gcode_move: Move GCodeMove class from gcode.py to new extras module
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
b691e013f0
commit
1286d3006c
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@ -125,12 +125,13 @@ of a typical move command. The [kinematics](Kinematics.md) document
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provides further information on the mechanics of moves.
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* Processing for a move command starts in gcode.py. The goal of
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gcode.py is to translate G-code into internal calls. Changes in
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origin (eg, G92), changes in relative vs absolute positions (eg,
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G90), and unit changes (eg, F6000=100mm/s) are handled here. The
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code path for a move is: `_process_data() -> _process_commands() ->
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cmd_G1()`. Ultimately the ToolHead class is invoked to execute the
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actual request: `cmd_G1() -> ToolHead.move()`
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gcode.py is to translate G-code into internal calls. A G1 command
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will invoke cmd_G1() in klippy/extras/gcode_move.py. The
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gcode_move.py code handles changes in origin (eg, G92), changes in
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relative vs absolute positions (eg, G90), and unit changes (eg,
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F6000=100mm/s). The code path for a move is: `_process_data() ->
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_process_commands() -> cmd_G1()`. Ultimately the ToolHead class is
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invoked to execute the actual request: `cmd_G1() -> ToolHead.move()`
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* The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
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the timing of printing actions. The main codepath for a move is:
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@ -88,7 +88,7 @@ class BedMesh:
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'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
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desc=self.cmd_BED_MESH_CLEAR_help)
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# Register transform
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gcode_move = self.printer.lookup_object('gcode_move')
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gcode_move = self.printer.load_object(config, 'gcode_move')
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gcode_move.set_move_transform(self)
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def handle_ready(self):
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self.toolhead = self.printer.lookup_object('toolhead')
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@ -19,7 +19,7 @@ class BedTilt:
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BedTiltCalibrate(config, self)
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self.toolhead = None
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# Register move transform with g-code class
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gcode_move = self.printer.lookup_object('gcode_move')
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gcode_move = self.printer.load_object(config, 'gcode_move')
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gcode_move.set_move_transform(self)
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def handle_connect(self):
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self.toolhead = self.printer.lookup_object('toolhead')
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@ -17,7 +17,7 @@ class ArcSupport:
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self.printer = config.get_printer()
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self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0)
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self.gcode_move = self.printer.lookup_object('gcode_move')
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self.gcode_move = self.printer.load_object(config, 'gcode_move')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command("G2", self.cmd_G2)
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self.gcode.register_command("G3", self.cmd_G2)
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@ -0,0 +1,280 @@
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# G-Code G1 movement commands (and associated coordinate manipulation)
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#
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# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import homing
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class GCodeMove:
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def __init__(self, config):
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self.printer = printer = config.get_printer()
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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printer.register_event_handler("toolhead:set_position",
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self.reset_last_position)
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printer.register_event_handler("toolhead:manual_move",
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self.reset_last_position)
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printer.register_event_handler("gcode:command_error",
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self.reset_last_position)
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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self.is_printer_ready = False
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# Register g-code commands
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gcode = printer.lookup_object('gcode')
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handlers = [
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'G1', 'G28', 'G20', 'G21',
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'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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]
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for cmd in handlers:
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func = getattr(self, 'cmd_' + cmd)
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desc = getattr(self, 'cmd_' + cmd + '_help', None)
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gcode.register_command(cmd, func, False, desc)
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gcode.register_command('G0', self.cmd_G1)
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gcode.register_command('M114', self.cmd_M114, True)
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gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
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# G-Code coordinate manipulation
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self.absolute_coord = self.absolute_extrude = True
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self.base_position = [0.0, 0.0, 0.0, 0.0]
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self.last_position = [0.0, 0.0, 0.0, 0.0]
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self.homing_position = [0.0, 0.0, 0.0, 0.0]
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self.speed = 25.
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self.speed_factor = 1. / 60.
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self.extrude_factor = 1.
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# G-Code state
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self.saved_states = {}
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self.move_transform = self.move_with_transform = None
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self.position_with_transform = (lambda: [0., 0., 0., 0.])
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def _handle_ready(self):
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self.is_printer_ready = True
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if self.move_transform is None:
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toolhead = self.printer.lookup_object('toolhead')
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self.move_with_transform = toolhead.move
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self.position_with_transform = toolhead.get_position
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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logging.info("gcode state: absolute_coord=%s absolute_extrude=%s"
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" base_position=%s last_position=%s homing_position=%s"
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" speed_factor=%s extrude_factor=%s speed=%s",
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self.absolute_coord, self.absolute_extrude,
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self.base_position, self.last_position,
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self.homing_position, self.speed_factor,
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self.extrude_factor, self.speed)
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def _handle_activate_extruder(self):
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self.reset_last_position()
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self.extrude_factor = 1.
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self.base_position[3] = self.last_position[3]
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def set_move_transform(self, transform, force=False):
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if self.move_transform is not None and not force:
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raise self.printer.config_error(
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"G-Code move transform already specified")
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old_transform = self.move_transform
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if old_transform is None:
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old_transform = self.printer.lookup_object('toolhead', None)
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self.move_transform = transform
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self.move_with_transform = transform.move
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self.position_with_transform = transform.get_position
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return old_transform
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def _get_gcode_position(self):
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p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
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p[3] /= self.extrude_factor
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return p
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def _get_gcode_speed(self):
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return self.speed / self.speed_factor
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def _get_gcode_speed_override(self):
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return self.speed_factor * 60.
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def get_status(self, eventtime=None):
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move_position = self._get_gcode_position()
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return {
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'speed_factor': self._get_gcode_speed_override(),
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'speed': self._get_gcode_speed(),
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'extrude_factor': self.extrude_factor,
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'absolute_coordinates': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'homing_origin': homing.Coord(*self.homing_position),
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'position': homing.Coord(*self.last_position),
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'gcode_position': homing.Coord(*move_position),
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}
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def reset_last_position(self):
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if self.is_printer_ready:
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self.last_position = self.position_with_transform()
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# G-Code movement commands
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def cmd_G1(self, gcmd):
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# Move
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params = gcmd.get_command_parameters()
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try:
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for pos, axis in enumerate('XYZ'):
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if axis in params:
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v = float(params[axis])
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if not self.absolute_coord:
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# value relative to position of last move
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self.last_position[pos] += v
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else:
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# value relative to base coordinate position
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self.last_position[pos] = v + self.base_position[pos]
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if 'E' in params:
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v = float(params['E']) * self.extrude_factor
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if not self.absolute_coord or not self.absolute_extrude:
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# value relative to position of last move
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self.last_position[3] += v
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else:
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# value relative to base coordinate position
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self.last_position[3] = v + self.base_position[3]
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if 'F' in params:
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gcode_speed = float(params['F'])
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if gcode_speed <= 0.:
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raise gcmd.error("Invalid speed in '%s'"
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% (gcmd.get_commandline(),))
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self.speed = gcode_speed * self.speed_factor
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except ValueError as e:
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raise gcmd.error("Unable to parse move '%s'"
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% (gcmd.get_commandline(),))
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self.move_with_transform(self.last_position, self.speed)
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def cmd_G28(self, gcmd):
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# Move to origin
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axes = []
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for pos, axis in enumerate('XYZ'):
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if gcmd.get(axis, None) is not None:
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axes.append(pos)
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if not axes:
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axes = [0, 1, 2]
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homing_state = homing.Homing(self.printer)
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homing_state.home_axes(axes)
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for axis in homing_state.get_axes():
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self.base_position[axis] = self.homing_position[axis]
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# G-Code coordinate manipulation
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def cmd_G20(self, gcmd):
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# Set units to inches
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raise gcmd.error('Machine does not support G20 (inches) command')
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def cmd_G21(self, gcmd):
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# Set units to millimeters
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pass
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def cmd_M82(self, gcmd):
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# Use absolute distances for extrusion
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self.absolute_extrude = True
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def cmd_M83(self, gcmd):
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# Use relative distances for extrusion
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self.absolute_extrude = False
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def cmd_G90(self, gcmd):
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# Use absolute coordinates
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self.absolute_coord = True
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def cmd_G91(self, gcmd):
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# Use relative coordinates
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self.absolute_coord = False
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def cmd_G92(self, gcmd):
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# Set position
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offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
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for i, offset in enumerate(offsets):
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if offset is not None:
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if i == 3:
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offset *= self.extrude_factor
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self.base_position[i] = self.last_position[i] - offset
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if offsets == [None, None, None, None]:
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self.base_position = list(self.last_position)
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def cmd_M114(self, gcmd):
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# Get Current Position
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p = self._get_gcode_position()
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gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
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def cmd_M220(self, gcmd):
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# Set speed factor override percentage
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value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
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self.speed = self._get_gcode_speed() * value
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self.speed_factor = value
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def cmd_M221(self, gcmd):
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# Set extrude factor override percentage
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new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
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last_e_pos = self.last_position[3]
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e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
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self.base_position[3] = last_e_pos - e_value * new_extrude_factor
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self.extrude_factor = new_extrude_factor
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cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
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def cmd_SET_GCODE_OFFSET(self, gcmd):
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move_delta = [0., 0., 0., 0.]
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for pos, axis in enumerate('XYZE'):
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offset = gcmd.get_float(axis, None)
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if offset is None:
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offset = gcmd.get_float(axis + '_ADJUST', None)
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if offset is None:
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continue
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offset += self.homing_position[pos]
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delta = offset - self.homing_position[pos]
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move_delta[pos] = delta
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self.base_position[pos] += delta
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self.homing_position[pos] = offset
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# Move the toolhead the given offset if requested
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if gcmd.get_int('MOVE', 0):
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speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
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for pos, delta in enumerate(move_delta):
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self.last_position[pos] += delta
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self.move_with_transform(self.last_position, speed)
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cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
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def cmd_SAVE_GCODE_STATE(self, gcmd):
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state_name = gcmd.get('NAME', 'default')
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self.saved_states[state_name] = {
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'absolute_coord': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'base_position': list(self.base_position),
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'last_position': list(self.last_position),
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'homing_position': list(self.homing_position),
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'speed': self.speed, 'speed_factor': self.speed_factor,
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'extrude_factor': self.extrude_factor,
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}
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cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
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def cmd_RESTORE_GCODE_STATE(self, gcmd):
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state_name = gcmd.get('NAME', 'default')
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state = self.saved_states.get(state_name)
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if state is None:
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raise gcmd.error("Unknown g-code state: %s" % (state_name,))
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# Restore state
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self.absolute_coord = state['absolute_coord']
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self.absolute_extrude = state['absolute_extrude']
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self.base_position = list(state['base_position'])
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self.homing_position = list(state['homing_position'])
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self.speed = state['speed']
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self.speed_factor = state['speed_factor']
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self.extrude_factor = state['extrude_factor']
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# Restore the relative E position
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e_diff = self.last_position[3] - state['last_position'][3]
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self.base_position[3] += e_diff
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# Move the toolhead back if requested
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if gcmd.get_int('MOVE', 0):
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speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
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self.last_position[:3] = state['last_position'][:3]
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self.move_with_transform(self.last_position, speed)
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def cmd_GET_POSITION(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead', None)
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if toolhead is None:
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raise gcmd.error("Printer not ready")
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kin = toolhead.get_kinematics()
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steppers = kin.get_steppers()
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mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
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for s in steppers])
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for s in steppers:
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s.set_tag_position(s.get_commanded_position())
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stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
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for s in steppers])
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kin_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZ", kin.calc_tag_position())])
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toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
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"XYZE", toolhead.get_position())])
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gcode_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZE", self.last_position)])
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base_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZE", self.base_position)])
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homing_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZ", self.homing_position)])
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gcmd.respond_info("mcu: %s\n"
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"stepper: %s\n"
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"kinematic: %s\n"
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"toolhead: %s\n"
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"gcode: %s\n"
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"gcode base: %s\n"
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"gcode homing: %s"
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% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
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gcode_pos, base_pos, homing_pos))
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def load_config(config):
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return GCodeMove(config)
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@ -13,6 +13,7 @@ class HomingOverride:
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gcode_macro = self.printer.load_object(config, 'gcode_macro')
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self.template = gcode_macro.load_template(config, 'gcode')
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self.in_script = False
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self.printer.load_object(config, 'gcode_move')
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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@ -7,7 +7,7 @@
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class PrintStats:
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def __init__(self, config):
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printer = config.get_printer()
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self.gcode_move = printer.lookup_object('gcode_move')
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self.gcode_move = printer.load_object(config, 'gcode_move')
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self.reactor = printer.get_reactor()
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self.reset()
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def _update_filament_usage(self, eventtime):
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@ -20,6 +20,7 @@ class SafeZHoming:
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self.max_z = config.getsection('stepper_z').getfloat('position_max')
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self.speed = config.getfloat('speed', 50.0, above=0.)
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self.move_to_previous = config.getboolean('move_to_previous', False)
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self.printer.load_object(config, 'gcode_move')
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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@ -15,7 +15,7 @@ class TuningTower:
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self.last_z = self.start = self.factor = self.band = 0.
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self.last_command_value = None
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self.command_fmt = ""
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self.gcode_move = self.printer.lookup_object("gcode_move")
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self.gcode_move = self.printer.load_object(config, "gcode_move")
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# Register command
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_command("TUNING_TOWER", self.cmd_TUNING_TOWER,
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272
klippy/gcode.py
272
klippy/gcode.py
|
|
@ -325,277 +325,6 @@ class GCodeDispatch:
|
|||
cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
|
||||
gcmd.respond_info("\n".join(cmdhelp), log=False)
|
||||
|
||||
# G1 movement commands (and associated coordinate manipulation)
|
||||
class GCodeMove:
|
||||
def __init__(self, printer):
|
||||
self.printer = printer
|
||||
printer.register_event_handler("klippy:ready", self._handle_ready)
|
||||
printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
|
||||
printer.register_event_handler("toolhead:set_position",
|
||||
self.reset_last_position)
|
||||
printer.register_event_handler("toolhead:manual_move",
|
||||
self.reset_last_position)
|
||||
printer.register_event_handler("gcode:command_error",
|
||||
self.reset_last_position)
|
||||
printer.register_event_handler("extruder:activate_extruder",
|
||||
self._handle_activate_extruder)
|
||||
self.is_printer_ready = False
|
||||
# Register g-code commands
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
handlers = [
|
||||
'G1', 'G28', 'G20', 'G21',
|
||||
'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
|
||||
'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
|
||||
]
|
||||
for cmd in handlers:
|
||||
func = getattr(self, 'cmd_' + cmd)
|
||||
desc = getattr(self, 'cmd_' + cmd + '_help', None)
|
||||
gcode.register_command(cmd, func, False, desc)
|
||||
gcode.register_command('G0', self.cmd_G1)
|
||||
gcode.register_command('M114', self.cmd_M114, True)
|
||||
gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
|
||||
# G-Code coordinate manipulation
|
||||
self.absolute_coord = self.absolute_extrude = True
|
||||
self.base_position = [0.0, 0.0, 0.0, 0.0]
|
||||
self.last_position = [0.0, 0.0, 0.0, 0.0]
|
||||
self.homing_position = [0.0, 0.0, 0.0, 0.0]
|
||||
self.speed = 25.
|
||||
self.speed_factor = 1. / 60.
|
||||
self.extrude_factor = 1.
|
||||
# G-Code state
|
||||
self.saved_states = {}
|
||||
self.move_transform = self.move_with_transform = None
|
||||
self.position_with_transform = (lambda: [0., 0., 0., 0.])
|
||||
def _handle_ready(self):
|
||||
self.is_printer_ready = True
|
||||
if self.move_transform is None:
|
||||
toolhead = self.printer.lookup_object('toolhead')
|
||||
self.move_with_transform = toolhead.move
|
||||
self.position_with_transform = toolhead.get_position
|
||||
def _handle_shutdown(self):
|
||||
if not self.is_printer_ready:
|
||||
return
|
||||
self.is_printer_ready = False
|
||||
logging.info("gcode state: absolute_coord=%s absolute_extrude=%s"
|
||||
" base_position=%s last_position=%s homing_position=%s"
|
||||
" speed_factor=%s extrude_factor=%s speed=%s",
|
||||
self.absolute_coord, self.absolute_extrude,
|
||||
self.base_position, self.last_position,
|
||||
self.homing_position, self.speed_factor,
|
||||
self.extrude_factor, self.speed)
|
||||
def _handle_activate_extruder(self):
|
||||
self.reset_last_position()
|
||||
self.extrude_factor = 1.
|
||||
self.base_position[3] = self.last_position[3]
|
||||
def set_move_transform(self, transform, force=False):
|
||||
if self.move_transform is not None and not force:
|
||||
raise self.printer.config_error(
|
||||
"G-Code move transform already specified")
|
||||
old_transform = self.move_transform
|
||||
if old_transform is None:
|
||||
old_transform = self.printer.lookup_object('toolhead', None)
|
||||
self.move_transform = transform
|
||||
self.move_with_transform = transform.move
|
||||
self.position_with_transform = transform.get_position
|
||||
return old_transform
|
||||
def _get_gcode_position(self):
|
||||
p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
|
||||
p[3] /= self.extrude_factor
|
||||
return p
|
||||
def _get_gcode_speed(self):
|
||||
return self.speed / self.speed_factor
|
||||
def _get_gcode_speed_override(self):
|
||||
return self.speed_factor * 60.
|
||||
def get_status(self, eventtime=None):
|
||||
move_position = self._get_gcode_position()
|
||||
return {
|
||||
'speed_factor': self._get_gcode_speed_override(),
|
||||
'speed': self._get_gcode_speed(),
|
||||
'extrude_factor': self.extrude_factor,
|
||||
'absolute_coordinates': self.absolute_coord,
|
||||
'absolute_extrude': self.absolute_extrude,
|
||||
'homing_origin': homing.Coord(*self.homing_position),
|
||||
'position': homing.Coord(*self.last_position),
|
||||
'gcode_position': homing.Coord(*move_position),
|
||||
}
|
||||
def reset_last_position(self):
|
||||
if self.is_printer_ready:
|
||||
self.last_position = self.position_with_transform()
|
||||
# G-Code movement commands
|
||||
def cmd_G1(self, gcmd):
|
||||
# Move
|
||||
params = gcmd._params
|
||||
try:
|
||||
for pos, axis in enumerate('XYZ'):
|
||||
if axis in params:
|
||||
v = float(params[axis])
|
||||
if not self.absolute_coord:
|
||||
# value relative to position of last move
|
||||
self.last_position[pos] += v
|
||||
else:
|
||||
# value relative to base coordinate position
|
||||
self.last_position[pos] = v + self.base_position[pos]
|
||||
if 'E' in params:
|
||||
v = float(params['E']) * self.extrude_factor
|
||||
if not self.absolute_coord or not self.absolute_extrude:
|
||||
# value relative to position of last move
|
||||
self.last_position[3] += v
|
||||
else:
|
||||
# value relative to base coordinate position
|
||||
self.last_position[3] = v + self.base_position[3]
|
||||
if 'F' in params:
|
||||
gcode_speed = float(params['F'])
|
||||
if gcode_speed <= 0.:
|
||||
raise gcmd.error("Invalid speed in '%s'"
|
||||
% (gcmd.get_commandline(),))
|
||||
self.speed = gcode_speed * self.speed_factor
|
||||
except ValueError as e:
|
||||
raise gcmd.error("Unable to parse move '%s'"
|
||||
% (gcmd.get_commandline(),))
|
||||
self.move_with_transform(self.last_position, self.speed)
|
||||
def cmd_G28(self, gcmd):
|
||||
# Move to origin
|
||||
axes = []
|
||||
for pos, axis in enumerate('XYZ'):
|
||||
if gcmd.get(axis, None) is not None:
|
||||
axes.append(pos)
|
||||
if not axes:
|
||||
axes = [0, 1, 2]
|
||||
homing_state = homing.Homing(self.printer)
|
||||
homing_state.home_axes(axes)
|
||||
for axis in homing_state.get_axes():
|
||||
self.base_position[axis] = self.homing_position[axis]
|
||||
# G-Code coordinate manipulation
|
||||
def cmd_G20(self, gcmd):
|
||||
# Set units to inches
|
||||
raise gcmd.error('Machine does not support G20 (inches) command')
|
||||
def cmd_G21(self, gcmd):
|
||||
# Set units to millimeters
|
||||
pass
|
||||
def cmd_M82(self, gcmd):
|
||||
# Use absolute distances for extrusion
|
||||
self.absolute_extrude = True
|
||||
def cmd_M83(self, gcmd):
|
||||
# Use relative distances for extrusion
|
||||
self.absolute_extrude = False
|
||||
def cmd_G90(self, gcmd):
|
||||
# Use absolute coordinates
|
||||
self.absolute_coord = True
|
||||
def cmd_G91(self, gcmd):
|
||||
# Use relative coordinates
|
||||
self.absolute_coord = False
|
||||
def cmd_G92(self, gcmd):
|
||||
# Set position
|
||||
offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
|
||||
for i, offset in enumerate(offsets):
|
||||
if offset is not None:
|
||||
if i == 3:
|
||||
offset *= self.extrude_factor
|
||||
self.base_position[i] = self.last_position[i] - offset
|
||||
if offsets == [None, None, None, None]:
|
||||
self.base_position = list(self.last_position)
|
||||
def cmd_M114(self, gcmd):
|
||||
# Get Current Position
|
||||
p = self._get_gcode_position()
|
||||
gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
|
||||
def cmd_M220(self, gcmd):
|
||||
# Set speed factor override percentage
|
||||
value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
|
||||
self.speed = self._get_gcode_speed() * value
|
||||
self.speed_factor = value
|
||||
def cmd_M221(self, gcmd):
|
||||
# Set extrude factor override percentage
|
||||
new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
|
||||
last_e_pos = self.last_position[3]
|
||||
e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
|
||||
self.base_position[3] = last_e_pos - e_value * new_extrude_factor
|
||||
self.extrude_factor = new_extrude_factor
|
||||
cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
|
||||
def cmd_SET_GCODE_OFFSET(self, gcmd):
|
||||
move_delta = [0., 0., 0., 0.]
|
||||
for pos, axis in enumerate('XYZE'):
|
||||
offset = gcmd.get_float(axis, None)
|
||||
if offset is None:
|
||||
offset = gcmd.get_float(axis + '_ADJUST', None)
|
||||
if offset is None:
|
||||
continue
|
||||
offset += self.homing_position[pos]
|
||||
delta = offset - self.homing_position[pos]
|
||||
move_delta[pos] = delta
|
||||
self.base_position[pos] += delta
|
||||
self.homing_position[pos] = offset
|
||||
# Move the toolhead the given offset if requested
|
||||
if gcmd.get_int('MOVE', 0):
|
||||
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
|
||||
for pos, delta in enumerate(move_delta):
|
||||
self.last_position[pos] += delta
|
||||
self.move_with_transform(self.last_position, speed)
|
||||
cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
|
||||
def cmd_SAVE_GCODE_STATE(self, gcmd):
|
||||
state_name = gcmd.get('NAME', 'default')
|
||||
self.saved_states[state_name] = {
|
||||
'absolute_coord': self.absolute_coord,
|
||||
'absolute_extrude': self.absolute_extrude,
|
||||
'base_position': list(self.base_position),
|
||||
'last_position': list(self.last_position),
|
||||
'homing_position': list(self.homing_position),
|
||||
'speed': self.speed, 'speed_factor': self.speed_factor,
|
||||
'extrude_factor': self.extrude_factor,
|
||||
}
|
||||
cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
|
||||
def cmd_RESTORE_GCODE_STATE(self, gcmd):
|
||||
state_name = gcmd.get('NAME', 'default')
|
||||
state = self.saved_states.get(state_name)
|
||||
if state is None:
|
||||
raise gcmd.error("Unknown g-code state: %s" % (state_name,))
|
||||
# Restore state
|
||||
self.absolute_coord = state['absolute_coord']
|
||||
self.absolute_extrude = state['absolute_extrude']
|
||||
self.base_position = list(state['base_position'])
|
||||
self.homing_position = list(state['homing_position'])
|
||||
self.speed = state['speed']
|
||||
self.speed_factor = state['speed_factor']
|
||||
self.extrude_factor = state['extrude_factor']
|
||||
# Restore the relative E position
|
||||
e_diff = self.last_position[3] - state['last_position'][3]
|
||||
self.base_position[3] += e_diff
|
||||
# Move the toolhead back if requested
|
||||
if gcmd.get_int('MOVE', 0):
|
||||
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
|
||||
self.last_position[:3] = state['last_position'][:3]
|
||||
self.move_with_transform(self.last_position, speed)
|
||||
def cmd_GET_POSITION(self, gcmd):
|
||||
toolhead = self.printer.lookup_object('toolhead', None)
|
||||
if toolhead is None:
|
||||
raise gcmd.error("Printer not ready")
|
||||
kin = toolhead.get_kinematics()
|
||||
steppers = kin.get_steppers()
|
||||
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
|
||||
for s in steppers])
|
||||
for s in steppers:
|
||||
s.set_tag_position(s.get_commanded_position())
|
||||
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
|
||||
for s in steppers])
|
||||
kin_pos = " ".join(["%s:%.6f" % (a, v)
|
||||
for a, v in zip("XYZ", kin.calc_tag_position())])
|
||||
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
|
||||
"XYZE", toolhead.get_position())])
|
||||
gcode_pos = " ".join(["%s:%.6f" % (a, v)
|
||||
for a, v in zip("XYZE", self.last_position)])
|
||||
base_pos = " ".join(["%s:%.6f" % (a, v)
|
||||
for a, v in zip("XYZE", self.base_position)])
|
||||
homing_pos = " ".join(["%s:%.6f" % (a, v)
|
||||
for a, v in zip("XYZ", self.homing_position)])
|
||||
gcmd.respond_info("mcu: %s\n"
|
||||
"stepper: %s\n"
|
||||
"kinematic: %s\n"
|
||||
"toolhead: %s\n"
|
||||
"gcode: %s\n"
|
||||
"gcode base: %s\n"
|
||||
"gcode homing: %s"
|
||||
% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
|
||||
gcode_pos, base_pos, homing_pos))
|
||||
|
||||
# Support reading gcode from a pseudo-tty interface
|
||||
class GCodeIO:
|
||||
def __init__(self, printer):
|
||||
|
|
@ -696,5 +425,4 @@ class GCodeIO:
|
|||
|
||||
def add_early_printer_objects(printer):
|
||||
printer.add_object('gcode', GCodeDispatch(printer))
|
||||
printer.add_object('gcode_move', GCodeMove(printer))
|
||||
printer.add_object('gcode_io', GCodeIO(printer))
|
||||
|
|
|
|||
|
|
@ -268,7 +268,8 @@ class ToolHead:
|
|||
desc=self.cmd_SET_VELOCITY_LIMIT_help)
|
||||
gcode.register_command('M204', self.cmd_M204)
|
||||
# Load some default modules
|
||||
modules = ["idle_timeout", "statistics", "manual_probe", "tuning_tower"]
|
||||
modules = ["gcode_move", "idle_timeout", "statistics", "manual_probe",
|
||||
"tuning_tower"]
|
||||
for module_name in modules:
|
||||
self.printer.load_object(config, module_name)
|
||||
# Print time tracking
|
||||
|
|
|
|||
Loading…
Reference in New Issue