549 lines
25 KiB
Python
549 lines
25 KiB
Python
# Code for coordinating events on the printer toolhead
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#
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# Copyright (C) 2016-2018 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 math, logging, importlib
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import mcu, homing, chelper, kinematics.extruder
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# Common suffixes: _d is distance (in mm), _v is velocity (in
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# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
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# seconds), _r is ratio (scalar between 0.0 and 1.0)
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# Class to track each move request
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class Move:
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def __init__(self, toolhead, start_pos, end_pos, speed):
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self.toolhead = toolhead
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self.start_pos = tuple(start_pos)
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self.end_pos = tuple(end_pos)
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self.accel = toolhead.max_accel
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velocity = min(speed, toolhead.max_velocity)
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self.cmove = toolhead.cmove
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self.is_kinematic_move = True
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self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
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self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
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if move_d < .000000001:
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# Extrude only move
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self.end_pos = (start_pos[0], start_pos[1], start_pos[2],
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end_pos[3])
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axes_d[0] = axes_d[1] = axes_d[2] = 0.
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self.move_d = move_d = abs(axes_d[3])
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self.accel = 99999999.9
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velocity = speed
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self.is_kinematic_move = False
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self.min_move_t = move_d / velocity
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# Junction speeds are tracked in velocity squared. The
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# delta_v2 is the maximum amount of this squared-velocity that
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# can change in this move.
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self.max_start_v2 = 0.
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self.max_cruise_v2 = velocity**2
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self.delta_v2 = 2.0 * move_d * self.accel
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self.max_smoothed_v2 = 0.
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self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
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def limit_speed(self, speed, accel):
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speed2 = speed**2
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if speed2 < self.max_cruise_v2:
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self.max_cruise_v2 = speed2
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self.min_move_t = self.move_d / speed
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self.accel = min(self.accel, accel)
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self.delta_v2 = 2.0 * self.move_d * self.accel
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self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
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def calc_junction(self, prev_move):
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if not self.is_kinematic_move or not prev_move.is_kinematic_move:
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return
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# Allow extruder to calculate its maximum junction
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extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
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# Find max velocity using "approximated centripetal velocity"
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axes_d = self.axes_d
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prev_axes_d = prev_move.axes_d
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junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
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+ axes_d[1] * prev_axes_d[1]
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+ axes_d[2] * prev_axes_d[2])
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/ (self.move_d * prev_move.move_d))
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if junction_cos_theta > 0.999999:
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return
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junction_cos_theta = max(junction_cos_theta, -0.999999)
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sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
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R = (self.toolhead.junction_deviation * sin_theta_d2
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/ (1. - sin_theta_d2))
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tan_theta_d2 = sin_theta_d2 / math.sqrt(0.5*(1.0+junction_cos_theta))
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move_centripetal_v2 = .5 * self.move_d * tan_theta_d2 * self.accel
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prev_move_centripetal_v2 = (.5 * prev_move.move_d * tan_theta_d2
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* prev_move.accel)
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self.max_start_v2 = min(
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R * self.accel, R * prev_move.accel,
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move_centripetal_v2, prev_move_centripetal_v2,
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extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
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prev_move.max_start_v2 + prev_move.delta_v2)
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self.max_smoothed_v2 = min(
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self.max_start_v2
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, prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
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def set_junction(self, start_v2, cruise_v2, end_v2):
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# Determine accel, cruise, and decel portions of the move distance
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inv_delta_v2 = 1. / self.delta_v2
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self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
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self.decel_r = decel_r = (cruise_v2 - end_v2) * inv_delta_v2
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self.cruise_r = cruise_r = 1. - accel_r - decel_r
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# Determine move velocities
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self.start_v = start_v = math.sqrt(start_v2)
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self.cruise_v = cruise_v = math.sqrt(cruise_v2)
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self.end_v = end_v = math.sqrt(end_v2)
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# Determine time spent in each portion of move (time is the
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# distance divided by average velocity)
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self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
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self.cruise_t = cruise_r * self.move_d / cruise_v
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self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
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def move(self):
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# Generate step times for the move
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next_move_time = self.toolhead.get_next_move_time()
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if self.is_kinematic_move:
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self.toolhead.move_fill(
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self.cmove, next_move_time,
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self.accel_t, self.cruise_t, self.decel_t,
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self.start_pos[0], self.start_pos[1], self.start_pos[2],
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self.axes_d[0], self.axes_d[1], self.axes_d[2],
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self.start_v, self.cruise_v, self.accel)
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self.toolhead.kin.move(next_move_time, self)
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if self.axes_d[3]:
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self.toolhead.extruder.move(next_move_time, self)
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self.toolhead.update_move_time(
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self.accel_t + self.cruise_t + self.decel_t)
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LOOKAHEAD_FLUSH_TIME = 0.250
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# Class to track a list of pending move requests and to facilitate
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# "look-ahead" across moves to reduce acceleration between moves.
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class MoveQueue:
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def __init__(self):
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self.extruder_lookahead = None
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self.queue = []
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self.leftover = 0
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self.junction_flush = LOOKAHEAD_FLUSH_TIME
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def reset(self):
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del self.queue[:]
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self.leftover = 0
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self.junction_flush = LOOKAHEAD_FLUSH_TIME
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def set_flush_time(self, flush_time):
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self.junction_flush = flush_time
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def set_extruder(self, extruder):
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self.extruder_lookahead = extruder.lookahead
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def flush(self, lazy=False):
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self.junction_flush = LOOKAHEAD_FLUSH_TIME
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update_flush_count = lazy
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queue = self.queue
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flush_count = len(queue)
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# Traverse queue from last to first move and determine maximum
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# junction speed assuming the robot comes to a complete stop
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# after the last move.
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delayed = []
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next_end_v2 = next_smoothed_v2 = peak_cruise_v2 = 0.
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for i in range(flush_count-1, self.leftover-1, -1):
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move = queue[i]
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reachable_start_v2 = next_end_v2 + move.delta_v2
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start_v2 = min(move.max_start_v2, reachable_start_v2)
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reachable_smoothed_v2 = next_smoothed_v2 + move.smooth_delta_v2
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smoothed_v2 = min(move.max_smoothed_v2, reachable_smoothed_v2)
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if smoothed_v2 < reachable_smoothed_v2:
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# It's possible for this move to accelerate
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if (smoothed_v2 + move.smooth_delta_v2 > next_smoothed_v2
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or delayed):
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# This move can decelerate or this is a full accel
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# move after a full decel move
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if update_flush_count and peak_cruise_v2:
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flush_count = i
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update_flush_count = False
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peak_cruise_v2 = min(move.max_cruise_v2, (
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smoothed_v2 + reachable_smoothed_v2) * .5)
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if delayed:
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# Propagate peak_cruise_v2 to any delayed moves
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if not update_flush_count and i < flush_count:
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mc_v2 = peak_cruise_v2
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for m, ms_v2, me_v2 in reversed(delayed):
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mc_v2 = min(mc_v2, ms_v2)
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m.set_junction(min(ms_v2, mc_v2), mc_v2
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, min(me_v2, mc_v2))
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del delayed[:]
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if not update_flush_count and i < flush_count:
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cruise_v2 = min((start_v2 + reachable_start_v2) * .5
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, move.max_cruise_v2, peak_cruise_v2)
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move.set_junction(min(start_v2, cruise_v2), cruise_v2
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, min(next_end_v2, cruise_v2))
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else:
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# Delay calculating this move until peak_cruise_v2 is known
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delayed.append((move, start_v2, next_end_v2))
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next_end_v2 = start_v2
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next_smoothed_v2 = smoothed_v2
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if update_flush_count:
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return
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# Allow extruder to do its lookahead
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move_count = self.extruder_lookahead(queue, flush_count, lazy)
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# Generate step times for all moves ready to be flushed
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for move in queue[:move_count]:
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move.move()
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# Remove processed moves from the queue
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self.leftover = flush_count - move_count
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del queue[:move_count]
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def add_move(self, move):
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self.queue.append(move)
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if len(self.queue) == 1:
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return
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move.calc_junction(self.queue[-2])
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self.junction_flush -= move.min_move_t
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if self.junction_flush <= 0.:
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# Enough moves have been queued to reach the target flush time.
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self.flush(lazy=True)
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STALL_TIME = 0.100
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DRIP_SEGMENT_TIME = 0.050
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DRIP_TIME = 0.150
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class DripModeEndSignal(Exception):
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pass
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# Main code to track events (and their timing) on the printer toolhead
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class ToolHead:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.reactor = self.printer.get_reactor()
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self.all_mcus = [
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m for n, m in self.printer.lookup_objects(module='mcu')]
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self.mcu = self.all_mcus[0]
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self.move_queue = MoveQueue()
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self.commanded_pos = [0., 0., 0., 0.]
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self.printer.register_event_handler("gcode:request_restart",
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self._handle_request_restart)
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self.printer.register_event_handler("klippy:shutdown",
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self._handle_shutdown)
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# Velocity and acceleration control
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self.max_velocity = config.getfloat('max_velocity', above=0.)
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self.max_accel = config.getfloat('max_accel', above=0.)
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self.requested_accel_to_decel = config.getfloat(
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'max_accel_to_decel', self.max_accel * 0.5, above=0.)
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self.max_accel_to_decel = self.requested_accel_to_decel
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self.square_corner_velocity = config.getfloat(
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'square_corner_velocity', 5., minval=0.)
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self.config_max_velocity = self.max_velocity
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self.config_max_accel = self.max_accel
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self.config_square_corner_velocity = self.square_corner_velocity
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self.junction_deviation = 0.
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self._calc_junction_deviation()
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# Print time tracking
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self.buffer_time_low = config.getfloat(
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'buffer_time_low', 1.000, above=0.)
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self.buffer_time_high = config.getfloat(
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'buffer_time_high', 2.000, above=self.buffer_time_low)
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self.buffer_time_start = config.getfloat(
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'buffer_time_start', 0.250, above=0.)
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self.move_flush_time = config.getfloat(
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'move_flush_time', 0.050, above=0.)
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self.print_time = 0.
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self.special_queuing_state = "Flushed"
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self.need_check_stall = -1.
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self.flush_timer = self.reactor.register_timer(self._flush_handler)
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self.move_queue.set_flush_time(self.buffer_time_high)
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self.last_print_start_time = 0.
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self.idle_flush_print_time = 0.
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self.print_stall = 0
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self.drip_completion = None
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
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self.move_fill = ffi_lib.move_fill
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# Create kinematics class
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self.extruder = kinematics.extruder.DummyExtruder()
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self.move_queue.set_extruder(self.extruder)
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kin_name = config.get('kinematics')
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try:
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mod = importlib.import_module('kinematics.' + kin_name)
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self.kin = mod.load_kinematics(self, config)
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except config.error as e:
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raise
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except self.printer.lookup_object('pins').error as e:
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raise
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except:
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msg = "Error loading kinematics '%s'" % (kin_name,)
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logging.exception(msg)
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raise config.error(msg)
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# SET_VELOCITY_LIMIT command
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('SET_VELOCITY_LIMIT',
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self.cmd_SET_VELOCITY_LIMIT,
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desc=self.cmd_SET_VELOCITY_LIMIT_help)
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gcode.register_command('M204', self.cmd_M204)
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# Load some default modules
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self.printer.try_load_module(config, "idle_timeout")
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self.printer.try_load_module(config, "statistics")
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self.printer.try_load_module(config, "manual_probe")
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# Print time tracking
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def update_move_time(self, movetime):
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self.print_time += movetime
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flush_to_time = self.print_time - self.move_flush_time
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for m in self.all_mcus:
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m.flush_moves(flush_to_time)
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def _calc_print_time(self):
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curtime = self.reactor.monotonic()
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est_print_time = self.mcu.estimated_print_time(curtime)
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if est_print_time + self.buffer_time_start > self.print_time:
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self.print_time = est_print_time + self.buffer_time_start
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self.last_print_start_time = self.print_time
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self.printer.send_event("toolhead:sync_print_time",
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curtime, est_print_time, self.print_time)
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def get_next_move_time(self):
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if not self.special_queuing_state:
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return self.print_time
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if self.special_queuing_state == "Drip":
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# In "Drip" state - wait until ready to send next move
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while 1:
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if self.drip_completion.test():
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raise DripModeEndSignal()
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curtime = self.reactor.monotonic()
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est_print_time = self.mcu.estimated_print_time(curtime)
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wait_time = self.print_time - est_print_time - DRIP_TIME
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if wait_time <= 0. or self.mcu.is_fileoutput():
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return self.print_time
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self.drip_completion.wait(curtime + wait_time)
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# Transition from "Flushed"/"Priming" state to main state
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self.special_queuing_state = ""
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self.need_check_stall = -1.
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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self._calc_print_time()
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return self.print_time
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def _full_flush(self):
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# Transition from "Flushed"/"Priming"/main state to "Flushed" state
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self.move_queue.flush()
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self.special_queuing_state = "Flushed"
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self.need_check_stall = -1.
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self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
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self.move_queue.set_flush_time(self.buffer_time_high)
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self.idle_flush_print_time = 0.
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for m in self.all_mcus:
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m.flush_moves(self.print_time)
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def _flush_lookahead(self):
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if self.special_queuing_state:
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return self._full_flush()
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self.move_queue.flush()
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def get_last_move_time(self):
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self._flush_lookahead()
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if self.special_queuing_state:
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self._calc_print_time()
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return self.print_time
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def _check_stall(self):
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eventtime = self.reactor.monotonic()
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if self.special_queuing_state:
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if self.idle_flush_print_time:
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# Was in "Flushed" state and got there from idle input
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est_print_time = self.mcu.estimated_print_time(eventtime)
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if est_print_time < self.idle_flush_print_time:
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self.print_stall += 1
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self.idle_flush_print_time = 0.
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# Transition from "Flushed"/"Priming" state to "Priming" state
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self.special_queuing_state = "Priming"
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self.need_check_stall = -1.
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self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
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# Check if there are lots of queued moves and stall if so
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while 1:
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est_print_time = self.mcu.estimated_print_time(eventtime)
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buffer_time = self.print_time - est_print_time
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stall_time = buffer_time - self.buffer_time_high
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if stall_time <= 0.:
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break
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if self.mcu.is_fileoutput():
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self.need_check_stall = self.reactor.NEVER
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return
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eventtime = self.reactor.pause(eventtime + min(1., stall_time))
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if not self.special_queuing_state:
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# In main state - defer stall checking until needed
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self.need_check_stall = (est_print_time + self.buffer_time_high
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+ 0.100)
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def _flush_handler(self, eventtime):
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try:
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print_time = self.print_time
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buffer_time = print_time - self.mcu.estimated_print_time(eventtime)
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if buffer_time > self.buffer_time_low:
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# Running normally - reschedule check
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return eventtime + buffer_time - self.buffer_time_low
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# Under ran low buffer mark - flush lookahead queue
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self._full_flush()
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if print_time != self.print_time:
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self.idle_flush_print_time = self.print_time
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except:
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logging.exception("Exception in flush_handler")
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self.printer.invoke_shutdown("Exception in flush_handler")
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return self.reactor.NEVER
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# Movement commands
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def get_position(self):
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return list(self.commanded_pos)
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def set_position(self, newpos, homing_axes=()):
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self._flush_lookahead()
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self.commanded_pos[:] = newpos
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self.kin.set_position(newpos, homing_axes)
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def move(self, newpos, speed):
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move = Move(self, self.commanded_pos, newpos, speed)
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if not move.move_d:
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return
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if move.is_kinematic_move:
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self.kin.check_move(move)
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if move.axes_d[3]:
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self.extruder.check_move(move)
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self.commanded_pos[:] = move.end_pos
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self.move_queue.add_move(move)
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if self.print_time > self.need_check_stall:
|
|
self._check_stall()
|
|
def dwell(self, delay):
|
|
self.get_last_move_time()
|
|
self.update_move_time(delay)
|
|
self._check_stall()
|
|
def motor_off(self):
|
|
self.dwell(STALL_TIME)
|
|
last_move_time = self.get_last_move_time()
|
|
self.kin.motor_off(last_move_time)
|
|
for ext in kinematics.extruder.get_printer_extruders(self.printer):
|
|
ext.motor_off(last_move_time)
|
|
self.printer.send_event("toolhead:motor_off", last_move_time)
|
|
self.dwell(STALL_TIME)
|
|
logging.debug('; Max time of %f', last_move_time)
|
|
def wait_moves(self):
|
|
self._flush_lookahead()
|
|
if self.mcu.is_fileoutput():
|
|
return
|
|
eventtime = self.reactor.monotonic()
|
|
while (not self.special_queuing_state
|
|
or self.print_time >= self.mcu.estimated_print_time(eventtime)):
|
|
eventtime = self.reactor.pause(eventtime + 0.100)
|
|
def set_extruder(self, extruder):
|
|
last_move_time = self.get_last_move_time()
|
|
self.extruder.set_active(last_move_time, False)
|
|
extrude_pos = extruder.set_active(last_move_time, True)
|
|
self.extruder = extruder
|
|
self.move_queue.set_extruder(extruder)
|
|
self.commanded_pos[3] = extrude_pos
|
|
def get_extruder(self):
|
|
return self.extruder
|
|
def drip_move(self, newpos, speed):
|
|
# Validate move
|
|
move = Move(self, self.commanded_pos, newpos, speed)
|
|
if move.axes_d[3]:
|
|
raise homing.CommandError("Invalid drip move")
|
|
if not move.move_d or not move.is_kinematic_move:
|
|
return
|
|
self.kin.check_move(move)
|
|
speed = math.sqrt(move.max_cruise_v2)
|
|
move_accel = move.accel
|
|
# Transition to "Flushed" state and then to "Drip" state
|
|
self._full_flush()
|
|
self.special_queuing_state = "Drip"
|
|
self.need_check_stall = self.reactor.NEVER
|
|
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
|
|
self.drip_completion = self.reactor.completion()
|
|
# Split move into many tiny moves and queue them
|
|
num_moves = max(1, int(math.ceil(move.min_move_t / DRIP_SEGMENT_TIME)))
|
|
inv_num_moves = 1. / float(num_moves)
|
|
submove_d = [d * inv_num_moves for d in move.axes_d]
|
|
prev_pos = move.start_pos
|
|
self._calc_print_time()
|
|
try:
|
|
for i in range(num_moves-1):
|
|
next_pos = [p + d for p, d in zip(prev_pos, submove_d)]
|
|
smove = Move(self, prev_pos, next_pos, speed)
|
|
smove.limit_speed(speed, move_accel)
|
|
self.move_queue.add_move(smove)
|
|
prev_pos = next_pos
|
|
smove = Move(self, prev_pos, move.end_pos, speed)
|
|
smove.limit_speed(speed, move_accel)
|
|
self.move_queue.add_move(smove)
|
|
self.move_queue.flush()
|
|
except DripModeEndSignal as e:
|
|
self.move_queue.reset()
|
|
# Return to "Flushed" state
|
|
self._full_flush()
|
|
def signal_drip_mode_end(self):
|
|
self.drip_completion.complete(True)
|
|
# Misc commands
|
|
def stats(self, eventtime):
|
|
for m in self.all_mcus:
|
|
m.check_active(self.print_time, eventtime)
|
|
buffer_time = self.print_time - self.mcu.estimated_print_time(eventtime)
|
|
is_active = buffer_time > -60. or not self.special_queuing_state
|
|
return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
|
|
self.print_time, max(buffer_time, 0.), self.print_stall)
|
|
def check_busy(self, eventtime):
|
|
est_print_time = self.mcu.estimated_print_time(eventtime)
|
|
lookahead_empty = not self.move_queue.queue
|
|
return self.print_time, est_print_time, lookahead_empty
|
|
def get_status(self, eventtime):
|
|
print_time = self.print_time
|
|
estimated_print_time = self.mcu.estimated_print_time(eventtime)
|
|
last_print_start_time = self.last_print_start_time
|
|
buffer_time = print_time - estimated_print_time
|
|
if buffer_time > -1. or not self.special_queuing_state:
|
|
status = "Printing"
|
|
else:
|
|
status = "Ready"
|
|
return { 'status': status, 'print_time': print_time,
|
|
'estimated_print_time': estimated_print_time,
|
|
'position': homing.Coord(*self.commanded_pos),
|
|
'printing_time': print_time - last_print_start_time }
|
|
def _handle_request_restart(self, print_time):
|
|
self.motor_off()
|
|
def _handle_shutdown(self):
|
|
self.move_queue.reset()
|
|
def get_kinematics(self):
|
|
return self.kin
|
|
def get_max_velocity(self):
|
|
return self.max_velocity, self.max_accel
|
|
def get_max_axis_halt(self):
|
|
# Determine the maximum velocity a cartesian axis could halt
|
|
# at due to the junction_deviation setting. The 8.0 was
|
|
# determined experimentally.
|
|
return min(self.max_velocity,
|
|
math.sqrt(8. * self.junction_deviation * self.max_accel))
|
|
def _calc_junction_deviation(self):
|
|
scv2 = self.square_corner_velocity**2
|
|
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
|
|
self.max_accel_to_decel = min(self.requested_accel_to_decel,
|
|
self.max_accel)
|
|
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
|
|
def cmd_SET_VELOCITY_LIMIT(self, params):
|
|
print_time = self.get_last_move_time()
|
|
gcode = self.printer.lookup_object('gcode')
|
|
max_velocity = gcode.get_float('VELOCITY', params, self.max_velocity,
|
|
above=0.)
|
|
max_accel = gcode.get_float('ACCEL', params, self.max_accel, above=0.)
|
|
square_corner_velocity = gcode.get_float(
|
|
'SQUARE_CORNER_VELOCITY', params, self.square_corner_velocity,
|
|
minval=0.)
|
|
self.requested_accel_to_decel = gcode.get_float(
|
|
'ACCEL_TO_DECEL', params, self.requested_accel_to_decel, above=0.)
|
|
self.max_velocity = min(max_velocity, self.config_max_velocity)
|
|
self.max_accel = min(max_accel, self.config_max_accel)
|
|
self.square_corner_velocity = min(square_corner_velocity,
|
|
self.config_square_corner_velocity)
|
|
self._calc_junction_deviation()
|
|
msg = ("max_velocity: %.6f\n"
|
|
"max_accel: %.6f\n"
|
|
"max_accel_to_decel: %.6f\n"
|
|
"square_corner_velocity: %.6f"% (
|
|
max_velocity, max_accel, self.requested_accel_to_decel,
|
|
square_corner_velocity))
|
|
self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
|
|
gcode.respond_info(msg, log=False)
|
|
def cmd_M204(self, params):
|
|
gcode = self.printer.lookup_object('gcode')
|
|
if 'S' in params:
|
|
# Use S for accel
|
|
accel = gcode.get_float('S', params, above=0.)
|
|
elif 'P' in params and 'T' in params:
|
|
# Use minimum of P and T for accel
|
|
accel = min(gcode.get_float('P', params, above=0.),
|
|
gcode.get_float('T', params, above=0.))
|
|
else:
|
|
gcode.respond_info('Invalid M204 command "%s"'
|
|
% (params['#original'],))
|
|
return
|
|
self.max_accel = min(accel, self.config_max_accel)
|
|
self._calc_junction_deviation()
|
|
|
|
def add_printer_objects(config):
|
|
config.get_printer().add_object('toolhead', ToolHead(config))
|
|
kinematics.extruder.add_printer_objects(config)
|