klipper update

klippy/extras/manual_stepper.py

@@ -0,0 +1,128 @@
+# Support for a manual controlled stepper
+#
+# Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import stepper, chelper
+from . import force_move
+
+class ManualStepper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        if config.get('endstop_pin', None) is not None:
+            self.can_home = True
+            self.rail = stepper.PrinterRail(
+                config, need_position_minmax=False, default_position_endstop=0.)
+            self.steppers = self.rail.get_steppers()
+        else:
+            self.can_home = False
+            self.rail = stepper.PrinterStepper(config)
+            self.steppers = [self.rail]
+        self.velocity = config.getfloat('velocity', 5., above=0.)
+        self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
+        self.next_cmd_time = 0.
+        # Setup iterative solver
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
+        self.trapq_append = ffi_lib.trapq_append
+        self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
+        self.rail.setup_itersolve('cartesian_stepper_alloc', b'x')
+        self.rail.set_trapq(self.trapq)
+        # Register commands
+        stepper_name = config.get_name().split()[1]
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
+                                   stepper_name, self.cmd_MANUAL_STEPPER,
+                                   desc=self.cmd_MANUAL_STEPPER_help)
+    def sync_print_time(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        if self.next_cmd_time > print_time:
+            toolhead.dwell(self.next_cmd_time - print_time)
+        else:
+            self.next_cmd_time = print_time
+    def do_enable(self, enable):
+        self.sync_print_time()
+        stepper_enable = self.printer.lookup_object('stepper_enable')
+        if enable:
+            for s in self.steppers:
+                se = stepper_enable.lookup_enable(s.get_name())
+                se.motor_enable(self.next_cmd_time)
+        else:
+            for s in self.steppers:
+                se = stepper_enable.lookup_enable(s.get_name())
+                se.motor_disable(self.next_cmd_time)
+        self.sync_print_time()
+    def do_set_position(self, setpos):
+        self.rail.set_position([setpos, 0., 0.])
+    def do_move(self, movepos, speed, accel, sync=True):
+        self.sync_print_time()
+        cp = self.rail.get_commanded_position()
+        dist = movepos - cp
+        axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
+            dist, speed, accel)
+        self.trapq_append(self.trapq, self.next_cmd_time,
+                          accel_t, cruise_t, accel_t,
+                          cp, 0., 0., axis_r, 0., 0.,
+                          0., cruise_v, accel)
+        self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
+        self.rail.generate_steps(self.next_cmd_time)
+        self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.note_kinematic_activity(self.next_cmd_time)
+        if sync:
+            self.sync_print_time()
+    def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
+        if not self.can_home:
+            raise self.printer.command_error(
+                "No endstop for this manual stepper")
+        self.homing_accel = accel
+        pos = [movepos, 0., 0., 0.]
+        endstops = self.rail.get_endstops()
+        phoming = self.printer.lookup_object('homing')
+        phoming.manual_home(self, endstops, pos, speed,
+                            triggered, check_trigger)
+    cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
+    def cmd_MANUAL_STEPPER(self, gcmd):
+        enable = gcmd.get_int('ENABLE', None)
+        if enable is not None:
+            self.do_enable(enable)
+        setpos = gcmd.get_float('SET_POSITION', None)
+        if setpos is not None:
+            self.do_set_position(setpos)
+        speed = gcmd.get_float('SPEED', self.velocity, above=0.)
+        accel = gcmd.get_float('ACCEL', self.accel, minval=0.)
+        homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
+        if homing_move:
+            movepos = gcmd.get_float('MOVE')
+            self.do_homing_move(movepos, speed, accel,
+                                homing_move > 0, abs(homing_move) == 1)
+        elif gcmd.get_float('MOVE', None) is not None:
+            movepos = gcmd.get_float('MOVE')
+            sync = gcmd.get_int('SYNC', 1)
+            self.do_move(movepos, speed, accel, sync)
+        elif gcmd.get_int('SYNC', 0):
+            self.sync_print_time()
+    # Toolhead wrappers to support homing
+    def flush_step_generation(self):
+        self.sync_print_time()
+    def get_position(self):
+        return [self.rail.get_commanded_position(), 0., 0., 0.]
+    def set_position(self, newpos, homing_axes=()):
+        self.do_set_position(newpos[0])
+    def get_last_move_time(self):
+        self.sync_print_time()
+        return self.next_cmd_time
+    def dwell(self, delay):
+        self.next_cmd_time += max(0., delay)
+    def drip_move(self, newpos, speed, drip_completion):
+        self.do_move(newpos[0], speed, self.homing_accel)
+    def get_kinematics(self):
+        return self
+    def get_steppers(self):
+        return self.steppers
+    def calc_position(self, stepper_positions):
+        return [stepper_positions[self.rail.get_name()], 0., 0.]
+
+def load_config_prefix(config):
+    return ManualStepper(config)