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SoftFever
9b5eb76478
- WipeTower: use filament_ramming_volumetric_speed(_nc) for ramming, falling back to max_vol_speed only when nil; gate precool temps on enable_pre_heating - ToolOrderUtils: disable the inter-layer forecast in the per-nozzle base reorder so H2D/H2C ordering is unchanged - PrintConfig: stop stripping filament_prime_volume in handle_legacy; document that prime_volume drives the Type2 wipe tower and filament_prime_volume the Type1 one - GCodeProcessor: exclude post-print end-gcode M400 dwells from the M73 estimate and drop the dead air-filtration state - Trim verbose BambuStudio source-location comments across the port
1480 lines
65 KiB
C++
1480 lines
65 KiB
C++
#include "ToolOrderUtils.hpp"
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#include <queue>
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#include <set>
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#include <map>
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#include <cmath>
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#include <boost/multiprecision/cpp_int.hpp>
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namespace Slic3r
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{
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// ==================== MaxFlowWithLowerBounds ====================
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struct MaxFlowWithLowerBounds {
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public:
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void add_edge(int from, int to, int capacity);
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bool bfs();
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int dfs(int u, int f);
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int solve(std::vector<int>& matching);
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public:
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std::vector<int> l_nodes;
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std::vector<int> r_nodes;
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std::vector<Edge> edges;
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std::vector<std::vector<int>> adj;
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std::vector<int> level;
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std::vector<int> it;
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int total_nodes{ -1 };
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int source_id{ -1 };
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int sink_id{ -1 };
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};
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void MaxFlowWithLowerBounds::add_edge(int from, int to, int capacity)
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{
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adj[from].emplace_back(edges.size());
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edges.emplace_back(from, to, capacity, 0);
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// also add the reverse residual edge with zero capacity
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adj[to].emplace_back(edges.size());
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edges.emplace_back(to, from, 0, 0);
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}
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bool MaxFlowWithLowerBounds::bfs() {
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level.assign(total_nodes, -1);
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std::queue<int> q;
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q.push(source_id);
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level[source_id] = 0;
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while (!q.empty()) {
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int u = q.front(); q.pop();
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for (int eid : adj[u]) {
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Edge &e = edges[eid];
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if (e.flow < e.capacity && level[e.to] == -1) {
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level[e.to] = level[u] + 1;
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q.push(e.to);
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}
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}
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}
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return level[sink_id] != -1;
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}
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int MaxFlowWithLowerBounds::dfs(int u, int f) {
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if (u == sink_id) return f;
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for (int &i = it[u]; i < (int)adj[u].size(); ++i) {
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int eid = adj[u][i];
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Edge &e = edges[eid];
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if (e.flow < e.capacity && level[e.to] == level[u] + 1) {
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int pushed = dfs(e.to, std::min(f, e.capacity - e.flow));
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if (pushed > 0) {
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e.flow += pushed;
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edges[eid ^ 1].flow -= pushed;
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return pushed;
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}
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}
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}
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return 0;
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}
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int MaxFlowWithLowerBounds::solve(std::vector<int>& matching) {
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int flow = 0;
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while (bfs()) {
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it.assign(total_nodes, 0);
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while (int pushed = dfs(source_id, MaxFlowGraph::INF))
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flow += pushed;
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}
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int L = l_nodes.size();
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int R = r_nodes.size();
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// collect l-r matches
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matching.resize(l_nodes.size(), MaxFlowGraph::INVALID_ID);
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for (int u = 0; u < L; ++u) {
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for (int eid : adj[u]) {
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Edge &e = edges[eid];
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if (e.flow > 0 && e.to >= L && e.to < L + R) {
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matching[e.from] = e.to - L;
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}
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}
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}
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return flow;
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}
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// ==================== MinCostMaxFlow ====================
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struct MinCostMaxFlow {
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public:
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std::vector<int> solve();
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void add_edge(int from, int to, int capacity, int cost);
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bool spfa(int source, int sink);
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int get_distance(int idx_in_left, int idx_in_right);
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std::vector<std::vector<float>> matrix;
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std::vector<int> l_nodes;
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std::vector<int> r_nodes;
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std::vector<Edge> edges;
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std::vector<std::vector<int>> adj;
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int total_nodes{ -1 };
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int source_id{ -1 };
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int sink_id{ -1 };
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};
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std::vector<int> MinCostMaxFlow::solve()
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{
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while (spfa(source_id, sink_id));
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std::vector<int>matching(l_nodes.size(), MaxFlowGraph::INVALID_ID);
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// to get the match info, just traverse the left nodes and
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// check the edges with flow > 0 and linked to right nodes
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for (int u = 0; u < l_nodes.size(); ++u) {
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for (int eid : adj[u]) {
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Edge& e = edges[eid];
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if (e.flow > 0 && e.to >= l_nodes.size() && e.to < l_nodes.size() + r_nodes.size())
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matching[e.from] = r_nodes[e.to - l_nodes.size()];
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}
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}
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return matching;
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}
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void MinCostMaxFlow::add_edge(int from, int to, int capacity, int cost)
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{
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adj[from].emplace_back(edges.size());
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edges.emplace_back(from, to, capacity, cost);
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//also add reverse edge ,set capacity to zero,cost to negative
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adj[to].emplace_back(edges.size());
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edges.emplace_back(to, from, 0, -cost);
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}
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bool MinCostMaxFlow::spfa(int source, int sink)
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{
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std::vector<int>dist(total_nodes, MaxFlowGraph::INF);
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std::vector<bool>in_queue(total_nodes, false);
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std::vector<int>flow(total_nodes, MaxFlowGraph::INF);
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std::vector<int>prev(total_nodes, 0);
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std::queue<int>q;
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q.push(source);
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in_queue[source] = true;
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dist[source] = 0;
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while (!q.empty()) {
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int now_at = q.front();
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q.pop();
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in_queue[now_at] = false;
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for (auto eid : adj[now_at]) //traverse all linked edges
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{
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Edge& e = edges[eid];
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if (e.flow<e.capacity && dist[e.to]>dist[now_at] + e.cost) {
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dist[e.to] = dist[now_at] + e.cost;
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prev[e.to] = eid;
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flow[e.to] = std::min(flow[now_at], e.capacity - e.flow);
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if (!in_queue[e.to]) {
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q.push(e.to);
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in_queue[e.to] = true;
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}
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}
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}
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}
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if (dist[sink] == MaxFlowGraph::INF)
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return false;
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int now_at = sink;
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while (now_at != source) {
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int prev_edge = prev[now_at];
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edges[prev_edge].flow += flow[sink];
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edges[prev_edge ^ 1].flow -= flow[sink];
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now_at = edges[prev_edge].from;
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}
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return true;
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}
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int MinCostMaxFlow::get_distance(int idx_in_left, int idx_in_right)
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{
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if (l_nodes[idx_in_left] == -1) {
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return 0;
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}
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float val = matrix[l_nodes[idx_in_left]][r_nodes[idx_in_right]];
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return std::min(static_cast<int>(val), MaxFlowGraph::MCMF_MAX_EDGE_COST);
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}
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MaxFlowSolver::MaxFlowSolver(const std::vector<int>& u_nodes, const std::vector<int>& v_nodes,
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const std::unordered_map<int, std::vector<int>>& uv_link_limits,
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const std::unordered_map<int, std::vector<int>>& uv_unlink_limits,
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const std::vector<int>& u_capacity,
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const std::vector<int>& v_capacity,
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const std::vector<std::pair<std::set<int>,int>>& v_group_capacity)
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{
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assert(u_capacity.empty() || u_capacity.size() == u_nodes.size());
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assert(v_capacity.empty() || v_capacity.size() == v_nodes.size());
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l_nodes = u_nodes;
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r_nodes = v_nodes;
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total_nodes = u_nodes.size() + v_nodes.size() + v_group_capacity.size() + 2;
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source_id = total_nodes - 2;
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sink_id = total_nodes - 1;
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adj.resize(total_nodes);
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std::vector<int>v_node_to(v_nodes.size(), sink_id);
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for (size_t gid = 0; gid < v_group_capacity.size(); ++gid) {
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for (auto vid : v_group_capacity[gid].first)
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v_node_to[vid] = l_nodes.size() + r_nodes.size() + gid;
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}
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// add edge from source to left nodes
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for (int idx = 0; idx < l_nodes.size(); ++idx) {
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int capacity = u_capacity.empty() ? 1 : u_capacity[idx];
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add_edge(source_id, idx, capacity);
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}
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// add edge from right nodes to v_node_to(sink node or temp group node)
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for (int idx = 0; idx < r_nodes.size(); ++idx) {
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int capacity = v_capacity.empty() ? 1 : v_capacity[idx];
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add_edge(l_nodes.size() + idx, v_node_to[idx], capacity);
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}
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// add edge from temp group node to sink node
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for (int idx = 0; idx < v_group_capacity.size(); ++idx) {
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int capacity = v_group_capacity[idx].second;
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add_edge(l_nodes.size() + r_nodes.size() + idx, sink_id, capacity);
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}
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// add edge from left nodes to right nodes
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for (int i = 0; i < l_nodes.size(); ++i) {
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int from_idx = i;
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// process link limits , i can only link to uv_link_limits
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if (auto iter = uv_link_limits.find(i); iter != uv_link_limits.end()) {
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for (auto r_id : iter->second)
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add_edge(from_idx, l_nodes.size() + r_id, 1);
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continue;
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}
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// process unlink limits
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std::optional<std::vector<int>> unlink_limits;
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if (auto iter = uv_unlink_limits.find(i); iter != uv_unlink_limits.end())
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unlink_limits = iter->second;
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for (int j = 0; j < r_nodes.size(); ++j) {
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// check whether i can link to j
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if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
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continue;
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add_edge(from_idx, l_nodes.size() + j, 1);
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}
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}
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}
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void MaxFlowSolver::add_edge(int from, int to, int capacity)
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{
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adj[from].emplace_back(edges.size());
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edges.emplace_back(from, to, capacity);
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//also add reverse edge ,set capacity to zero
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adj[to].emplace_back(edges.size());
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edges.emplace_back(to, from, 0);
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}
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std::vector<int> MaxFlowSolver::solve() {
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std::vector<int> augment;
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std::vector<int> previous(total_nodes, 0);
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while (1) {
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std::vector<int>(total_nodes, 0).swap(augment);
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std::queue<int> travel;
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travel.push(source_id);
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augment[source_id] = MaxFlowGraph::INF;
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while (!travel.empty()) {
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int from = travel.front();
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travel.pop();
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// traverse all linked edges
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for (int i = 0; i < adj[from].size(); ++i) {
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int eid = adj[from][i];
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Edge& tmp = edges[eid];
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if (augment[tmp.to] == 0 && tmp.capacity > tmp.flow) {
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previous[tmp.to] = eid;
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augment[tmp.to] = std::min(augment[from], tmp.capacity - tmp.flow);
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travel.push(tmp.to);
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}
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}
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// already find an extend path, stop and do update
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if (augment[sink_id] != 0)
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break;
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}
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// no longer have extend path
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if (augment[sink_id] == 0)
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break;
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for (int i = sink_id; i != source_id; i = edges[previous[i]].from) {
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edges[previous[i]].flow += augment[sink_id];
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edges[previous[i] ^ 1].flow -= augment[sink_id];
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}
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}
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std::vector<int> matching(l_nodes.size(), MaxFlowGraph::INVALID_ID);
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// to get the match info, just traverse the left nodes and
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// check the edge with flow > 0 and linked to right nodes
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for (int u = 0; u < l_nodes.size(); ++u) {
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for (int eid : adj[u]) {
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Edge& e = edges[eid];
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if (e.flow > 0 && e.to >= l_nodes.size() && e.to < l_nodes.size() + r_nodes.size())
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matching[e.from] = r_nodes[e.to - l_nodes.size()];
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}
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}
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return matching;
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}
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GeneralMinCostSolver::~GeneralMinCostSolver()
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{
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}
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GeneralMinCostSolver::GeneralMinCostSolver(const std::vector<std::vector<float>>& matrix_, const std::vector<int>& u_nodes, const std::vector<int>& v_nodes)
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{
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m_solver = std::make_unique<MinCostMaxFlow>();
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m_solver->matrix = matrix_;;
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m_solver->l_nodes = u_nodes;
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m_solver->r_nodes = v_nodes;
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m_solver->total_nodes = u_nodes.size() + v_nodes.size() + 2;
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m_solver->source_id =m_solver->total_nodes - 2;
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m_solver->sink_id = m_solver->total_nodes - 1;
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m_solver->adj.resize(m_solver->total_nodes);
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// add edge from source to left nodes,cost to 0
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for (int i = 0; i < m_solver->l_nodes.size(); ++i)
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m_solver->add_edge(m_solver->source_id, i, 1, 0);
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// add edge from right nodes to sink,cost to 0
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for (int i = 0; i < m_solver->r_nodes.size(); ++i)
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m_solver->add_edge(m_solver->l_nodes.size() + i, m_solver->sink_id, 1, 0);
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// add edge from left node to right nodes
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for (int i = 0; i < m_solver->l_nodes.size(); ++i) {
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int from_idx = i;
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for (int j = 0; j < m_solver->r_nodes.size(); ++j) {
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int to_idx = m_solver->l_nodes.size() + j;
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m_solver->add_edge(from_idx, to_idx, 1, m_solver->get_distance(i, j));
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}
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}
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}
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std::vector<int> GeneralMinCostSolver::solve() {
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return m_solver->solve();
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}
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// ==================== GeneralMinCostLowerBoundsSolver ====================
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GeneralMinCostLowerBoundsSolver::~GeneralMinCostLowerBoundsSolver() = default;
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GeneralMinCostLowerBoundsSolver::GeneralMinCostLowerBoundsSolver(const std::vector<FlushMatrix> &matrix_,
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const std::vector<int> &u_nodes,
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const std::vector<int> &v_nodes,
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const std::vector<int> &v_nodes_group,
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const std::unordered_map<int, std::vector<int>> &uv_link_limits,
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const std::unordered_map<int, std::vector<int>> &uv_unlink_limits)
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{
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flush_matrix = matrix_;
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l_nodes = u_nodes;
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r_nodes = v_nodes;
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r_nodes_group = v_nodes_group;
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m_uv_link_limits = uv_link_limits;
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m_uv_unlink_limits = uv_unlink_limits;
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num_groups = *std::max_element(r_nodes_group.begin(), r_nodes_group.end()) + 1;
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m_solver_lower_bounds = std::make_unique<MaxFlowWithLowerBounds>();
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m_solver_min_cost = std::make_unique<MinCostMaxFlow>();
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}
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std::vector<int> GeneralMinCostLowerBoundsSolver::solve()
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{
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// group nodes that do not need a lower-bound constraint
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std::unordered_set<int> no_lower_group;
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for (int i = 0; i < r_nodes.size(); i++) {
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if (r_nodes[i] >= 0)
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no_lower_group.insert(r_nodes_group[i]);
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}
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// 1. build the lower-bound network graph
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build_feasible_graph(no_lower_group);
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// 2. compute the max flow
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int need = 0;
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for (int d : demand)
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if (d > 0) need += d;
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std::vector<int> feasible_matching;
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int pushed_flow = m_solver_lower_bounds->solve(feasible_matching);
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assert(need == pushed_flow);
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// 3. convert the lower-bound max-flow network into a min-cost-max-flow network
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build_graph_with_feasible_result();
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// 4. compute the min-cost max-flow
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auto min_cost_matching = m_solver_min_cost->solve();
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return min_cost_matching;
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}
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void GeneralMinCostLowerBoundsSolver::build_feasible_graph(const std::unordered_set<int> &no_lower_groups)
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{
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m_solver_lower_bounds->l_nodes = l_nodes;
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m_solver_lower_bounds->r_nodes = r_nodes;
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m_solver_lower_bounds->total_nodes = l_nodes.size() + r_nodes.size() + num_groups + 2;
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m_solver_lower_bounds->source_id = m_solver_lower_bounds->total_nodes - 2;
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m_solver_lower_bounds->sink_id = m_solver_lower_bounds->total_nodes - 1;
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m_solver_lower_bounds->adj.resize(m_solver_lower_bounds->total_nodes);
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demand.resize(m_solver_lower_bounds->total_nodes, 0);
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const int L = m_solver_lower_bounds->l_nodes.size();
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const int R = m_solver_lower_bounds->r_nodes.size();
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// source -> l
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for (int i = 0; i < L; ++i)
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m_solver_lower_bounds->add_edge(m_solver_lower_bounds->source_id, i, 1);
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// u -> v (with link/unlink limits)
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for (int i = 0; i < L; ++i) {
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if (auto it = m_uv_link_limits.find(i); it != m_uv_link_limits.end()) {
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for (int j : it->second)
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m_solver_lower_bounds->add_edge(i, L + j, 1);
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continue;
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}
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std::optional<std::vector<int>> unlink_limits;
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if (auto it = m_uv_unlink_limits.find(i); it != m_uv_unlink_limits.end())
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unlink_limits = it->second;
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for (int j = 0; j < R; ++j) {
|
||
if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
|
||
continue;
|
||
m_solver_lower_bounds->add_edge(i, L + j, 1);
|
||
}
|
||
}
|
||
|
||
// r -> group
|
||
for (int j = 0; j < R; ++j) {
|
||
int g = r_nodes_group[j];
|
||
m_solver_lower_bounds->add_edge(L + j, L + R + g, 1);
|
||
}
|
||
|
||
// group -> sink (lower bound = 1)
|
||
for (int g = 0; g < num_groups; ++g) {
|
||
if (no_lower_groups.count(g))
|
||
m_solver_lower_bounds->add_edge(L + R + g, m_solver_lower_bounds->sink_id, R);
|
||
else
|
||
add_edge_with_lower_bound(L + R + g, m_solver_lower_bounds->sink_id, 1, R, 0);
|
||
}
|
||
|
||
max_flow_edges = m_solver_lower_bounds->edges.size();
|
||
|
||
// support lower bounds, add super source super sink
|
||
super_source = m_solver_lower_bounds->total_nodes++;
|
||
super_sink = m_solver_lower_bounds->total_nodes++;
|
||
|
||
m_solver_lower_bounds->adj.resize(m_solver_lower_bounds->total_nodes);
|
||
demand.resize(m_solver_lower_bounds->total_nodes, 0);
|
||
|
||
for (int i = 0; i < super_source; ++i) {
|
||
if (demand[i] > 0) {
|
||
m_solver_lower_bounds->add_edge(super_source, i, demand[i]);
|
||
} else if (demand[i] < 0) {
|
||
m_solver_lower_bounds->add_edge(i, super_sink, -demand[i]);
|
||
}
|
||
}
|
||
m_solver_lower_bounds->add_edge(m_solver_lower_bounds->sink_id, m_solver_lower_bounds->source_id, MaxFlowGraph::INF);
|
||
source_id = m_solver_lower_bounds->source_id;
|
||
sink_id = m_solver_lower_bounds->sink_id;
|
||
m_solver_lower_bounds->source_id = super_source;
|
||
m_solver_lower_bounds->sink_id = super_sink;
|
||
}
|
||
|
||
void GeneralMinCostLowerBoundsSolver::build_graph_with_feasible_result()
|
||
{
|
||
for (auto&lb:lower_bound_edges){
|
||
m_solver_lower_bounds->edges[lb.edge_id].flow += lb.lower;
|
||
m_solver_lower_bounds->edges[lb.edge_id ^ 1].flow -= lb.lower;
|
||
}
|
||
|
||
m_solver_min_cost->l_nodes = m_solver_lower_bounds->l_nodes;
|
||
m_solver_min_cost->r_nodes = m_solver_lower_bounds->r_nodes;
|
||
|
||
m_solver_min_cost->source_id = source_id;
|
||
m_solver_min_cost->sink_id = sink_id;
|
||
m_solver_min_cost->total_nodes = sink_id + 1;
|
||
|
||
m_solver_min_cost->edges = m_solver_lower_bounds->edges;
|
||
m_solver_min_cost->edges.erase(m_solver_min_cost->edges.begin() + max_flow_edges, m_solver_min_cost->edges.end());
|
||
|
||
m_solver_min_cost->adj = m_solver_lower_bounds->adj;
|
||
m_solver_min_cost->adj.resize(m_solver_min_cost->total_nodes);
|
||
for (auto &node_edges : m_solver_min_cost->adj) {
|
||
node_edges.erase(std::remove_if(node_edges.begin(), node_edges.end(), [this](int val) {return val >= this->max_flow_edges;}), node_edges.end());
|
||
}
|
||
|
||
|
||
for (auto& e : m_solver_min_cost->edges) {
|
||
int L = m_solver_min_cost->l_nodes.size();
|
||
int R = m_solver_min_cost->r_nodes.size();
|
||
|
||
if (e.from < L && e.to >= L && e.to < L + R) {
|
||
int idx_in_left = e.from;
|
||
int idx_in_right = e.to - L;
|
||
int group_id = r_nodes_group[idx_in_right];
|
||
|
||
if (r_nodes[idx_in_right] == -1) continue;
|
||
e.cost = flush_matrix[group_id][l_nodes[idx_in_left]][r_nodes[idx_in_right]];
|
||
}
|
||
}
|
||
}
|
||
void GeneralMinCostLowerBoundsSolver::add_edge_with_lower_bound(int from, int to, int lower, int upper, int cost)
|
||
{
|
||
int eid = m_solver_lower_bounds->edges.size();
|
||
m_solver_lower_bounds->add_edge(from, to, upper - lower);
|
||
|
||
lower_bound_edges.push_back({eid, lower});
|
||
demand[from] -= lower;
|
||
demand[to] += lower;
|
||
}
|
||
|
||
// ==================== GroupMinCostFlowSolver ====================
|
||
GroupMinCostFlowSolver::~GroupMinCostFlowSolver() = default;
|
||
|
||
GroupMinCostFlowSolver::GroupMinCostFlowSolver(const std::vector<FlushMatrix> &matrix_,
|
||
const std::vector<int> &u_nodes,
|
||
const std::vector<int> &v_nodes,
|
||
const std::vector<int> &v_nodes_group,
|
||
const std::unordered_map<int, std::vector<int>> &uv_link_limits,
|
||
const std::unordered_map<int, std::vector<int>> &uv_unlink_limits)
|
||
{
|
||
flush_matrix = matrix_;
|
||
l_nodes = u_nodes;
|
||
r_nodes = v_nodes;
|
||
r_nodes_group = v_nodes_group;
|
||
m_uv_link_limits = uv_link_limits;
|
||
m_uv_unlink_limits = uv_unlink_limits;
|
||
num_groups = *std::max_element(r_nodes_group.begin(), r_nodes_group.end()) + 1;
|
||
|
||
m_solver = std::make_unique<MinCostMaxFlow>();
|
||
build_graph();
|
||
}
|
||
|
||
int GroupMinCostFlowSolver::get_flush_cost(int l_idx, int r_idx)
|
||
{
|
||
if (r_nodes[r_idx] == -1)
|
||
return 0;
|
||
int group_id = r_nodes_group[r_idx];
|
||
return (int)flush_matrix[group_id][l_nodes[l_idx]][r_nodes[r_idx]];
|
||
}
|
||
|
||
void GroupMinCostFlowSolver::build_graph()
|
||
{
|
||
const int L = (int)l_nodes.size();
|
||
const int R = (int)r_nodes.size();
|
||
const int G = num_groups;
|
||
|
||
m_solver->l_nodes = l_nodes;
|
||
m_solver->r_nodes = r_nodes;
|
||
m_solver->total_nodes = L + R + G + 2;
|
||
m_solver->source_id = L + R + G;
|
||
m_solver->sink_id = L + R + G + 1;
|
||
m_solver->adj.resize(m_solver->total_nodes);
|
||
|
||
int max_flush = 0;
|
||
for (const auto &mat : flush_matrix)
|
||
for (const auto &row : mat)
|
||
for (float v : row)
|
||
max_flush = std::max(max_flush, (int)v);
|
||
int bonus = max_flush * L + 1;
|
||
|
||
// source -> l_i
|
||
for (int i = 0; i < L; ++i)
|
||
m_solver->add_edge(m_solver->source_id, i, 1, 0);
|
||
|
||
// l_i -> r_j (with link/unlink limits)
|
||
for (int i = 0; i < L; ++i) {
|
||
if (auto it = m_uv_link_limits.find(i); it != m_uv_link_limits.end()) {
|
||
for (int j : it->second)
|
||
m_solver->add_edge(i, L + j, 1, get_flush_cost(i, j));
|
||
continue;
|
||
}
|
||
|
||
std::optional<std::vector<int>> unlink_limits;
|
||
if (auto it = m_uv_unlink_limits.find(i); it != m_uv_unlink_limits.end())
|
||
unlink_limits = it->second;
|
||
|
||
for (int j = 0; j < R; ++j) {
|
||
if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
|
||
continue;
|
||
m_solver->add_edge(i, L + j, 1, get_flush_cost(i, j));
|
||
}
|
||
}
|
||
|
||
// r_j -> group_g
|
||
// Compute per-nozzle incoming edge count as capacity upper bound.
|
||
// When unlink_limits restrict multiple filaments to the same nozzle,
|
||
// capacity=1 would block valid assignments. Using the actual in-degree
|
||
// allows the necessary flow while still preserving nozzle-level balance
|
||
// (a nozzle with fewer forced filaments keeps a tighter cap).
|
||
// The first unit carries a small nozzle-bonus to encourage spreading
|
||
// filaments across distinct nozzles within the same group.
|
||
int nozzle_bonus = max_flush + 1;
|
||
std::vector<int> r_in_degree(R, 0);
|
||
for (int i = 0; i < L; ++i) {
|
||
if (auto it = m_uv_link_limits.find(i); it != m_uv_link_limits.end()) {
|
||
for (int j : it->second)
|
||
r_in_degree[j]++;
|
||
continue;
|
||
}
|
||
std::optional<std::vector<int>> unlink_limits;
|
||
if (auto it = m_uv_unlink_limits.find(i); it != m_uv_unlink_limits.end())
|
||
unlink_limits = it->second;
|
||
for (int j = 0; j < R; ++j) {
|
||
if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
|
||
continue;
|
||
r_in_degree[j]++;
|
||
}
|
||
}
|
||
|
||
for (int j = 0; j < R; ++j) {
|
||
int g = r_nodes_group[j];
|
||
int cap = std::max(r_in_degree[j], 1);
|
||
// First unit gets -nozzle_bonus to prefer using distinct nozzles
|
||
m_solver->add_edge(L + j, L + R + g, 1, -nozzle_bonus);
|
||
if (cap > 1)
|
||
m_solver->add_edge(L + j, L + R + g, cap - 1, 0);
|
||
}
|
||
|
||
// group_g -> sink (split: first unit gets -bonus, rest gets 0)
|
||
// bonus >> nozzle_bonus, so group coverage always takes priority
|
||
for (int g = 0; g < G; ++g) {
|
||
m_solver->add_edge(L + R + g, m_solver->sink_id, 1, -bonus);
|
||
if (L > 1)
|
||
m_solver->add_edge(L + R + g, m_solver->sink_id, L - 1, 0);
|
||
}
|
||
}
|
||
|
||
std::vector<int> GroupMinCostFlowSolver::solve()
|
||
{
|
||
return m_solver->solve();
|
||
}
|
||
|
||
// ==================== MinFlushFlowSolver ====================
|
||
MinFlushFlowSolver::~MinFlushFlowSolver()
|
||
{
|
||
}
|
||
|
||
MinFlushFlowSolver::MinFlushFlowSolver(const std::vector<std::vector<float>>& matrix_, const std::vector<int>& u_nodes, const std::vector<int>& v_nodes,
|
||
const std::unordered_map<int, std::vector<int>>& uv_link_limits,
|
||
const std::unordered_map<int, std::vector<int>>& uv_unlink_limits,
|
||
const std::vector<int>& u_capacity,
|
||
const std::vector<int>& v_capacity,
|
||
const std::vector<std::pair<std::set<int>,int>>&v_group_capacity)
|
||
{
|
||
assert(u_capacity.empty() || u_capacity.size() == u_nodes.size());
|
||
assert(v_capacity.empty() || v_capacity.size() == v_nodes.size());
|
||
m_solver = std::make_unique<MinCostMaxFlow>();
|
||
m_solver->matrix = matrix_;;
|
||
m_solver->l_nodes = u_nodes;
|
||
m_solver->r_nodes = v_nodes;
|
||
|
||
m_solver->total_nodes = u_nodes.size() + v_nodes.size() + v_group_capacity.size() + 2;
|
||
|
||
m_solver->source_id =m_solver->total_nodes - 2;
|
||
m_solver->sink_id = m_solver->total_nodes - 1;
|
||
|
||
m_solver->adj.resize(m_solver->total_nodes);
|
||
|
||
std::vector<int> v_node_to(v_nodes.size(), m_solver->sink_id);
|
||
for (size_t gid = 0; gid < v_group_capacity.size(); ++gid) {
|
||
for (auto vid : v_group_capacity[gid].first)
|
||
v_node_to[vid] = m_solver->l_nodes.size() + m_solver->r_nodes.size() + gid;
|
||
}
|
||
|
||
// add edge from source to left nodes,cost to 0
|
||
for (int i = 0; i < m_solver->l_nodes.size(); ++i) {
|
||
int capacity = u_capacity.empty() ? 1 : u_capacity[i];
|
||
m_solver->add_edge(m_solver->source_id, i, capacity, 0);
|
||
}
|
||
// add edge from right nodes to sink,cost to 0
|
||
for (int i = 0; i < m_solver->r_nodes.size(); ++i) {
|
||
int capacity = v_capacity.empty() ? 1 : v_capacity[i];
|
||
m_solver->add_edge(m_solver->l_nodes.size() + i, v_node_to[i], capacity, 0);
|
||
}
|
||
// add edge from temp group node to sink node
|
||
for(int i=0;i<v_group_capacity.size();++i){
|
||
int capacity = v_group_capacity[i].second;
|
||
m_solver->add_edge(m_solver->l_nodes.size() + m_solver->r_nodes.size() + i, m_solver->sink_id, capacity, 0);
|
||
}
|
||
// add edge from left node to right nodes
|
||
for (int i = 0; i < m_solver->l_nodes.size(); ++i) {
|
||
int from_idx = i;
|
||
// process link limits, i can only link to link_limits
|
||
if (auto iter = uv_link_limits.find(i); iter != uv_link_limits.end()) {
|
||
for (auto r_id : iter->second)
|
||
m_solver->add_edge(from_idx, m_solver->l_nodes.size() + r_id, 1, m_solver->get_distance(i, r_id));
|
||
continue;
|
||
}
|
||
|
||
// process unlink limits, check whether i can link to j
|
||
std::optional<std::vector<int>> unlink_limits;
|
||
if (auto iter = uv_unlink_limits.find(i); iter != uv_unlink_limits.end())
|
||
unlink_limits = iter->second;
|
||
for (int j = 0; j < m_solver->r_nodes.size(); ++j) {
|
||
if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
|
||
continue;
|
||
m_solver->add_edge(from_idx, m_solver->l_nodes.size() + j, 1, m_solver->get_distance(i, j));
|
||
}
|
||
}
|
||
}
|
||
|
||
std::vector<int> MinFlushFlowSolver::solve() {
|
||
return m_solver->solve();
|
||
}
|
||
|
||
MatchModeGroupSolver::~MatchModeGroupSolver()
|
||
{
|
||
}
|
||
|
||
MatchModeGroupSolver::MatchModeGroupSolver(const std::vector<std::vector<float>>& matrix_, const std::vector<int>& u_nodes, const std::vector<int>& v_nodes, const std::vector<int>& v_capacity, const std::unordered_map<int, std::vector<int>>& uv_unlink_limits)
|
||
{
|
||
assert(v_nodes.size() == v_capacity.size());
|
||
m_solver = std::make_unique<MinCostMaxFlow>();
|
||
m_solver->matrix = matrix_;;
|
||
m_solver->l_nodes = u_nodes;
|
||
m_solver->r_nodes = v_nodes;
|
||
|
||
m_solver->total_nodes = u_nodes.size() + v_nodes.size() + 2;
|
||
|
||
m_solver->source_id = m_solver->total_nodes - 2;
|
||
m_solver->sink_id = m_solver->total_nodes - 1;
|
||
|
||
m_solver->adj.resize(m_solver->total_nodes);
|
||
|
||
|
||
// add edge from source to left nodes,cost to 0
|
||
for (int i = 0; i < m_solver->l_nodes.size(); ++i)
|
||
m_solver->add_edge(m_solver->source_id, i, 1, 0);
|
||
|
||
// add edge from right nodes to sink,cost to 0
|
||
for (int i = 0; i < m_solver->r_nodes.size(); ++i)
|
||
m_solver->add_edge(m_solver->l_nodes.size() + i, m_solver->sink_id, v_capacity[i], 0);
|
||
|
||
// add edge from left node to right nodes
|
||
for (int i = 0; i < m_solver->l_nodes.size(); ++i) {
|
||
int from_idx = i;
|
||
|
||
// process unlink limits, check whether i can link to j
|
||
std::optional<std::vector<int>> unlink_limits;
|
||
if (auto iter = uv_unlink_limits.find(i); iter != uv_unlink_limits.end())
|
||
unlink_limits = iter->second;
|
||
for (int j = 0; j < m_solver->r_nodes.size(); ++j) {
|
||
if (unlink_limits.has_value() && std::find(unlink_limits->begin(), unlink_limits->end(), j) != unlink_limits->end())
|
||
continue;
|
||
m_solver->add_edge(from_idx, m_solver->l_nodes.size() + j, 1, m_solver->get_distance(i, j));
|
||
}
|
||
}
|
||
}
|
||
|
||
std::vector<int> MatchModeGroupSolver::solve() {
|
||
return m_solver->solve();
|
||
}
|
||
|
||
//solve the problem by searching the least flush of current filament
|
||
static std::vector<unsigned int> solve_extruder_order_with_greedy(const std::vector<std::vector<float>>& wipe_volumes,
|
||
const std::vector<unsigned int> curr_layer_extruders,
|
||
const std::optional<unsigned int>& start_extruder_id,
|
||
float* min_cost)
|
||
{
|
||
float cost = 0;
|
||
std::vector<unsigned int> best_seq;
|
||
std::vector<bool>is_visited(curr_layer_extruders.size(), false);
|
||
std::optional<unsigned int>prev_filament = start_extruder_id;
|
||
int idx = curr_layer_extruders.size();
|
||
while (idx > 0) {
|
||
if (!prev_filament) {
|
||
auto iter = std::find_if(is_visited.begin(), is_visited.end(), [](auto item) {return item == 0; });
|
||
assert(iter != is_visited.end());
|
||
prev_filament = curr_layer_extruders[iter - is_visited.begin()];
|
||
}
|
||
int target_idx = -1;
|
||
int target_cost = std::numeric_limits<int>::max();
|
||
for (size_t k = 0; k < is_visited.size(); ++k) {
|
||
if (!is_visited[k]) {
|
||
if (wipe_volumes[*prev_filament][curr_layer_extruders[k]] < target_cost ||
|
||
(wipe_volumes[*prev_filament][curr_layer_extruders[k]] == target_cost && prev_filament == curr_layer_extruders[k])) {
|
||
target_idx = k;
|
||
target_cost = wipe_volumes[*prev_filament][curr_layer_extruders[k]];
|
||
}
|
||
}
|
||
}
|
||
assert(target_idx != -1);
|
||
cost += target_cost;
|
||
best_seq.emplace_back(curr_layer_extruders[target_idx]);
|
||
prev_filament = curr_layer_extruders[target_idx];
|
||
is_visited[target_idx] = true;
|
||
idx -= 1;
|
||
}
|
||
if (min_cost)
|
||
*min_cost = cost;
|
||
return best_seq;
|
||
}
|
||
|
||
//solve the problem by forcasting one layer
|
||
static std::vector<unsigned int> solve_extruder_order_with_forcast(const std::vector<std::vector<float>>& wipe_volumes,
|
||
std::vector<unsigned int> curr_layer_extruders,
|
||
std::vector<unsigned int> next_layer_extruders,
|
||
const std::optional<unsigned int>& start_extruder_id,
|
||
float* min_cost)
|
||
{
|
||
std::sort(curr_layer_extruders.begin(), curr_layer_extruders.end());
|
||
std::sort(next_layer_extruders.begin(), next_layer_extruders.end());
|
||
float best_cost = std::numeric_limits<float>::max();
|
||
int best_change = std::numeric_limits<int>::max(); // add filament change check in case flush volume between different filament is 0
|
||
std::vector<unsigned int>best_seq;
|
||
|
||
auto get_filament_change_count = [](const std::vector<unsigned int>& curr_seq, const std::vector<unsigned int>& next_seq,const std::optional<unsigned int>& start_extruder_id) {
|
||
int count = 0;
|
||
auto prev_extruder_id = start_extruder_id;
|
||
for (auto seq : { curr_seq,next_seq }) {
|
||
for (auto eid : seq) {
|
||
if (prev_extruder_id && prev_extruder_id != eid) {
|
||
count += 1;
|
||
}
|
||
prev_extruder_id = eid;
|
||
}
|
||
}
|
||
return count;
|
||
|
||
};
|
||
|
||
do {
|
||
std::optional<unsigned int>prev_extruder_1 = start_extruder_id;
|
||
float curr_layer_cost = 0;
|
||
for (size_t idx = 0; idx < curr_layer_extruders.size(); ++idx) {
|
||
if (prev_extruder_1)
|
||
curr_layer_cost += wipe_volumes[*prev_extruder_1][curr_layer_extruders[idx]];
|
||
prev_extruder_1 = curr_layer_extruders[idx];
|
||
}
|
||
if (curr_layer_cost > best_cost)
|
||
continue;
|
||
do {
|
||
std::optional<unsigned int>prev_extruder_2 = prev_extruder_1;
|
||
float total_cost = curr_layer_cost;
|
||
int total_change = get_filament_change_count(curr_layer_extruders, next_layer_extruders, start_extruder_id);
|
||
|
||
for (size_t idx = 0; idx < next_layer_extruders.size(); ++idx) {
|
||
if (prev_extruder_2)
|
||
total_cost += wipe_volumes[*prev_extruder_2][next_layer_extruders[idx]];
|
||
prev_extruder_2 = next_layer_extruders[idx];
|
||
}
|
||
|
||
if (total_cost < best_cost || (total_cost == best_cost && total_change < best_change)) {
|
||
best_cost = total_cost;
|
||
best_seq = curr_layer_extruders;
|
||
best_change = total_change;
|
||
}
|
||
} while (std::next_permutation(next_layer_extruders.begin(), next_layer_extruders.end()));
|
||
} while (std::next_permutation(curr_layer_extruders.begin(), curr_layer_extruders.end()));
|
||
|
||
if (min_cost) {
|
||
float real_cost = 0;
|
||
std::optional<unsigned int>prev_extruder = start_extruder_id;
|
||
for (size_t idx = 0; idx < best_seq.size(); ++idx) {
|
||
if (prev_extruder)
|
||
real_cost += wipe_volumes[*prev_extruder][best_seq[idx]];
|
||
prev_extruder = best_seq[idx];
|
||
}
|
||
*min_cost = real_cost;
|
||
}
|
||
return best_seq;
|
||
}
|
||
|
||
// Shortest hamilton path problem
|
||
static std::vector<unsigned int> solve_extruder_order(const std::vector<std::vector<float>>& wipe_volumes,
|
||
std::vector<unsigned int> all_extruders,
|
||
std::optional<unsigned int> start_extruder_id,
|
||
float* min_cost)
|
||
{
|
||
bool add_start_extruder_flag = false;
|
||
|
||
if (start_extruder_id) {
|
||
auto start_iter = std::find(all_extruders.begin(), all_extruders.end(), start_extruder_id);
|
||
if (start_iter == all_extruders.end())
|
||
all_extruders.insert(all_extruders.begin(), *start_extruder_id), add_start_extruder_flag = true;
|
||
else
|
||
std::swap(*all_extruders.begin(), *start_iter);
|
||
}
|
||
else {
|
||
start_extruder_id = all_extruders.front();
|
||
}
|
||
|
||
unsigned int iterations = (1 << all_extruders.size());
|
||
unsigned int final_state = iterations - 1;
|
||
std::vector<std::vector<float>>cache(iterations, std::vector<float>(all_extruders.size(), 0x7fffffff));
|
||
std::vector<std::vector<int>>prev(iterations, std::vector<int>(all_extruders.size(), -1));
|
||
cache[1][0] = 0.;
|
||
for (unsigned int state = 0; state < iterations; ++state) {
|
||
if (state & 1) {
|
||
for (unsigned int target = 0; target < all_extruders.size(); ++target) {
|
||
if (state >> target & 1) {
|
||
for (unsigned int mid_point = 0; mid_point < all_extruders.size(); ++mid_point) {
|
||
if (state >> mid_point & 1) {
|
||
auto tmp = cache[state - (1 << target)][mid_point] + wipe_volumes[all_extruders[mid_point]][all_extruders[target]];
|
||
if (cache[state][target] > tmp) {
|
||
cache[state][target] = tmp;
|
||
prev[state][target] = mid_point;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
//get res
|
||
float cost = std::numeric_limits<float>::max();
|
||
int final_dst = 0;
|
||
for (unsigned int dst = 0; dst < all_extruders.size(); ++dst) {
|
||
if (all_extruders[dst] != start_extruder_id && cost > cache[final_state][dst]) {
|
||
cost = cache[final_state][dst];
|
||
if (min_cost)
|
||
*min_cost = cost;
|
||
final_dst = dst;
|
||
}
|
||
}
|
||
|
||
std::vector<unsigned int>path;
|
||
unsigned int curr_state = final_state;
|
||
int curr_point = final_dst;
|
||
while (curr_point != -1) {
|
||
path.emplace_back(all_extruders[curr_point]);
|
||
auto mid_point = prev[curr_state][curr_point];
|
||
curr_state -= (1 << curr_point);
|
||
curr_point = mid_point;
|
||
};
|
||
|
||
if (add_start_extruder_flag)
|
||
path.pop_back();
|
||
|
||
std::reverse(path.begin(), path.end());
|
||
return path;
|
||
}
|
||
|
||
|
||
|
||
template<class T>
|
||
static std::vector<T> collect_filaments_in_groups(const std::unordered_set<unsigned int>& group, const std::vector<unsigned int>& filament_list) {
|
||
std::vector<T>ret;
|
||
ret.reserve(group.size());
|
||
for (auto& f : filament_list) {
|
||
if (auto iter = group.find(f); iter != group.end())
|
||
ret.emplace_back(static_cast<T>(f));
|
||
}
|
||
return ret;
|
||
}
|
||
|
||
// get best filament order of single nozzle
|
||
std::vector<unsigned int> get_extruders_order(const std::vector<std::vector<float>>& wipe_volumes,
|
||
const std::vector<unsigned int>& curr_layer_extruders,
|
||
const std::vector<unsigned int>& next_layer_extruders,
|
||
const std::optional<unsigned int>& start_extruder_id,
|
||
bool use_forcast,
|
||
float* cost)
|
||
{
|
||
if (curr_layer_extruders.empty()) {
|
||
if (cost)
|
||
*cost = 0;
|
||
return curr_layer_extruders;
|
||
}
|
||
if (curr_layer_extruders.size() == 1) {
|
||
if (cost) {
|
||
*cost = 0;
|
||
if (start_extruder_id)
|
||
*cost = wipe_volumes[*start_extruder_id][curr_layer_extruders[0]];
|
||
}
|
||
return curr_layer_extruders;
|
||
}
|
||
|
||
if (use_forcast)
|
||
return solve_extruder_order_with_forcast(wipe_volumes, curr_layer_extruders, next_layer_extruders, start_extruder_id, cost);
|
||
else if (curr_layer_extruders.size() <= 20)
|
||
return solve_extruder_order(wipe_volumes, curr_layer_extruders, start_extruder_id, cost);
|
||
else
|
||
return solve_extruder_order_with_greedy(wipe_volumes, curr_layer_extruders, start_extruder_id, cost);
|
||
}
|
||
|
||
|
||
// Single-nozzle flush-minimizing reorder over one filament set / one flush matrix, with an
|
||
// optional seed filament. Extracted from the group loop so the multi-nozzle reorder can call it
|
||
// per physical nozzle.
|
||
// TODO: add custom sequence
|
||
static int reorder_filaments_for_minimum_flush_volume_base(const std::vector<unsigned int>& filament_lists,
|
||
const std::vector<std::vector<unsigned int>>& layer_filaments,
|
||
const FlushMatrix& flush_matrix,
|
||
const std::function<bool(int, std::vector<int>&)> get_custom_seq,
|
||
std::vector<std::vector<unsigned int>>* filament_sequences,
|
||
std::optional<unsigned int> initial_filament_id = std::nullopt)
|
||
{
|
||
constexpr int max_n_with_forcast = 5;
|
||
using uint128_t = boost::multiprecision::uint128_t;
|
||
|
||
if (filament_sequences) {
|
||
filament_sequences->clear();
|
||
filament_sequences->reserve(layer_filaments.size());
|
||
}
|
||
auto filament_list_to_hash_key = [](const std::vector<unsigned int>& curr_layer_filaments, const std::vector<unsigned int>& next_layer_filaments,
|
||
const std::optional<unsigned int>& prev_filament, bool use_forcast) -> uint128_t {
|
||
uint128_t hash_key = 0;
|
||
// 31-0 bit define current layer extruder,63-32 bit define next layer extruder,95~64 define prev extruder
|
||
if (prev_filament) hash_key |= (uint128_t(1) << (64 + *prev_filament));
|
||
|
||
if (use_forcast) {
|
||
for (auto item : next_layer_filaments) { hash_key |= (uint128_t(1) << (32 + item)); }
|
||
}
|
||
|
||
for (auto item : curr_layer_filaments) { hash_key |= (uint128_t(1) << item); }
|
||
return hash_key;
|
||
};
|
||
|
||
int cost = 0;
|
||
std::map<size_t, std::vector<unsigned int>> custom_layer_sequence_map;
|
||
std::unordered_map<uint128_t, std::pair<float, std::vector<unsigned int>>> caches;
|
||
std::unordered_set<unsigned int> filament_sets(filament_lists.begin(), filament_lists.end());
|
||
std::optional<unsigned int> curr_filament_id;
|
||
// use the provided initial filament id as the starting state when it is valid
|
||
if (initial_filament_id.has_value() && *initial_filament_id < flush_matrix.size()) {
|
||
curr_filament_id = initial_filament_id;
|
||
}
|
||
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer){
|
||
const auto& curr_lf = layer_filaments[layer];
|
||
std::vector<int> custom_filament_seq;
|
||
if (get_custom_seq && get_custom_seq(layer, custom_filament_seq) && !custom_filament_seq.empty()) {
|
||
std::vector<unsigned int> unsign_custom_extruder_seq;
|
||
for (int extruder : custom_filament_seq) {
|
||
unsigned int unsign_extruder = static_cast<unsigned int>(extruder) - 1;
|
||
auto it = std::find(layer_filaments[layer].begin(), layer_filaments[layer].end(), unsign_extruder);
|
||
if (it != layer_filaments[layer].end())
|
||
unsign_custom_extruder_seq.emplace_back(unsign_extruder);
|
||
}
|
||
assert(layer_filaments[layer].size() == unsign_custom_extruder_seq.size());
|
||
|
||
custom_layer_sequence_map[layer] = unsign_custom_extruder_seq;
|
||
}
|
||
}
|
||
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer) {
|
||
const auto& curr_lf = layer_filaments[layer];
|
||
|
||
if(auto iter = custom_layer_sequence_map.find(layer); iter != custom_layer_sequence_map.end()){
|
||
auto sequence_in_group = collect_filaments_in_groups<unsigned int>(std::unordered_set<unsigned int>(filament_lists.begin(),filament_lists.end()), iter->second);
|
||
|
||
std::optional<unsigned int> prev = curr_filament_id;
|
||
for (auto& f: sequence_in_group){
|
||
if(prev)
|
||
cost += flush_matrix[*prev][f];
|
||
prev = f;
|
||
}
|
||
|
||
if(!sequence_in_group.empty()){
|
||
curr_filament_id = sequence_in_group.back();
|
||
}
|
||
|
||
if(filament_sequences)
|
||
filament_sequences->emplace_back(sequence_in_group);
|
||
|
||
continue;
|
||
}
|
||
|
||
std::vector<unsigned int> filament_used = collect_filaments_in_groups<unsigned int>(filament_sets, curr_lf);
|
||
std::vector<unsigned int> next_lf;
|
||
if (layer + 1 < layer_filaments.size()) next_lf = layer_filaments[layer + 1];
|
||
std::vector<unsigned int> filament_used_next_layer = collect_filaments_in_groups<unsigned int>(filament_sets, next_lf);
|
||
|
||
// Enable inter-layer forecast: when choosing filament ordering for current layer,
|
||
// also consider next layer's filament set to minimize inter-layer transition flush.
|
||
// solve_extruder_order_with_forcast() tries all permutations of curr+next layer
|
||
// and picks the ordering that minimizes total flush across both layers.
|
||
// This avoids expensive inter-layer transitions (e.g. ending layer with F2 when
|
||
// next layer starts with F3, costing flush[F2→F3], instead of ending with F3
|
||
// which gives flush[F3→F3]=0). Limited to ≤5 filaments due to O(N!×M!) complexity.
|
||
// The per-nozzle base reorder does not use the inter-layer forecast. This function drives
|
||
// BBL multi-extruder grouping cost and H2C ordering, so keeping it false avoids perturbing
|
||
// existing H2D/H2C output.
|
||
bool use_forcast = false;
|
||
float tmp_cost = 0;
|
||
std::vector<unsigned int> sequence;
|
||
uint128_t hash_key = filament_list_to_hash_key(filament_used, filament_used_next_layer, curr_filament_id, use_forcast);
|
||
if (auto iter = caches.find(hash_key); iter != caches.end()) {
|
||
tmp_cost = iter->second.first;
|
||
sequence = iter->second.second;
|
||
}
|
||
else {
|
||
sequence = get_extruders_order(flush_matrix, filament_used, filament_used_next_layer, curr_filament_id, use_forcast, &tmp_cost);
|
||
caches[hash_key] = { tmp_cost,sequence };
|
||
}
|
||
|
||
if (filament_sequences)
|
||
filament_sequences->emplace_back(sequence);
|
||
|
||
if (!sequence.empty())
|
||
curr_filament_id = sequence.back();
|
||
|
||
cost += tmp_cost;
|
||
}
|
||
|
||
return cost;
|
||
}
|
||
|
||
int reorder_filaments_for_minimum_flush_volume(const std::vector<unsigned int>& filament_lists,
|
||
const std::vector<int>& filament_maps,
|
||
const std::vector<std::vector<unsigned int>>& layer_filaments,
|
||
const std::vector<FlushMatrix>& flush_matrix,
|
||
std::optional<std::function<bool(int, std::vector<int>&)>> get_custom_seq,
|
||
std::vector<std::vector<unsigned int>>* filament_sequences,
|
||
const std::unordered_map<int, int>& nozzle_status)
|
||
{
|
||
//only when layer filament num <= 5,we do forcast
|
||
constexpr int max_n_with_forcast = 5;
|
||
int cost = 0;
|
||
std::vector<std::unordered_set<unsigned int>>groups(2); //save the grouped filaments
|
||
std::vector<std::vector<std::vector<unsigned int>>> layer_sequences(2); //save the reordered filament sequence by group
|
||
std::map<size_t, std::vector<unsigned int>> custom_layer_sequence_map; // save the filament sequences of custom layer
|
||
|
||
// group the filament
|
||
for (int i = 0; i < filament_maps.size(); ++i) {
|
||
if (filament_maps[i] == 0)
|
||
groups[0].insert(filament_lists[i]);
|
||
if (filament_maps[i] == 1)
|
||
groups[1].insert(filament_lists[i]);
|
||
}
|
||
|
||
// store custom layer sequence
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer) {
|
||
const auto& curr_lf = layer_filaments[layer];
|
||
|
||
std::vector<int>custom_filament_seq;
|
||
if (get_custom_seq && (*get_custom_seq)(layer, custom_filament_seq) && !custom_filament_seq.empty()) {
|
||
std::vector<unsigned int> unsign_custom_extruder_seq;
|
||
for (int extruder : custom_filament_seq) {
|
||
unsigned int unsign_extruder = static_cast<unsigned int>(extruder) - 1;
|
||
auto it = std::find(curr_lf.begin(), curr_lf.end(), unsign_extruder);
|
||
if (it != curr_lf.end())
|
||
unsign_custom_extruder_seq.emplace_back(unsign_extruder);
|
||
}
|
||
assert(curr_lf.size() == unsign_custom_extruder_seq.size());
|
||
|
||
custom_layer_sequence_map[layer] = unsign_custom_extruder_seq;
|
||
}
|
||
}
|
||
using uint128_t = boost::multiprecision::uint128_t;
|
||
auto extruders_to_hash_key = [](const std::vector<unsigned int>& curr_layer_extruders,
|
||
const std::vector<unsigned int>& next_layer_extruders,
|
||
const std::optional<unsigned int>& prev_extruder,
|
||
bool use_forcast)->uint128_t
|
||
{
|
||
uint128_t hash_key = 0;
|
||
//31-0 bit define current layer extruder,63-32 bit define next layer extruder,95~64 define prev extruder
|
||
if (prev_extruder)
|
||
hash_key |= (uint128_t(1) << (64 + *prev_extruder));
|
||
|
||
if (use_forcast) {
|
||
for (auto item : next_layer_extruders)
|
||
hash_key |= (uint128_t(1) << (32 + item));
|
||
}
|
||
|
||
for (auto item : curr_layer_extruders)
|
||
hash_key |= (uint128_t(1) << item);
|
||
return hash_key;
|
||
};
|
||
|
||
|
||
// get best layer sequence by group
|
||
for (size_t idx = 0; idx < groups.size(); ++idx) {
|
||
// case with one group
|
||
if (groups[idx].empty())
|
||
continue;
|
||
std::optional<unsigned int>current_extruder_id;
|
||
// seed the group (nozzle) with the filament already loaded, if nozzle_status supplies one
|
||
if (auto it = nozzle_status.find(static_cast<int>(idx)); it != nozzle_status.end() && it->second >= 0) {
|
||
unsigned int initial_fil = static_cast<unsigned int>(it->second);
|
||
if (initial_fil < flush_matrix[idx].size())
|
||
current_extruder_id = initial_fil;
|
||
}
|
||
|
||
std::unordered_map<uint128_t, std::pair<float, std::vector<unsigned int>>> caches;
|
||
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer) {
|
||
const auto& curr_lf = layer_filaments[layer];
|
||
|
||
if (auto iter = custom_layer_sequence_map.find(layer); iter != custom_layer_sequence_map.end()) {
|
||
auto sequence_in_group = collect_filaments_in_groups<unsigned int>(groups[idx], iter->second);
|
||
|
||
float tmp_cost = 0;
|
||
std::optional<unsigned int>prev = current_extruder_id;
|
||
for (auto& f : sequence_in_group) {
|
||
if (prev) { tmp_cost += flush_matrix[idx][*prev][f]; }
|
||
prev = f;
|
||
}
|
||
cost += tmp_cost;
|
||
|
||
if (!sequence_in_group.empty())
|
||
current_extruder_id = sequence_in_group.back();
|
||
//insert an empty array
|
||
if (filament_sequences)
|
||
layer_sequences[idx].emplace_back(std::vector<unsigned int>());
|
||
|
||
continue;
|
||
}
|
||
|
||
std::vector<unsigned int>filament_used_in_group = collect_filaments_in_groups<unsigned int>(groups[idx], curr_lf);
|
||
|
||
std::vector<unsigned int>next_lf;
|
||
if (layer + 1 < layer_filaments.size())
|
||
next_lf = layer_filaments[layer + 1];
|
||
std::vector<unsigned int>filament_used_in_group_next_layer = collect_filaments_in_groups<unsigned int>(groups[idx], next_lf);
|
||
|
||
bool use_forcast = (filament_used_in_group.size() <= max_n_with_forcast && filament_used_in_group_next_layer.size() <= max_n_with_forcast);
|
||
float tmp_cost = 0;
|
||
std::vector<unsigned int>sequence;
|
||
uint128_t hash_key = extruders_to_hash_key(filament_used_in_group, filament_used_in_group_next_layer, current_extruder_id, use_forcast);
|
||
if (auto iter = caches.find(hash_key); iter != caches.end()) {
|
||
tmp_cost = iter->second.first;
|
||
sequence = iter->second.second;
|
||
}
|
||
else {
|
||
sequence = get_extruders_order(flush_matrix[idx], filament_used_in_group, filament_used_in_group_next_layer, current_extruder_id, use_forcast, &tmp_cost);
|
||
caches[hash_key] = { tmp_cost,sequence };
|
||
}
|
||
|
||
assert(sequence.size() == filament_used_in_group.size());
|
||
|
||
if (filament_sequences)
|
||
layer_sequences[idx].emplace_back(sequence);
|
||
|
||
if (!sequence.empty())
|
||
current_extruder_id = sequence.back();
|
||
cost += tmp_cost;
|
||
}
|
||
}
|
||
|
||
// get the final layer sequences
|
||
// if only have one group,we need to check whether layer sequence[idx] is valid
|
||
if (filament_sequences) {
|
||
filament_sequences->clear();
|
||
filament_sequences->resize(layer_filaments.size());
|
||
int last_group_id = 0;
|
||
//if last_group == 0,print group 0 first ,else print group 1 first
|
||
if (!custom_layer_sequence_map.empty()) {
|
||
const auto& first_layer = custom_layer_sequence_map.begin()->first;
|
||
const auto& first_layer_filaments = custom_layer_sequence_map.begin()->second;
|
||
assert(!first_layer_filaments.empty());
|
||
|
||
bool first_group = groups[0].count(first_layer_filaments.front()) ? 0 : 1;
|
||
last_group_id = (first_layer & 1) ? !first_group : first_group;
|
||
}
|
||
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer) {
|
||
auto& curr_layer_seq = (*filament_sequences)[layer];
|
||
if (custom_layer_sequence_map.find(layer) != custom_layer_sequence_map.end()) {
|
||
curr_layer_seq = custom_layer_sequence_map[layer];
|
||
if (!curr_layer_seq.empty()) {
|
||
last_group_id = groups[0].count(curr_layer_seq.back()) ? 0 : 1;
|
||
}
|
||
continue;
|
||
}
|
||
if (last_group_id == 1) {
|
||
// try reuse the last group
|
||
if (!layer_sequences[1].empty() && !layer_sequences[1][layer].empty())
|
||
curr_layer_seq.insert(curr_layer_seq.end(), layer_sequences[1][layer].begin(), layer_sequences[1][layer].end());
|
||
if (!layer_sequences[0].empty() && !layer_sequences[0][layer].empty()) {
|
||
curr_layer_seq.insert(curr_layer_seq.end(), layer_sequences[0][layer].begin(), layer_sequences[0][layer].end());
|
||
last_group_id = 0; // update last group id
|
||
}
|
||
}
|
||
else if(last_group_id == 0) {
|
||
if (!layer_sequences[0].empty() && !layer_sequences[0][layer].empty()) {
|
||
curr_layer_seq.insert(curr_layer_seq.end(), layer_sequences[0][layer].begin(), layer_sequences[0][layer].end());
|
||
}
|
||
if (!layer_sequences[1].empty() && !layer_sequences[1][layer].empty()) {
|
||
curr_layer_seq.insert(curr_layer_seq.end(), layer_sequences[1][layer].begin(), layer_sequences[1][layer].end());
|
||
last_group_id = 1; // update last group id
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
return cost;
|
||
}
|
||
|
||
int reorder_filaments_for_multi_nozzle_extruder(const std::vector<unsigned int>& filament_lists,
|
||
const MultiNozzleUtils::LayeredNozzleGroupResult& nozzle_group_result,
|
||
const std::vector<std::vector<unsigned int>>& layer_filaments,
|
||
const std::vector<FlushMatrix>& flush_matrix,
|
||
const std::function<bool(int, std::vector<int>&)> get_custom_seq,
|
||
std::vector<std::vector<unsigned int>>* filament_sequences,
|
||
const MultiNozzleUtils::NozzleStatusRecorder& initial_status)
|
||
{
|
||
std::map<int,std::set<unsigned int>> nozzle_filament_groups;
|
||
std::map<int,std::set<int>> extruder_to_nozzle;
|
||
|
||
for(auto filament_idx : filament_lists){
|
||
auto nozzle_info = nozzle_group_result.get_nozzle_for_filament(filament_idx, -1);
|
||
if (!nozzle_info)
|
||
continue;
|
||
nozzle_filament_groups[nozzle_info->group_id].insert(filament_idx);
|
||
extruder_to_nozzle[nozzle_info->extruder_id].insert(nozzle_info->group_id);
|
||
}
|
||
|
||
std::map<size_t, std::vector<unsigned int>>custom_layer_sequence_map;// save the filament sequences of custom layer
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer){
|
||
const auto& curr_lf = layer_filaments[layer];
|
||
std::vector<int> custom_filament_seq;
|
||
if (get_custom_seq && get_custom_seq(layer, custom_filament_seq) && !custom_filament_seq.empty()) {
|
||
std::vector<unsigned int> unsign_custom_extruder_seq;
|
||
for (int extruder : custom_filament_seq) {
|
||
unsigned int unsign_extruder = static_cast<unsigned int>(extruder) - 1;
|
||
auto it = std::find(layer_filaments[layer].begin(), layer_filaments[layer].end(), unsign_extruder);
|
||
if (it != layer_filaments[layer].end())
|
||
unsign_custom_extruder_seq.emplace_back(unsign_extruder);
|
||
}
|
||
assert(layer_filaments[layer].size() == unsign_custom_extruder_seq.size());
|
||
|
||
custom_layer_sequence_map[layer] = unsign_custom_extruder_seq;
|
||
}
|
||
}
|
||
|
||
|
||
std::map<int, std::vector<std::vector<unsigned int>>> nozzle_filament_sequences;
|
||
bool store_sequence = filament_sequences != nullptr;
|
||
|
||
int cost = 0;
|
||
for(auto& group : nozzle_filament_groups){
|
||
int nozzle_id = group.first;
|
||
auto& filament_in_nozzle = group.second;
|
||
|
||
int extruder_id = 0;
|
||
for(auto& [ext, nozzle_set] : extruder_to_nozzle){
|
||
if(nozzle_set.count(nozzle_id)){
|
||
extruder_id = ext;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if(filament_in_nozzle.empty())
|
||
continue;
|
||
|
||
std::vector<unsigned int> filament_vec_in_nozzle(filament_in_nozzle.begin(), filament_in_nozzle.end());
|
||
|
||
int initial_fil = initial_status.get_filament_in_nozzle(nozzle_id);
|
||
std::optional<unsigned int> initial_fil_id = (initial_fil >= 0 && initial_fil < flush_matrix[extruder_id].size())? std::optional<unsigned int>(initial_fil) : std::nullopt;
|
||
|
||
std::vector<std::vector<unsigned int>> filament_seq;
|
||
cost += reorder_filaments_for_minimum_flush_volume_base(filament_vec_in_nozzle, layer_filaments, flush_matrix[extruder_id], get_custom_seq,
|
||
store_sequence ? &filament_seq : nullptr, initial_fil_id);
|
||
if(store_sequence)
|
||
nozzle_filament_sequences.emplace(nozzle_id, std::move(filament_seq));
|
||
|
||
}
|
||
|
||
if(!store_sequence)
|
||
return cost;
|
||
|
||
std::vector<int> extruders;
|
||
std::map<int, std::vector<int>> nozzles_per_extruder;
|
||
for (auto& [extruder_id, nozzle_set] : extruder_to_nozzle) {
|
||
extruders.push_back(extruder_id);
|
||
nozzles_per_extruder[extruder_id] = std::vector<int>(
|
||
nozzle_set.begin(), nozzle_set.end()
|
||
);
|
||
}
|
||
|
||
filament_sequences->clear();
|
||
filament_sequences->resize(layer_filaments.size());
|
||
|
||
// No filament in filament_lists resolved to a nozzle in nozzle_group_result
|
||
// (e.g. a degenerate input where a layer references a filament index outside the range's
|
||
// grouping map). Emit each layer's filaments in their given order so the caller still gets a
|
||
// valid per-layer sequence, and skip the cross-nozzle reorder. Guards the unchecked
|
||
// max_element(extruders) below, which would dereference end() on an empty range.
|
||
if (extruders.empty()) {
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer)
|
||
(*filament_sequences)[layer] = layer_filaments[layer];
|
||
return cost;
|
||
}
|
||
|
||
auto get_extruder_for_filament = [nozzle_group_result](unsigned int filament_idx) {
|
||
auto nozzle = nozzle_group_result.get_nozzle_for_filament(filament_idx, -1);
|
||
if (!nozzle)
|
||
return -1;
|
||
return nozzle->extruder_id;
|
||
};
|
||
|
||
auto get_nozzle_idx_for_filament = [nozzles_per_extruder, nozzle_group_result](unsigned int filament_idx)->int {
|
||
auto nozzle = nozzle_group_result.get_nozzle_for_filament(filament_idx, -1);
|
||
if (!nozzle)
|
||
return -1;
|
||
return std::find(nozzles_per_extruder.at(nozzle->extruder_id).begin(), nozzles_per_extruder.at(nozzle->extruder_id).end(), nozzle->group_id) - nozzles_per_extruder.at(nozzle->extruder_id).begin();
|
||
};
|
||
|
||
int initial_extruder = initial_status.get_current_extruder_id();
|
||
int last_extruder_idx = (initial_extruder >= 0 && initial_extruder < extruders.size())? initial_extruder : 0;
|
||
// set size to max extruder_id in case extruder_id is not continuous
|
||
std::vector<int> last_nozzle_idx(*std::max_element(extruders.begin(),extruders.end()) + 1,0);
|
||
for (int ext_id = 0; ext_id < static_cast<int>(last_nozzle_idx.size()); ext_id++) {
|
||
int initial_nozzle = initial_status.get_nozzle_in_extruder(ext_id);
|
||
auto ext_nozzles = nozzles_per_extruder[ext_id];
|
||
auto it = std::find(ext_nozzles.begin(), ext_nozzles.end(), initial_nozzle);
|
||
if (it != ext_nozzles.end())
|
||
last_nozzle_idx[ext_id] = static_cast<int>(std::distance(ext_nozzles.begin(), it));
|
||
}
|
||
|
||
for (size_t layer = 0; layer < layer_filaments.size(); ++layer) {
|
||
auto& out_seq = (*filament_sequences)[layer];
|
||
|
||
if (custom_layer_sequence_map.find(layer) != custom_layer_sequence_map.end()) {
|
||
out_seq = custom_layer_sequence_map[layer];
|
||
if (!out_seq.empty()) {
|
||
last_extruder_idx = get_extruder_for_filament(out_seq.back());
|
||
for (auto filament : out_seq) {
|
||
int cur_ext_id = get_extruder_for_filament(filament);
|
||
last_nozzle_idx[cur_ext_id] = get_nozzle_idx_for_filament(filament);
|
||
}
|
||
}
|
||
continue;
|
||
}
|
||
|
||
if (last_extruder_idx == -1)
|
||
last_extruder_idx = 0;
|
||
|
||
int curr_last_extruder_idx = last_extruder_idx;
|
||
auto curr_last_nozzle_idx = last_nozzle_idx;
|
||
for (int i = 0; i < extruders.size(); ++i) {
|
||
int extruder_id = extruders[(last_extruder_idx + i) % extruders.size()];
|
||
auto& base_nozzles = nozzles_per_extruder[extruder_id];
|
||
|
||
bool has_seq = false;
|
||
if (last_nozzle_idx[extruder_id] == -1)
|
||
last_nozzle_idx[extruder_id] = 0;
|
||
|
||
for (int j = 0; j < base_nozzles.size(); ++j) {
|
||
int nozzle_idx = (last_nozzle_idx[extruder_id] + j) % base_nozzles.size();
|
||
int nozzle_id = base_nozzles[nozzle_idx];
|
||
const auto& frag = nozzle_filament_sequences[nozzle_id][layer];
|
||
if (frag.empty())
|
||
continue;
|
||
has_seq = true;
|
||
curr_last_nozzle_idx[extruder_id] = nozzle_idx;
|
||
out_seq.insert(out_seq.end(), frag.begin(), frag.end());
|
||
}
|
||
|
||
if (has_seq)
|
||
curr_last_extruder_idx = extruder_id;
|
||
}
|
||
last_extruder_idx = curr_last_extruder_idx;
|
||
last_nozzle_idx = curr_last_nozzle_idx;
|
||
}
|
||
return cost;
|
||
}
|
||
}
|