diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index d57e60b1..3c05843b 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -38,7 +38,7 @@ class ForceMove: self.trapq_append = ffi_lib.trapq_append self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves self.stepper_kinematics = ffi_main.gc( - ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free) + ffi_lib.cartesian_stepper_alloc(b'x'), ffi_lib.free) # Register commands gcode = self.printer.lookup_object('gcode') gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ, diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index df430ab0..223e13f1 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -26,7 +26,7 @@ class ManualStepper: 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', 'x') + self.rail.setup_itersolve('cartesian_stepper_alloc', b'x') self.rail.set_trapq(self.trapq) # Register commands stepper_name = config.get_name().split()[1] diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py index 6c44c120..0cd7849a 100644 --- a/klippy/kinematics/cartesian.py +++ b/klippy/kinematics/cartesian.py @@ -15,7 +15,7 @@ class CartKinematics: self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n)) for n in 'xyz'] for rail, axis in zip(self.rails, 'xyz'): - rail.setup_itersolve('cartesian_stepper_alloc', axis) + rail.setup_itersolve('cartesian_stepper_alloc', axis.encode()) for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) @@ -37,7 +37,7 @@ class CartKinematics: dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'}) self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis] dc_rail = stepper.LookupMultiRail(dc_config) - dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis) + dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis.encode()) for s in dc_rail.get_steppers(): toolhead.register_step_generator(s.generate_steps) self.dual_carriage_rails = [ diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py index 33f5fcf5..f7249b93 100644 --- a/klippy/kinematics/corexy.py +++ b/klippy/kinematics/corexy.py @@ -16,9 +16,9 @@ class CoreXYKinematics: self.rails[1].get_steppers()[0]) self.rails[1].get_endstops()[0][0].add_stepper( self.rails[0].get_steppers()[0]) - self.rails[0].setup_itersolve('corexy_stepper_alloc', '+') - self.rails[1].setup_itersolve('corexy_stepper_alloc', '-') - self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z') + self.rails[0].setup_itersolve('corexy_stepper_alloc', b'+') + self.rails[1].setup_itersolve('corexy_stepper_alloc', b'-') + self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z') for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py index dbd5c372..66e05423 100644 --- a/klippy/kinematics/corexz.py +++ b/klippy/kinematics/corexz.py @@ -16,9 +16,9 @@ class CoreXZKinematics: self.rails[2].get_steppers()[0]) self.rails[2].get_endstops()[0][0].add_stepper( self.rails[0].get_steppers()[0]) - self.rails[0].setup_itersolve('corexz_stepper_alloc', '+') - self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y') - self.rails[2].setup_itersolve('corexz_stepper_alloc', '-') + self.rails[0].setup_itersolve('corexz_stepper_alloc', b'+') + self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y') + self.rails[2].setup_itersolve('corexz_stepper_alloc', b'-') for s in self.get_steppers(): s.set_trapq(toolhead.get_trapq()) toolhead.register_step_generator(s.generate_steps) diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py index 8bc153c5..14926c38 100644 --- a/klippy/kinematics/hybrid_corexy.py +++ b/klippy/kinematics/hybrid_corexy.py @@ -18,9 +18,9 @@ class HybridCoreXYKinematics: stepper.LookupMultiRail(config.getsection('stepper_z'))] self.rails[1].get_endstops()[0][0].add_stepper( self.rails[0].get_steppers()[0]) - self.rails[0].setup_itersolve('corexy_stepper_alloc', '-') - self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y') - self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z') + self.rails[0].setup_itersolve('corexy_stepper_alloc', b'-') + self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y') + self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z') ranges = [r.get_range() for r in self.rails] self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.) self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.) @@ -33,15 +33,15 @@ class HybridCoreXYKinematics: self.rails.append(stepper.PrinterRail(dc_config)) self.rails[1].get_endstops()[0][0].add_stepper( self.rails[3].get_steppers()[0]) - self.rails[3].setup_itersolve('cartesian_stepper_alloc', 'y') + self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'y') dc_rail_0 = idex_modes.DualCarriagesRail( self.printer, self.rails[0], axis=0, active=True, - stepper_alloc_active=('corexy_stepper_alloc','-'), - stepper_alloc_inactive=('cartesian_reverse_stepper_alloc','y')) + stepper_alloc_active=('corexy_stepper_alloc', b'-'), + stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'y')) dc_rail_1 = idex_modes.DualCarriagesRail( self.printer, self.rails[3], axis=0, active=False, - stepper_alloc_active=('corexy_stepper_alloc','+'), - stepper_alloc_inactive=('cartesian_stepper_alloc','y')) + stepper_alloc_active=('corexy_stepper_alloc', b'+'), + stepper_alloc_inactive=('cartesian_stepper_alloc', b'y')) self.dc_module = idex_modes.DualCarriages(self.printer, dc_rail_0, dc_rail_1, axis=0) for s in self.get_steppers(): diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py index fcdca692..11f77234 100644 --- a/klippy/kinematics/hybrid_corexz.py +++ b/klippy/kinematics/hybrid_corexz.py @@ -18,9 +18,9 @@ class HybridCoreXZKinematics: stepper.LookupMultiRail(config.getsection('stepper_z'))] self.rails[2].get_endstops()[0][0].add_stepper( self.rails[0].get_steppers()[0]) - self.rails[0].setup_itersolve('corexz_stepper_alloc', '-') - self.rails[1].setup_itersolve('cartesian_stepper_alloc', 'y') - self.rails[2].setup_itersolve('cartesian_stepper_alloc', 'z') + self.rails[0].setup_itersolve('corexz_stepper_alloc', b'-') + self.rails[1].setup_itersolve('cartesian_stepper_alloc', b'y') + self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z') ranges = [r.get_range() for r in self.rails] self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.) self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.) @@ -33,15 +33,15 @@ class HybridCoreXZKinematics: self.rails.append(stepper.PrinterRail(dc_config)) self.rails[2].get_endstops()[0][0].add_stepper( self.rails[3].get_steppers()[0]) - self.rails[3].setup_itersolve('cartesian_stepper_alloc', 'z') + self.rails[3].setup_itersolve('cartesian_stepper_alloc', b'z') dc_rail_0 = idex_modes.DualCarriagesRail( self.printer, self.rails[0], axis=0, active=True, - stepper_alloc_active=('corexz_stepper_alloc','-'), - stepper_alloc_inactive=('cartesian_reverse_stepper_alloc','z')) + stepper_alloc_active=('corexz_stepper_alloc', b'-'), + stepper_alloc_inactive=('cartesian_reverse_stepper_alloc',b'z')) dc_rail_1 = idex_modes.DualCarriagesRail( self.printer, self.rails[3], axis=0, active=False, - stepper_alloc_active=('corexz_stepper_alloc','+'), - stepper_alloc_inactive=('cartesian_stepper_alloc','z')) + stepper_alloc_active=('corexz_stepper_alloc', b'+'), + stepper_alloc_inactive=('cartesian_stepper_alloc', b'z')) self.dc_module = idex_modes.DualCarriages(self.printer, dc_rail_0, dc_rail_1, axis=0) for s in self.get_steppers(): diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py index ef8c0d97..deed26d0 100644 --- a/klippy/kinematics/polar.py +++ b/klippy/kinematics/polar.py @@ -13,9 +13,9 @@ class PolarKinematics: units_in_radians=True) rail_arm = stepper.PrinterRail(config.getsection('stepper_arm')) rail_z = stepper.LookupMultiRail(config.getsection('stepper_z')) - stepper_bed.setup_itersolve('polar_stepper_alloc', 'a') - rail_arm.setup_itersolve('polar_stepper_alloc', 'r') - rail_z.setup_itersolve('cartesian_stepper_alloc', 'z') + stepper_bed.setup_itersolve('polar_stepper_alloc', b'a') + rail_arm.setup_itersolve('polar_stepper_alloc', b'r') + rail_z.setup_itersolve('cartesian_stepper_alloc', b'z') self.rails = [rail_arm, rail_z] self.steppers = [stepper_bed] + [ s for r in self.rails for s in r.get_steppers() ] diff --git a/klippy/stepper.py b/klippy/stepper.py index d187a69f..ec757763 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -191,7 +191,8 @@ class MCU_stepper: raise error("Internal error in stepcompress") def is_active_axis(self, axis): ffi_main, ffi_lib = chelper.get_ffi() - return ffi_lib.itersolve_is_active_axis(self._stepper_kinematics, axis) + a = axis.encode() + return ffi_lib.itersolve_is_active_axis(self._stepper_kinematics, a) # Helper code to build a stepper object from a config section def PrinterStepper(config, units_in_radians=False):