrint import * #该头æ件ä¸å®ä¹äºè²å½©æ¾ç¤ºçä¿¡æ¯6import re7import subprocess8#ç¼åè·¯å¾9CACHE_PATH = "./cache/"10#注å
¥æéä¿¡æ¯åå¨è·¯å¾11INJECT_INFO_PATH = "./injectInfo/"12#注å
¥ä¿¡æ¯æºä»£ç é®å¼13SRC_KEY = "srcPos"14#å¸å°çå¼15BOOL_TRUE_FLAG = True16#fallbackæ å¿17FALLBACK_FLAG = "fallback"18#é¢å¤æ¿æ¢è¯å¥19INJECT_STATE = ".call.gas(2301).value"20#触åè°ç¨è¯å¥21CALL_CALL_STATE = "(\"\")"22class judgeAst:23 def __init__(self, _json, _sourceCode, _filename):24 self.cacheContractPath = "./cache/temp.sol"25 self.cacheFolder = "./cache/"26 self.json = _json27 self.filename = _filename28 self.sourceCode = _sourceCode29 def run(self):30 injectInfo = dict()31 injectInfo[SRC_KEY] = list()32 #1. ææææçfallbackå½æ°33 fallbackFuncAstList = list()34 for func in self.findASTNode(self.json, "name", "FunctionDefinition"):35 #è¦æ±å½æ°å®ç°36 if func["attributes"]["implemented"] == BOOL_TRUE_FLAG and func["attributes"]["kind"] == FALLBACK_FLAG:37 #æè·fallbackå½æ°38 fallbackFuncAstList.append(func)39 else:40 continue41 #2. è¿å
¥æ¯ä¸ªfallbackå½æ°ä¸ï¼æ¾å°transfer/send/call.valueè¯å¥42 expStatePosList = self.getExpStatePos()43 #æ¼æ¥åºæå
¥è¯å¥ï¼ç¶åè®°å½ä½ç½®44 for func in fallbackFuncAstList:45 for item in self.findASTNode(func, "name", "MemberAccess"):46 if item["attributes"]["member_name"] == "transfer" and item["attributes"]["type"] == "function (uint256)" and item["attributes"]["referencedDeclaration"] == None:47 sPos, ePos = self.srcToPos(item["src"])48 #è·å¾æ¥æ¶è½¬è´¦çå°å49 receiver = item["children"][0]50 receiverSpos, receiverEpos = self.srcToPos(receiver["src"])51 injectInfo[SRC_KEY].append([sPos, ePos, self.sourceCode[receiverSpos: receiverEpos] + INJECT_STATE])52 #[bug fix] transferè¯å¥éè¦å¨æåè¡¥å
è°ç¨è¯å¥53 #ç¡®å®transferè¯å¥ç»æä½ç½®54 for exp in expStatePosList:55 if exp[0] <= sPos and exp[1] >= ePos:56 #æ¾å°äºï¼è®°å½ä½ç½®åæå
¥è¯å¥57 injectInfo[SRC_KEY].append([exp[1], exp[1], CALL_CALL_STATE])58 else:59 continue60 #[bug fix] sendè¯å¥ä¸ææ61 '''62 if item["attributes"]["member_name"] == "send" and item["attributes"]["type"] == "function (uint256) returns (bool)" and item["attributes"]["referencedDeclaration"] == None:63 sPos, ePos = self.srcToPos(item["src"])64 receiver = item["children"][0]65 receiverSpos, receiverEpos = self.srcToPos(receiver["src"])66 injectInfo[SRC_KEY].append([sPos, ePos, self.sourceCode[receiverSpos: receiverEpos] + INJECT_STATE])67 '''68 if item["attributes"]["member_name"] == "value" and item["attributes"]["type"] == "function (uint256) pure returns (function (bytes memory) payable returns (bool,bytes memory))" and item["attributes"]["referencedDeclaration"] == None:69 if item["children"][0]["attributes"]["member_name"] == "call" and item["children"][0]["attributes"]["type"] == "function (bytes memory) payable returns (bool,bytes memory)":70 sPos, ePos = self.srcToPos(item["src"])71 receiver = item["children"][0]["children"][0]72 receiverSpos, receiverEpos = self.srcToPos(receiver["src"])73 injectInfo[SRC_KEY].append([sPos, ePos, self.sourceCode[receiverSpos: receiverEpos] + INJECT_STATE])74 else:75 continue76 if injectInfo[SRC_KEY]:77 self.storeInjectInfo(injectInfo)78 return True79 else:80 return False81 def getExpStatePos(self):82 expPosList = list()83 for exp in self.findASTNode(self.json, "name", "ExpressionStatement"):84 sPos, ePos = self.srcToPos(exp["src"])85 expPosList.append([sPos, ePos])86 return expPosList87 def cleanComment(self, _code):88 #使ç¨æ£å表达å¼ææåè¡åå¤è¡æ³¨é89 singleLinePattern = re.compile(r"(//)(.)+") #æåç¼è¯ï¼ä»¥æé«é度90 multipleLinePattern = re.compile(r"(/\*)(.)+?(\*/)")91 #è®°å½æ³¨éçä¸æ 92 indexList = list()93 for item in singleLinePattern.finditer(_code):94 indexList.append(item.span())95 for item in multipleLinePattern.finditer(_code, re.S):96 #å¤è¡æ³¨éï¼è¦å
许å¤è¡å¹é
97 indexList.append(item.span())98 #æ¼æ¥æ°ç»æ99 startIndedx = 0100 newCode = str()101 for item in indexList:102 newCode += _code[startIndedx: item[0]] #ä¸å
æ¬item[0]103 startIndedx = item[1] + 1 #å ä¸çç®çæ¯ä¸è¦çååºç尾巴104 newCode += _code[startIndedx:]105 return newCode106 def storeInjectInfo(self, _injectInfo):107 try:108 #ä¿åä¿¡æ¯109 with open(os.path.join(INJECT_INFO_PATH, self.filename.split(".")[0] + ".json"), "w", encoding = "utf-8") as f:110 json.dump(_injectInfo, f, indent = 1)111 #print("%s %s %s" % (info, self.filename + " target injected information...saved", end))112 except:113 #print("%s %s %s" % (bad, self.filename + " target injected information...failed", end))114 pass115 def findASTNode(self, _ast, _name, _value):116 queue = [_ast]117 result = list()118 literalList = list()119 while len(queue) > 0:120 data = queue.pop()121 for key in data:122 if key == _name and data[key] == _value:123 result.append(data)124 elif type(data[key]) == dict:125 queue.append(data[key])126 elif type(data[key]) == list:127 for item in data[key]:128 if type(item) == dict:129 queue.append(item)130 return result131 #ä¼ å
¥ï¼657:17:0132 #ä¼ åºï¼657, 674133 def srcToPos(self, _src):134 temp = _src.split(":")...
relaxedIK_mt_utils.py
Source:relaxedIK_mt_utils.py
...15def inject_subchain(x, x_subchain_idx, indices, subchains, numDOF):16 ret_subchains = copy.deepcopy(subchains)17 ret_subchains[x_subchain_idx] = x18 return glue_subchains(indices, ret_subchains, numDOF)19def inject_state(x, subchain, subchain_indices):20 x_ret = copy.deepcopy(x)21 for i, s in enumerate(subchain_indices):22 x_ret[s] = subchain[i]23 return x_ret24if __name__ == '__main__':25 x = [0.0, 2.0, 1.0, 3.0, 4.0, 5., 6., 7., 8.]26 indices = [[0,2], [1,3,4], [8,6,7,5]]27 subchains = [[0.0, 1.0], [2.0, 3.0, 4.0], [5., 6., 7., 8.]]28 print inject_state(x, [100.,100., 100., 100.], [0,1,4,5])...
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