idex_modes: Native input shaping support with dual carriages
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
KevinOConnor
parent
98ed0a8168
commit
345934bd68
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@ -61,7 +61,6 @@ class AxisInputShaper:
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self.params.update(gcmd)
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old_n, old_A, old_T = self.n, self.A, self.T
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self.n, self.A, self.T = self.params.get_shaper()
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return (old_n, old_A, old_T) != (self.n, self.A, self.T)
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def set_shaper_kinematics(self, sk):
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ffi_main, ffi_lib = chelper.get_ffi()
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success = ffi_lib.input_shaper_set_shaper_params(
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@ -98,7 +97,7 @@ class InputShaper:
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self.toolhead = None
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self.shapers = [AxisInputShaper('x', config),
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AxisInputShaper('y', config)]
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self.stepper_kinematics = []
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self.input_shaper_stepper_kinematics = []
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self.orig_stepper_kinematics = []
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# Register gcode commands
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gcode = self.printer.lookup_object('gcode')
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@ -109,38 +108,50 @@ class InputShaper:
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return self.shapers
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def connect(self):
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self.toolhead = self.printer.lookup_object("toolhead")
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kin = self.toolhead.get_kinematics()
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# Lookup stepper kinematics
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ffi_main, ffi_lib = chelper.get_ffi()
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steppers = kin.get_steppers()
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for s in steppers:
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sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
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orig_sk = s.set_stepper_kinematics(sk)
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res = ffi_lib.input_shaper_set_sk(sk, orig_sk)
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if res < 0:
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s.set_stepper_kinematics(orig_sk)
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continue
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self.stepper_kinematics.append(sk)
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self.orig_stepper_kinematics.append(orig_sk)
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# Configure initial values
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self.old_delay = 0.
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self._update_input_shaping(error=self.printer.config_error)
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def _get_input_shaper_stepper_kinematics(self, stepper):
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# Lookup stepper kinematics
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sk = stepper.get_stepper_kinematics()
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if sk in self.orig_stepper_kinematics:
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# Already processed this stepper kinematics unsuccessfully
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return None
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if sk in self.input_shaper_stepper_kinematics:
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return sk
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self.orig_stepper_kinematics.append(sk)
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ffi_main, ffi_lib = chelper.get_ffi()
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is_sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
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stepper.set_stepper_kinematics(is_sk)
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res = ffi_lib.input_shaper_set_sk(is_sk, sk)
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if res < 0:
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stepper.set_stepper_kinematics(sk)
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return None
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self.input_shaper_stepper_kinematics.append(is_sk)
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return is_sk
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def _update_input_shaping(self, error=None):
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self.toolhead.flush_step_generation()
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new_delay = max([s.get_step_generation_window() for s in self.shapers])
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self.toolhead.note_step_generation_scan_time(new_delay,
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old_delay=self.old_delay)
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failed = []
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for sk in self.stepper_kinematics:
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self.old_delay = new_delay
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kin = self.toolhead.get_kinematics()
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failed_shapers = []
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for s in kin.get_steppers():
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if s.get_trapq() is None:
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continue
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is_sk = self._get_input_shaper_stepper_kinematics(s)
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if is_sk is None:
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continue
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for shaper in self.shapers:
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if shaper in failed:
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if shaper in failed_shapers:
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continue
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if not shaper.set_shaper_kinematics(sk):
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failed.append(shaper)
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if failed:
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if not shaper.set_shaper_kinematics(is_sk):
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failed_shapers.append(shaper)
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if failed_shapers:
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error = error or self.printer.command_error
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raise error("Failed to configure shaper(s) %s with given parameters"
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% (', '.join([s.get_name() for s in failed])))
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% (', '.join([s.get_name() for s in failed_shapers])))
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def disable_shaping(self):
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for shaper in self.shapers:
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shaper.disable_shaping()
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@ -151,10 +162,9 @@ class InputShaper:
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self._update_input_shaping()
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cmd_SET_INPUT_SHAPER_help = "Set cartesian parameters for input shaper"
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def cmd_SET_INPUT_SHAPER(self, gcmd):
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updated = False
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for shaper in self.shapers:
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updated |= shaper.update(gcmd)
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if updated:
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if gcmd.get_command_parameters():
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for shaper in self.shapers:
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shaper.update(gcmd)
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self._update_input_shaping()
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for shaper in self.shapers:
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shaper.report(gcmd)
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@ -4,6 +4,7 @@
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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 math
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import chelper
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class DualCarriages:
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def __init__(self, printer, rail_0, rail_1, axis):
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@ -24,7 +25,8 @@ class DualCarriages:
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for i, dc in enumerate(self.dc):
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dc_rail = dc.get_rail()
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if i != index:
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dc.inactivate(pos)
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if dc.is_active():
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dc.inactivate(pos)
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kin.override_rail(3, dc_rail)
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elif dc.is_active() is False:
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newpos = pos[:self.axis] + [dc.axis_position] \
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@ -79,27 +81,50 @@ class DualCarriagesRail:
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self.stepper_alloc_active = stepper_alloc_active
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self.stepper_alloc_inactive = stepper_alloc_inactive
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self.axis_position = -1
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def _stepper_alloc(self, position, active=True):
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self.stepper_active_sk = {}
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self.stepper_inactive_sk = {}
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for s in rail.get_steppers():
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self._save_sk(self.status, s, s.get_stepper_kinematics())
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def _alloc_sk(self, alloc_func, *params):
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ffi_main, ffi_lib = chelper.get_ffi()
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return ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free)
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def _get_sk(self, status, stepper):
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sk = None
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if status == self.ACTIVE:
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sk = self.stepper_active_sk.get(stepper, None)
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if sk is None and self.stepper_alloc_active:
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sk = self._alloc_sk(*self.stepper_alloc_active)
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self._save_sk(status, stepper, sk)
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elif status == self.INACTIVE:
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sk = self.stepper_inactive_sk.get(stepper, None)
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if sk is None and self.stepper_alloc_inactive:
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sk = self._alloc_sk(*self.stepper_alloc_inactive)
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self._save_sk(status, stepper, sk)
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return sk
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def _save_sk(self, status, stepper, sk):
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if status == self.ACTIVE:
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self.stepper_active_sk[stepper] = sk
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elif status == self.INACTIVE:
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self.stepper_inactive_sk[stepper] = sk
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def _update_stepper_alloc(self, position, active=True):
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toolhead = self.printer.lookup_object('toolhead')
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self.axis_position = position[self.axis]
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self.rail.set_trapq(None)
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if active is True:
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self.status = self.ACTIVE
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if self.stepper_alloc_active is not None:
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self.rail.setup_itersolve(*self.stepper_alloc_active)
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self.rail.set_position(position)
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self.rail.set_trapq(toolhead.get_trapq())
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else:
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self.status = self.INACTIVE
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if self.stepper_alloc_inactive is not None:
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self.rail.setup_itersolve(*self.stepper_alloc_inactive)
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self.rail.set_position(position)
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self.rail.set_trapq(toolhead.get_trapq())
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old_status = self.status
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self.status = (self.INACTIVE, self.ACTIVE)[active]
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for s in self.rail.get_steppers():
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sk = self._get_sk(self.status, s)
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if sk is None:
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return
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old_sk = s.set_stepper_kinematics(sk)
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self._save_sk(old_status, s, old_sk)
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self.rail.set_position(position)
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self.rail.set_trapq(toolhead.get_trapq())
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def get_rail(self):
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return self.rail
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def is_active(self):
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return self.status == self.ACTIVE
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def activate(self, position):
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self._stepper_alloc(position, active=True)
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self._update_stepper_alloc(position, active=True)
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def inactivate(self, position):
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self._stepper_alloc(position, active=False)
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self._update_stepper_alloc(position, active=False)
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@ -160,6 +160,8 @@ class MCU_stepper:
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count = ffi_lib.stepcompress_extract_old(self._stepqueue, data, count,
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start_clock, end_clock)
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return (data, count)
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def get_stepper_kinematics(self):
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return self._stepper_kinematics
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def set_stepper_kinematics(self, sk):
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old_sk = self._stepper_kinematics
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mcu_pos = 0
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