@chestnutlabs/gcode-parser 0.1.0 → 0.3.0

package/dist/parse.d.ts

@@ -56,6 +56,13 @@ export interface ParseOptions {
     limits?: Partial<ParseLimits>;
     /** Layer-detection tolerance (inherited default 0.05). */
     minLayerThreshold?: number;
+    /**
+     * Firmware hint (DD-010 D2): does `G90`/`G91` also set the *extruder* mode? Marlin/Klipper —
+     * `true`; RepRapFirmware treats E independently — `false`. Default `false` (RRF/unknown-conservative).
+     * Only consulted while no `M82`/`M83` has latched the E-mode; supplied by the dialect layer / caller
+     * that has confidently classified the firmware. The byte-exact engine never sniffs firmware itself.
+     */
+    extruderFollowsPositioning?: boolean;
     /**
      * DD-005 §4.3 read-only hooks: observe comments/commands during the parse.
      * Inert when unset (one branch per line); they cannot alter lexing, dispatch,

package/dist/parse.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"parse.d.ts","sourceRoot":"","sources":["../src/parse.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA4BG;AACH,OAAO,EAOL,KAAK,UAAU,EAIhB,MAAM,6BAA6B,CAAC;AAGrC,MAAM,WAAW,WAAW;IAC1B,aAAa,EAAE,MAAM,CAAC;IACtB,WAAW,EAAE,MAAM,CAAC;IACpB,cAAc,EAAE,MAAM,CAAC;IACvB,aAAa,EAAE,MAAM,CAAC;IACtB,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,eAAO,MAAM,cAAc,EAAE,WAM5B,CAAC;AAEF;;;GAGG;AACH,MAAM,WAAW,YAAY;IAC3B,qDAAqD;IACrD,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;IACzC,0EAA0E;IAC1E,OAAO,EAAE,MAAM,CAAC;IAChB,OAAO,EAAE,MAAM,CAAC;IAChB,mEAAmE;IACnE,QAAQ,EAAE,MAAM,CAAC;CAClB;AAED,MAAM,WAAW,YAAY;IAC3B,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,MAAM,CAAC,EAAE,OAAO,CAAC,WAAW,CAAC,CAAC;IAC9B,0DAA0D;IAC1D,iBAAiB,CAAC,EAAE,MAAM,CAAC;IAC3B;;;;;OAKG;IACH,0BAA0B,CAAC,EAAE,OAAO,CAAC;IACrC;;;;OAIG;IACH,SAAS,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,KAAK,IAAI,CAAC;IACpD,SAAS,CAAC,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CAC3C;AAED,MAAM,WAAW,UAAU;IACzB,IAAI,EAAE,qBAAqB,GAAG,kBAAkB,GAAG,sBAAsB,CAAC;IAC1E,OAAO,EAAE,MAAM,CAAC;IAChB,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB;AAED,MAAM,WAAW,UAAU;IACzB,KAAK,EAAE,MAAM,CAAC;IACd,KAAK,EAAE,MAAM,CAAC;IACd,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE,MAAM,CAAC;IACjB,MAAM,EAAE,MAAM,CAAC;IACf,WAAW,EAAE,MAAM,CAAC;IACpB,aAAa,EAAE,MAAM,CAAC;IACtB,eAAe,EAAE,MAAM,CAAC;IACxB,MAAM,EAAE,MAAM,CAAC;IACf,iBAAiB,EAAE,MAAM,CAAC;IAC1B,cAAc,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IACvC,UAAU,CAAC,EAAE,UAAU,CAAC;CACzB;AAED,MAAM,WAAW,WAAW;IAC1B,EAAE,EAAE,UAAU,CAAC;IACf,KAAK,EAAE,UAAU,CAAC;IAClB;8EAC0E;IAC1E,QAAQ,CAAC,EAAE,OAAO,6BAA6B,EAAE,eAAe,CAAC;CAClE;AAED,MAAM,WAAW,eAAe;IAC9B,uEAAuE;IACvE,UAAU,CAAC,EAAE,CAAC,cAAc,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,KAAK,IAAI,CAAC;IACpF,sFAAsF;IACtF,YAAY,CAAC,EAAE,MAAM,OAAO,CAAC;IAC7B,0DAA0D;IAC1D,eAAe,CAAC,EAAE,MAAM,CAAC;IACzB;;;;OAIG;IACH,SAAS,CAAC,EAAE,CAAC,KAAK,EAAE,UAAU,EAAE,kBAAkB,EAAE,MAAM,KAAK,IAAI,CAAC;IACpE,8FAA8F;IAC9F,eAAe,CAAC,EAAE,MAAM,CAAC;IACzB,2DAA2D;IAC3D,iBAAiB,CAAC,EAAE,MAAM,CAAC;IAC3B;;;;;;OAMG;IACH,cAAc,CAAC,EAAE;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,CAAC;CACjD;AAED,MAAM,WAAW,gBAAiB,SAAQ,WAAW;IACnD,SAAS,EAAE,OAAO,CAAC;CACpB;AAsDD,gGAAgG;AAChG,MAAM,WAAW,MAAM;IACrB,IAAI,EAAE,MAAM,CAAC;IACb,MAAM,EAAE,WAAW,CAAC;IACpB,WAAW,CAAC,OAAO,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC;IACnD,OAAO,IAAI,OAAO,CAAC;IACnB,eAAe,IAAI,IAAI,CAAC;IACxB,+EAA+E;IAC/E,cAAc,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI,CAAC;IACpC;;;;;OAKG;IACH,QAAQ,CAAC,OAAO,EAAE,MAAM,GAAG;QAAE,KAAK,EAAE,UAAU,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI,CAAC;IACtE,MAAM,CAAC,eAAe,CAAC,EAAE,MAAM,GAAG,WAAW,CAAC;CAC/C;AAED,gGAAgG;AAChG,wBAAgB,YAAY,CAAC,KAAK,EAAE,MAAM,GAAG,UAAU,EAAE,IAAI,EAAE,YAAY,GAAG,MAAM,CAwyBnF;AAED,yEAAyE;AACzE,wBAAgB,cAAc,CAAC,KAAK,EAAE,MAAM,GAAG,UAAU,EAAE,IAAI,GAAE,YAAiB,GAAG,WAAW,CAiB/F;AAeD;;;;;GAKG;AACH,wBAAsB,mBAAmB,CACvC,KAAK,EAAE,MAAM,GAAG,UAAU,EAC1B,IAAI,GAAE,YAAiB,EACvB,KAAK,GAAE,eAAoB,GAC1B,OAAO,CAAC,gBAAgB,CAAC,CAgC3B;AAED;;;;GAIG;AACH,wBAAgB,kBAAkB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,eAAe,GAAG,CAAC,cAAc,EAAE,MAAM,KAAK,IAAI,CAiB3G"}

package/dist/parse.js

@@ -101,6 +101,62 @@ export function createEngine(input, opts) {
     let units = 'mm';
     let unitsSeen = false;
     let modalFeed = NaN;
+    // Motion-model modal state (DD-010 E10 phase 1). `xyzAbsolute` (G90/G91) and the extruder mode
+    // resolve the effective per-move E delta and the extrude/travel classification. Defaults are the
+    // firmware power-on convention: absolute XYZ, absolute E. `eModeExplicit` is set only by M82/M83;
+    // `lastE` is the running absolute-E datum (also reset by `G92 E`).
+    let xyzAbsolute = true;
+    let positioningSeen = false; // any G90/G91 observed → positioningMode 'known'
+    let eModeExplicit = null; // M82/M83; null = infer
+    let lastE = 0;
+    const extruderFollowsPositioning = opts.extruderFollowsPositioning === true;
+    // Arc-plane modal state (DD-010 D3, #157, E10 phase 2). G17=XY (default, power-on),
+    // G18=XZ, G19=YZ. Arc flattening runs in the active plane; the through axis ramps linearly.
+    let arcPlane = 'xy';
+    let arcPlaneSeen = false; // any G17/G18/G19 observed → arcPlanes 'known'
+    // Coordinate systems (DD-010 D4, #158, E10 phase 3). The IR stays in the logical/work frame
+    // (Option A): the emitted position is `commanded + activeWcsOffset + g92off`. FDM slicer files use
+    // the identity WCS with no G92, so every offset is 0 → the corpus is byte-identical. G54–G59 select
+    // a per-system offset (settable via G10 L2/L20); G92 X/Y/Z shifts the datum without motion; G53 is a
+    // one-shot machine-coordinate bypass for the following move.
+    let activeWcs = 0; // 0..5 → G54..G59; G54 (identity) is the power-on default
+    const wcsOffsets = Array.from({ length: 6 }, () => ({ x: 0, y: 0, z: 0 }));
+    let g92x = 0;
+    let g92y = 0;
+    let g92z = 0;
+    let coordSystemSeen = false; // any G53/G54–G59/G92-XYZ/G10 → coordinateSystem 'known'
+    let g53OneShot = false; // next move ignores the work offset (machine coordinates)
+    // Per-axis position certainty (DD-010 D4 amendment, #158). A G31 probe endpoint is reached at
+    // RUNTIME (workpiece contact), not the commanded value, so it marks the probed axes uncertain. A
+    // following G92 then RESYNCS the logical frame at the datum (rather than datum-shifting a stale
+    // position); an absolute move re-establishes certainty. Independent of the work offsets above.
+    let certainX = true;
+    let certainY = true;
+    let certainZ = true;
+    const offX = () => (g53OneShot ? 0 : wcsOffsets[activeWcs].x + g92x);
+    const offY = () => (g53OneShot ? 0 : wcsOffsets[activeWcs].y + g92y);
+    const offZ = () => (g53OneShot ? 0 : wcsOffsets[activeWcs].z + g92z);
+    /**
+     * Effective per-move E delta from the modal extruder mode (DD-010 D1/D2 precedence:
+     * explicit M82/M83 → firmware-conditioned G90/G91 → absolute default). Updates `lastE`.
+     * For relative E the delta is the raw word (byte-identical to the pre-E10 engine for the
+     * M83 corpus); for absolute E it is `eParam − lastE`.
+     */
+    const resolveEDelta = (eParam) => {
+        if (eParam === undefined)
+            return 0;
+        const absolute = eModeExplicit !== null ? eModeExplicit === 'absolute' : extruderFollowsPositioning ? xyzAbsolute : true; // firmware-neutral default: absolute, disclosed 'inferred'
+        const delta = absolute ? eParam - lastE : eParam;
+        lastE = absolute ? eParam : lastE + eParam;
+        return delta;
+    };
+    /**
+     * Logical (work-frame) target for one axis given the positioning mode (G90/G91) and the active
+     * work offset (DD-010 D4). Absolute: `word + off`; relative: `cur + word` (the offset is already
+     * baked into `cur`); an absent word holds the current logical position. With `off === 0` (the
+     * identity WCS + no G92) this reduces to the pre-#158 `word ?? cur`, so the corpus is byte-identical.
+     */
+    const nextAxis = (cur, word, off = 0) => xyzAbsolute ? (word !== undefined ? word + off : cur) : cur + (word ?? 0);
     // Floating origin (DD-001 §4.6): fixed at the first emitted segment's start.
     let originSet = false;
     let ox = 0;
@@ -120,6 +176,16 @@ export function createEngine(input, opts) {
     let stopReason;
     let truncatedAtByte;
     let currentSrcByte = 0;
+    // Retraction/unretraction events (DD-009 D1, #148): E-only moves emit no segment,
+    // so their position is captured here in ABSOLUTE coords and rebased to the origin
+    // at IR assembly (mirroring segment positions). Physical convention: E<0 pulls
+    // filament back = 'retract'; E>0 (no XYZ) pushes it out = 'unretract'.
+    const retractionEvents = [];
+    // M600 filament-swap color-change boundaries (DD-009 D2 amendment, #147): a marker
+    // with a position but no motion segment, captured here in ABSOLUTE coords and rebased
+    // to the origin at IR assembly (like retractions). Detected in the parser — M600 is
+    // firmware-universal — so a bare M600 is honored even with no dialect detected.
+    const colorChangeEvents = [];
     const emitSegment = (x, y, z, eDelta, kind) => {
         if (writer.count >= limits.maxSegments) {
             stopReason = {
@@ -244,13 +310,26 @@ export function createEngine(input, opts) {
     };
     const g0 = (p) => {
         const { x, y, z, e, f } = p;
+        // Classify on the true per-move delta, not the raw E word (DD-010 D1). For the M83/relative
+        // corpus the delta equals the word, so output is byte-identical to the pre-E10 engine.
+        const eDelta = resolveEDelta(e);
         if (x === undefined && y === undefined && z === undefined) {
-            if (e > 0)
+            if (eDelta > 0)
                 stats.retractions++;
-            else if (e < 0)
+            else if (eDelta < 0)
                 stats.deretractions++;
             else if (f !== undefined)
                 stats.feedrateChanges++;
+            if (e !== undefined && eDelta !== 0) {
+                retractionEvents.push({
+                    x: sx,
+                    y: sy,
+                    z: sz,
+                    kind: eDelta < 0 ? 'retract' : 'unretract',
+                    srcByte: currentSrcByte,
+                    segIndex: writer.count
+                });
+            }
             else
                 stats.others++;
             if (f !== undefined)
@@ -260,47 +339,75 @@ export function createEngine(input, opts) {
         stats.points++;
         if (f !== undefined)
             modalFeed = f;
-        const pathType = e > 0 ? 'extrusion' : 'travel';
+        const pathType = eDelta > 0 ? 'extrusion' : 'travel';
         if (path === null || path.type !== pathType) {
             breakPath(pathType);
         }
-        if (e > 0)
-            stats.extrusionDistance += e;
-        sx = x ?? sx;
-        sy = y ?? sy;
-        sz = z ?? sz;
-        return emitSegment(sx, sy, sz, e ?? 0, pathType === 'extrusion' ? MoveKind.Extrude : MoveKind.Travel);
+        if (eDelta > 0)
+            stats.extrusionDistance += eDelta;
+        sx = nextAxis(sx, x, offX());
+        sy = nextAxis(sy, y, offY());
+        sz = nextAxis(sz, z, offZ());
+        // An absolute commanded move re-establishes certainty for the axes it names (#158).
+        if (xyzAbsolute) {
+            if (x !== undefined)
+                certainX = true;
+            if (y !== undefined)
+                certainY = true;
+            if (z !== undefined)
+                certainZ = true;
+        }
+        g53OneShot = false; // one-shot machine-coordinate bypass consumed by this move
+        return emitSegment(sx, sy, sz, eDelta, pathType === 'extrusion' ? MoveKind.Extrude : MoveKind.Travel);
     };
     const g2 = (p, cw) => {
-        const { x, y, z, e, f } = p;
-        let { i, j, r } = p;
+        const { e, f } = p;
+        let { r } = p;
         if (f !== undefined)
             modalFeed = f;
-        const pathType = e ? 'extrusion' : 'travel';
+        // E is delta-based (DD-010 D1) so M82 arcs classify correctly and `lastE` stays consistent with g0.
+        const eDelta = resolveEDelta(e);
+        const pathType = eDelta ? 'extrusion' : 'travel';
         if (path === null || path.type !== pathType) {
             breakPath(pathType);
         }
-        if (e > 0)
-            stats.extrusionDistance += e;
+        if (eDelta > 0)
+            stats.extrusionDistance += eDelta;
+        // Absolute targets, honoring G90/G91 (DD-010 D2 — the deferred G91-arc geometry lands here, #157)
+        // and the active work offset (DD-010 D4, #158). I/J/K are ALWAYS current-relative center offsets.
+        const tx = nextAxis(sx, p.x, offX());
+        const ty = nextAxis(sy, p.y, offY());
+        const tz = nextAxis(sz, p.z, offZ());
+        g53OneShot = false; // one-shot machine-coordinate bypass consumed by this move
+        // Select the active arc plane (DD-010 D3): (sa,sb)→(ta,tb) is the in-plane arc with center offsets
+        // (oa,ob); sc→tc is the through axis (linear ramp). XY reproduces the pre-#157 math exactly, so the
+        // XY-arc corpus stays byte-identical; only G18/G19 arcs newly flatten in the correct plane.
+        const [sa, sb, sc, ta, tb, tc, oa, ob] = arcPlane === 'xz'
+            ? [sx, sz, sy, tx, tz, ty, p.i, p.k]
+            : arcPlane === 'yz'
+                ? [sy, sz, sx, ty, tz, tx, p.j, p.k]
+                : [sx, sy, sz, tx, ty, tz, p.i, p.j];
+        let ia = oa;
+        let ib = ob;
         if (r) {
-            const deltaX = x - sx; // assume abs mode (inherited)
-            const deltaY = y - sy;
-            const minR = Math.sqrt(Math.pow(deltaX / 2, 2) + Math.pow(deltaY / 2, 2));
+            const deltaA = ta - sa;
+            const deltaB = tb - sb;
+            const minR = Math.sqrt(Math.pow(deltaA / 2, 2) + Math.pow(deltaB / 2, 2));
             r = Math.max(r, minR);
-            const dSquared = Math.pow(deltaX, 2) + Math.pow(deltaY, 2);
+            const dSquared = Math.pow(deltaA, 2) + Math.pow(deltaB, 2);
             const hSquared = Math.pow(r, 2) - dSquared / 4;
             let hDivD = Math.sqrt(hSquared / dSquared);
             if ((cw && r < 0.0) || (!cw && r > 0.0))
                 hDivD = -hDivD;
-            i = deltaX / 2 + deltaY * hDivD;
-            j = deltaY / 2 - deltaX * hDivD;
-        }
-        const wholeCircle = sx == x && sy == y;
-        const centerX = sx + i;
-        const centerY = sy + j;
-        const arcRadius = Math.sqrt(i * i + j * j);
-        const arcCurrentAngle = Math.atan2(-j, -i);
-        const finalTheta = Math.atan2(y - centerY, x - centerX);
+            ia = deltaA / 2 + deltaB * hDivD;
+            ib = deltaB / 2 - deltaA * hDivD;
+        }
+        const wholeCircle = sa == ta && sb == tb;
+        const centerA = sa + ia;
+        const centerB = sb + ib;
+        const arcRadius = Math.sqrt(ia * ia + ib * ib);
+        const arcCurrentAngle = Math.atan2(-ib, -ia);
+        const finalTheta = Math.atan2(tb - centerB, ta - centerA);
         let totalArc;
         if (wholeCircle) {
             totalArc = 2 * Math.PI;
@@ -317,26 +424,30 @@ export function createEngine(input, opts) {
             totalSegments = 1;
         let arcAngleIncrement = totalArc / totalSegments;
         arcAngleIncrement *= cw ? -1 : 1;
-        const zDist = sz - (z || sz);
-        const zStep = zDist / totalSegments;
+        // Through-axis linear ramp — preserves the inherited step (byte-identical for planar XY arcs,
+        // where the through axis is unchanged so the ramp is flat).
+        const cStep = (sc - tc) / totalSegments;
         const kind = (pathType === 'extrusion' ? MoveKind.Extrude : MoveKind.Travel) | MoveKind.ArcSegment;
-        const eachE = e !== undefined ? e / Math.max(1, Math.ceil(totalSegments)) : 0;
-        let px;
-        let py;
-        let pz = sz;
+        const eachE = e !== undefined ? eDelta / Math.max(1, Math.ceil(totalSegments)) : 0;
+        // Map an in-plane point (pa,pb) + through-axis pc back to (x,y,z) for the active plane.
+        const emitArc = (pa, pb, pcv) => {
+            const [px, py, pz] = arcPlane === 'xz' ? [pa, pcv, pb] : arcPlane === 'yz' ? [pcv, pa, pb] : [pa, pb, pcv];
+            return emitSegment(px, py, pz, eachE, kind);
+        };
+        let pc = sc;
         let currentAngle = arcCurrentAngle;
         for (let moveIdx = 0; moveIdx < totalSegments - 1; moveIdx++) {
             currentAngle += arcAngleIncrement;
-            px = centerX + arcRadius * Math.cos(currentAngle);
-            py = centerY + arcRadius * Math.sin(currentAngle);
-            pz += zStep;
-            if (!emitSegment(px, py, pz, eachE, kind))
+            const pa = centerA + arcRadius * Math.cos(currentAngle);
+            const pb = centerB + arcRadius * Math.sin(currentAngle);
+            pc += cStep;
+            if (!emitArc(pa, pb, pc))
                 return false;
         }
-        sx = x || sx;
-        sy = y || sy;
-        sz = z || sz;
-        return emitSegment(sx, sy, sz, eachE, kind);
+        sx = tx;
+        sy = ty;
+        sz = tz;
+        return emitArc(ta, tb, tc);
     };
     const onComment = opts.onComment;
     const onCommand = opts.onCommand;
@@ -395,6 +506,144 @@ export function createEngine(input, opts) {
             case 't7':
                 tool = Number(cmd.gcode.slice(1));
                 break;
+            case 'm600':
+                // Manual filament swap = color boundary (#147). A marker, not motion — do
+                // NOT break/finish the current path; record position (current head), the
+                // next segment index (slot boundary), and the active tool for provenance.
+                colorChangeEvents.push({ x: sx, y: sy, z: sz, segIndex: writer.count, srcByte: offset, tool });
+                break;
+            // Motion-model modal commands (DD-010 E10 phase 1).
+            case 'g90':
+                xyzAbsolute = true;
+                positioningSeen = true;
+                break;
+            case 'g91':
+                xyzAbsolute = false;
+                positioningSeen = true;
+                break;
+            // Arc-plane selection (DD-010 D3, #157, E10 phase 2).
+            case 'g17':
+                arcPlane = 'xy';
+                arcPlaneSeen = true;
+                break;
+            case 'g18':
+                arcPlane = 'xz';
+                arcPlaneSeen = true;
+                break;
+            case 'g19':
+                arcPlane = 'yz';
+                arcPlaneSeen = true;
+                break;
+            case 'm82':
+                eModeExplicit = 'absolute';
+                break;
+            case 'm83':
+                eModeExplicit = 'relative';
+                break;
+            // Coordinate systems (DD-010 D4, #158, E10 phase 3).
+            case 'g53':
+                // One-shot: the following move is in machine coordinates (ignores the work offset).
+                g53OneShot = true;
+                coordSystemSeen = true;
+                break;
+            case 'g54':
+            case 'g55':
+            case 'g56':
+            case 'g57':
+            case 'g58':
+            case 'g59':
+                activeWcs = Number(cmd.gcode.slice(1)) - 54; // g54→0 … g59→5
+                coordSystemSeen = true;
+                break;
+            case 'g10': {
+                // Set a work-coordinate offset. L2 P<n>: set the offset directly. L20 P<n>: set it so the
+                // current position reads the given value in WCS n. P1→G54 … P6→G59 (default: active system).
+                const l = cmd.params.l;
+                const idx = cmd.params.p !== undefined ? Math.round(cmd.params.p) - 1 : activeWcs;
+                if (idx >= 0 && idx < 6 && (l === 2 || l === 20)) {
+                    const w = wcsOffsets[idx];
+                    const setAxis = (word, cur, axis) => {
+                        if (word === undefined)
+                            return;
+                        w[axis] = l === 2 ? word : cur - word; // L20: offset = current logical − desired reading
+                    };
+                    setAxis(cmd.params.x, sx, 'x');
+                    setAxis(cmd.params.y, sy, 'y');
+                    setAxis(cmd.params.z, sz, 'z');
+                    coordSystemSeen = true;
+                }
+                break;
+            }
+            case 'g31': {
+                // Probe move (DD-010 D4 amendment, #158): the endpoint is reached at RUNTIME (workpiece
+                // contact), NOT the commanded value. Do not advance the position or draw a fabricated probe
+                // move; mark the probed axes runtime-dependent so a following G92 resyncs the logical frame.
+                let probed = false;
+                if (cmd.params.x !== undefined) {
+                    certainX = false;
+                    probed = true;
+                }
+                if (cmd.params.y !== undefined) {
+                    certainY = false;
+                    probed = true;
+                }
+                if (cmd.params.z !== undefined) {
+                    certainZ = false;
+                    probed = true;
+                }
+                if (probed) {
+                    warn('probe-position-runtime-dependent', 'G31 probe endpoint is determined at runtime; the probed axis is runtime-dependent until re-established (G92 or an absolute move).', offset);
+                }
+                break;
+            }
+            case 'g92': {
+                // Datum WITHOUT motion (DD-010 D4 + probe amendment, #158). `G92 E<v>` rebases the absolute-E
+                // origin (also used in phase 1). For X/Y/Z, when the position is KNOWN it is a datum SHIFT (the
+                // work offset is set so the current logical position reads <v>, preserving continuity). When the
+                // axis is runtime-dependent (post-probe) it is a logical RESYNC: the current logical position is
+                // declared to be <v>, the offset is reset, certainty is restored, and the current path is
+                // finalized so the next move starts a NEW frame at the datum — no fabricated move is drawn
+                // across the unknown probe result.
+                if (cmd.params.e !== undefined)
+                    lastE = cmd.params.e;
+                let resync = false;
+                if (cmd.params.x !== undefined) {
+                    if (certainX)
+                        g92x = sx - cmd.params.x - wcsOffsets[activeWcs].x;
+                    else {
+                        sx = cmd.params.x + wcsOffsets[activeWcs].x;
+                        g92x = 0;
+                        certainX = true;
+                        resync = true;
+                    }
+                    coordSystemSeen = true;
+                }
+                if (cmd.params.y !== undefined) {
+                    if (certainY)
+                        g92y = sy - cmd.params.y - wcsOffsets[activeWcs].y;
+                    else {
+                        sy = cmd.params.y + wcsOffsets[activeWcs].y;
+                        g92y = 0;
+                        certainY = true;
+                        resync = true;
+                    }
+                    coordSystemSeen = true;
+                }
+                if (cmd.params.z !== undefined) {
+                    if (certainZ)
+                        g92z = sz - cmd.params.z - wcsOffsets[activeWcs].z;
+                    else {
+                        sz = cmd.params.z + wcsOffsets[activeWcs].z;
+                        g92z = 0;
+                        certainZ = true;
+                        resync = true;
+                    }
+                    coordSystemSeen = true;
+                }
+                if (resync)
+                    finishPath(); // start a new frame at the datum; no move connects across the probe
+                break;
+            }
             default:
                 warn('unsupported-command', `unsupported command '${cmd.gcode}' preserved as metadata`, offset);
         }
@@ -435,7 +684,23 @@ export function createEngine(input, opts) {
             feedrate: 'known',
             sourcePositions: 'known',
             featureRoles: 'unavailable',
-            objects: 'unavailable'
+            objects: 'unavailable',
+            retractions: retractionEvents.length > 0 ? 'known' : 'unavailable',
+            colorChanges: colorChangeEvents.length > 0 ? 'known' : 'unavailable',
+            // Annotation-derived move kinds (DD-016, #182). The parser never sets these — they come from a
+            // slicer adapter's WIPE_START/END brackets (upgraded to 'known' via the sink). Seam has no
+            // per-move G-code signal and stays 'unavailable' (a future geometry-heuristic DD may change it).
+            wipeMoves: 'unavailable',
+            seamMoves: 'unavailable',
+            // Motion-model modes (DD-010 E10 phase 1). 'known' when the governing command was seen
+            // (M82/M83, or a firmware-known G90/G91 for E); 'inferred' when defaulted (absolute).
+            extrusionMode: eModeExplicit !== null || (extruderFollowsPositioning && positioningSeen) ? 'known' : 'inferred',
+            positioningMode: positioningSeen ? 'known' : 'inferred',
+            // Arc plane (DD-010 D3, #157): 'known' once a G17/G18/G19 was seen, else 'inferred' (XY assumed).
+            arcPlanes: arcPlaneSeen ? 'known' : 'inferred',
+            // Coordinate system (DD-010 D4, #158): 'known' once a G53/G54–G59/G92-XYZ/G10 was seen, else
+            // 'inferred' (identity WCS / no offset assumed — the FDM-slicer default).
+            coordinateSystem: coordSystemSeen ? 'known' : 'inferred'
         };
         if (layersCapability === 'unavailable') {
             warn('layers-unavailable', 'No planar layer index; all segments assigned to layer 0.');
@@ -463,6 +728,22 @@ export function createEngine(input, opts) {
             layers: irLayers,
             tools,
             objects: [],
+            retractions: retractionEvents.map((r) => ({
+                x: r.x - ox,
+                y: r.y - oy,
+                z: r.z - oz,
+                kind: r.kind,
+                srcByte: r.srcByte,
+                segIndex: r.segIndex
+            })),
+            colorChanges: colorChangeEvents.map((c) => ({
+                x: c.x - ox,
+                y: c.y - oy,
+                z: c.z - oz,
+                segIndex: c.segIndex,
+                srcByte: c.srcByte,
+                tool: c.tool
+            })),
             bounds,
             boundsWithTravel,
             sourceIndex
@@ -518,13 +799,23 @@ export function createEngine(input, opts) {
                     feedrate: 'known',
                     sourcePositions: 'unavailable', // no per-slice source index is built
                     featureRoles: 'unavailable',
-                    objects: 'unavailable'
+                    objects: 'unavailable',
+                    retractions: 'unavailable', // markers resolve on the final IR, not on preview slices
+                    colorChanges: 'unavailable', // color-change boundaries resolve on the final IR
+                    wipeMoves: 'unavailable', // annotation move kinds resolve on the final IR (DD-016)
+                    seamMoves: 'unavailable',
+                    extrusionMode: 'inferred', // motion modes resolve fully on the final IR (E10)
+                    positioningMode: 'inferred',
+                    arcPlanes: 'inferred',
+                    coordinateSystem: 'inferred'
                 }
             },
             segments: channels,
             layers: channels.count > 0 ? [{ z: lastZ, segStart: 0, segEnd: channels.count - 1 }] : [],
             tools: [...toolsSeen].sort((a, b) => a - b).map((id) => ({ id })),
             objects: [],
+            retractions: [],
+            colorChanges: [],
             bounds,
             boundsWithTravel,
             sourceIndex: { byteOffsets: new Uint32Array(0), segmentIndices: new Uint32Array(0) }

package/dist/worker.js

@@ -12,6 +12,7 @@
  */
 import { createDialectRunner, cura, klipper, marlin, orcaBambu, prusaSlicer, repRap } from '@chestnutlabs/gcode-dialects';
 import { openGcode3mf, sniffGcode3mf } from '@chestnutlabs/gcode-containers';
+import { openBgcodeContainer, sniffBgcode } from '@chestnutlabs/gcode-bgcode';
 import { createWorkerHandler } from './worker-core.js';
 /** Built-in dialect adapter set (DD-005 phases 3–4; phase 5 adds command semantics). */
 const BUILTIN_ADAPTERS = [
@@ -22,9 +23,10 @@ const BUILTIN_ADAPTERS = [
     marlin(),
     repRap()
 ];
-/** Built-in container adapters (DD-005 §4.4): .gcode.3mf. */
+/** Built-in container adapters (DD-005 §4.4): .gcode.3mf and Prusa binary G-code (.bgcode, #188). */
 const BUILTIN_CONTAINERS = [
-    { id: 'gcode-3mf', sniff: sniffGcode3mf, open: (bytes) => openGcode3mf(bytes) }
+    { id: 'gcode-3mf', sniff: sniffGcode3mf, open: (bytes) => openGcode3mf(bytes) },
+    { id: 'bgcode', sniff: (prefix) => sniffBgcode(prefix), open: (bytes) => openBgcodeContainer(bytes) }
 ];
 const post = (msg, transfer) => self.postMessage(msg, transfer);
 const handle = createWorkerHandler(post, {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@chestnutlabs/gcode-parser",
-  "version": "0.1.0",
+  "version": "0.3.0",
   "description": "Worker-safe G-code parse core producing ToolpathIR (DD-003).",
   "keywords": [
     "gcode",
@@ -49,8 +49,9 @@
     "test": "vitest run"
   },
   "dependencies": {
-    "@chestnutlabs/toolpath-core": "0.1.0",
-    "@chestnutlabs/gcode-dialects": "0.1.0",
-    "@chestnutlabs/gcode-containers": "0.1.0"
+    "@chestnutlabs/toolpath-core": "0.3.0",
+    "@chestnutlabs/gcode-dialects": "0.3.0",
+    "@chestnutlabs/gcode-containers": "0.3.0",
+    "@chestnutlabs/gcode-bgcode": "0.3.0"
   }
 }