gcode: Don't apply the SET_GCODE_OFFSET to the next g-code command

The SET_GCODE_OFFSET command could cause unwanted behavior when an
offset is applied to the following g-code command.  (In particular,
when the following command is an extrude only move - as in
issue #1289.)

Don't apply the offset immediately.  Instead, add support for a MOVE=1
parameter which will schedule a move to apply the given offset.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-20 22:36:57 -04:00
parent 500f37821d
commit d6b69938ab
3 changed files with 32 additions and 10 deletions

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@ -6,6 +6,11 @@ All dates in this document are approximate.
# Changes
20190520: The SET_GCODE_OFFSET command has changed; update any g-code
macros accordingly. The command will no longer apply the requested
offset to the next G1 command. The old behavior may be approximated by
using the new "MOVE=1" parameter.
20190404: The Python host software packages were updated. Users will
need to rerun the ~/klipper/scripts/install-octopi.sh script (or
otherwise upgrade the python dependencies if not using a standard

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@ -90,15 +90,21 @@ The following standard commands are supported:
- `GET_POSITION`: Return information on the current location of the
toolhead.
- `SET_GCODE_OFFSET [X=<pos>|X_ADJUST=<adjust>]
[Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>]`: Set a
positional offset to apply to future G-Code commands. This is
commonly used to virtually change the Z bed offset or to set nozzle
XY offsets when switching extruders. For example, if
"SET_GCODE_OFFSET Z=0.2" is sent, then future G-Code moves will
have 0.2mm added to their Z height. If the X_ADJUST style parameters
are used, then the adjustment will be added to any existing offset
(eg, "SET_GCODE_OFFSET Z=-0.2" followed by "SET_GCODE_OFFSET
Z_ADJUST=0.3" would result in a total Z offset of 0.1).
[Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>]
[MOVE=1 [MOVE_SPEED=<speed>]]`: Set a positional offset to apply to
future G-Code commands. This is commonly used to virtually change
the Z bed offset or to set nozzle XY offsets when switching
extruders. For example, if "SET_GCODE_OFFSET Z=0.2" is sent, then
future G-Code moves will have 0.2mm added to their Z height. If the
X_ADJUST style parameters are used, then the adjustment will be
added to any existing offset (eg, "SET_GCODE_OFFSET Z=-0.2" followed
by "SET_GCODE_OFFSET Z_ADJUST=0.3" would result in a total Z offset
of 0.1). If "MOVE=1" is specified then a toolhead move will be
issued to apply the given offset (otherwise the offset will take
effect on the next absolute G-Code move that specifies the given
axis). If "MOVE_SPEED" is specified then the toolhead move will be
performed with the given speed (in mm/s); otherwise the toolhead
move will use the last specified G-Code speed.
- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
[WRITE_FILE=1]`: Perform a PID calibration test. The specified
heater will be enabled until the specified target temperature is

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@ -601,6 +601,7 @@ class GCodeParser:
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, params):
move_delta = [0., 0., 0., 0.]
for axis, pos in self.axis2pos.items():
if axis in params:
offset = self.get_float(axis, params)
@ -610,9 +611,19 @@ class GCodeParser:
else:
continue
delta = offset - self.homing_position[pos]
self.last_position[pos] += delta
move_delta[pos] = delta
self.base_position[pos] += delta
self.homing_position[pos] = offset
# Move the toolhead the given offset if requested
if self.get_int('MOVE', params, 0):
speed = self.get_float('MOVE_SPEED', params,
self.speed * self.speed_factor, above=0.)
for pos, delta in enumerate(move_delta):
self.last_position[pos] += delta
try:
self.move_with_transform(self.last_position, speed)
except homing.EndstopError as e:
raise error(str(e))
def cmd_M206(self, params):
# Offset axes
offsets = { self.axis2pos[a]: self.get_float(a, params)