toolhead: Allow kinematics class to verify the move prior to queuing it

Introduce a check_move() method in the extruder and cartesian
kinematic classes.  This allows the lower level classes to verify the
contents of the move prior to queing that move.

The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/cartesian.py

@@ -22,17 +22,10 @@ class CartKinematics:
     def set_position(self, newpos):
         self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
                             for i in StepList]
-    def get_max_xy_speed(self):
+    def get_max_speed(self):
         max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
         max_xy_accel = min(s.max_accel for s in self.steppers[:2])
         return max_xy_speed, max_xy_accel
-    def get_max_speed(self, axes_d, move_d):
-        # Calculate max speed and accel for a given move
-        velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
-                               for i in StepList if axes_d[i]])
-        accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
-                            for i in StepList if axes_d[i]])
-        return velocity_factor * move_d, accel_factor * move_d
     def get_homed_position(self):
         return [s.get_homed_position() for s in self.steppers]
     def home(self, toolhead, axes):
@@ -69,6 +62,18 @@ class CartKinematics:
             stepper.motor_enable(move_time, 0)
     def query_endstops(self, move_time):
         return homing.QueryEndstops(["x", "y", "z"], self.steppers)
+    def check_move(self, move):
+        if not move.axes_d[2]:
+            # Normal XY move - use defaults
+            return
+        # Move with Z - update velocity and accel for slower Z axis
+        axes_d = move.axes_d
+        move_d = move.move_d
+        velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
+                               for i in StepList if axes_d[i]])
+        accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
+                            for i in StepList if axes_d[i]])
+        move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
     def move(self, move_time, move):
         inv_accel = 1. / move.accel
         inv_cruise_v = 1. / move.cruise_v

klippy/extruder.py

@@ -18,10 +18,14 @@ class PrinterExtruder:
         self.heater.build_config()
         self.stepper.set_max_jerk(9999999.9)
         self.stepper.build_config()
-    def get_max_speed(self):
-        return self.stepper.max_velocity, self.stepper.max_accel
     def motor_off(self, move_time):
         self.stepper.motor_enable(move_time, 0)
+    def check_move(self, move):
+        if (not move.do_calc_junction
+            and not move.axes_d[0] and not move.axes_d[1]
+            and not move.axes_d[2]):
+            # Extrude only move - limit accel and velocity
+            move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
     def move(self, move_time, move):
         move_d = move.move_d
         inv_accel = 1. / move.accel

klippy/toolhead.py

@@ -14,12 +14,23 @@ EXTRUDE_DIFF_IGNORE = 1.02
 
 # Class to track each move request
 class Move:
-    def __init__(self, toolhead, pos, move_d, axes_d, speed, accel):
+    def __init__(self, toolhead, pos, axes_d, speed, accel):
         self.toolhead = toolhead
         self.pos = tuple(pos)
-        self.move_d = move_d
         self.axes_d = axes_d
         self.accel = accel
+        self.do_calc_junction = True
+        if axes_d[2]:
+            # Move with Z
+            move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
+            self.do_calc_junction = False
+        else:
+            move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
+            if not move_d:
+                # Extrude only move
+                move_d = abs(axes_d[3])
+                self.do_calc_junction = False
+        self.move_d = move_d
         self.extrude_r = axes_d[3] / move_d
         # Junction speeds are velocities squared.  The junction_delta
         # is the maximum amount of this squared-velocity that can
@@ -27,7 +38,13 @@ class Move:
         self.junction_max = speed**2
         self.junction_delta = 2.0 * move_d * accel
         self.junction_start_max = 0.
+    def limit_speed(self, speed, accel):
+        self.junction_max = min(self.junction_max, speed**2)
+        self.accel = min(self.accel, accel)
+        self.junction_delta = 2.0 * self.move_d * self.accel
     def calc_junction(self, prev_move):
+        if not self.do_calc_junction or not prev_move.do_calc_junction:
+            return
         # Find max junction_start_velocity between two moves
         if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
             or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE):
@@ -141,7 +158,7 @@ class ToolHead:
         self.reactor = printer.reactor
         self.extruder = printer.objects.get('extruder')
         self.kin = cartesian.CartKinematics(printer, config)
-        self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed()
+        self.max_speed, self.max_accel = self.kin.get_max_speed()
         self.junction_deviation = config.getfloat('junction_deviation', 0.02)
         self.move_queue = MoveQueue()
         self.commanded_pos = [0., 0., 0., 0.]
@@ -227,38 +244,18 @@ class ToolHead:
         self.move_queue.flush()
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
-    def _move_with_z(self, newpos, axes_d, speed):
-        self.move_queue.flush()
-        move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
-        # Limit velocity and accel to max for each stepper
-        kin_speed, kin_accel = self.kin.get_max_speed(axes_d, move_d)
-        speed = min(speed, self.max_xy_speed, kin_speed)
-        accel = min(self.max_xy_accel, kin_accel)
-        # Generate and execute move
-        move = Move(self, newpos, move_d, axes_d, speed, accel)
-        move.process(0., 0.)
-    def _move_only_e(self, newpos, axes_d, speed):
-        self.move_queue.flush()
-        kin_speed, kin_accel = self.extruder.get_max_speed()
-        speed = min(speed, self.max_xy_speed, kin_speed)
-        accel = min(self.max_xy_accel, kin_accel)
-        move = Move(self, newpos, abs(axes_d[3]), axes_d, speed, accel)
-        move.process(0., 0.)
     def move(self, newpos, speed, sloppy=False):
         axes_d = [newpos[i] - self.commanded_pos[i]
                   for i in (0, 1, 2, 3)]
-        self.commanded_pos[:] = newpos
-        if axes_d[2]:
-            self._move_with_z(newpos, axes_d, speed)
+        if axes_d == [0., 0., 0., 0.]:
+            # No move
             return
-        move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
-        if not move_d:
+        speed = min(speed, self.max_speed)
+        move = Move(self, newpos, axes_d, speed, self.max_accel)
+        self.kin.check_move(move)
         if axes_d[3]:
-                self._move_only_e(newpos, axes_d, speed)
-            return
-        # Common xy move - create move and queue it
-        speed = min(speed, self.max_xy_speed)
-        move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel)
+            self.extruder.check_move(move)
+        self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)
     def home(self, axes):
         homing = self.kin.home(self, axes)