firmware_retraction: Implementation of tuneable G10/G11 firmware retraction (#1617)

This supports getting and setting of retraction parameters without
having to restart klippy.

Signed-off-by: Len Trigg <lenbok@gmail.com>

1 files changed, 89 insertions, 0 deletions

diff --git a/klippy/extras/firmware_retraction.py b/klippy/extras/firmware_retraction.py
new file mode 100644
index 00000000..c4b2a3ac
--- /dev/null
+++ b/klippy/extras/firmware_retraction.py
@@ -0,0 +1,89 @@
+# Support for Marlin/Smoothie/Reprap style firmware retraction via G10/G11
+#
+# Copyright (C) 2019  Len Trigg <lenbok@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class FirmwareRetraction:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.retract_length = config.getfloat('retract_length', 0., minval=0.)
+        self.retract_speed = config.getfloat('retract_speed', 20., minval=1)
+        self.unretract_extra_length = config.getfloat(
+            'unretract_extra_length', 0., minval=0.)
+        self.unretract_speed = config.getfloat('unretract_speed', 10., minval=1)
+        self.z_hop = config.getfloat('z_hop', 0., minval=0.)
+        self.unretract_length = (self.retract_length
+        + self.unretract_extra_length)
+        self.is_retracted = False
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_command('SET_RETRACTION', self.cmd_SET_RETRACTION)
+        self.gcode.register_command('GET_RETRACTION', self.cmd_GET_RETRACTION)
+        self.gcode.register_command('G10', self.cmd_G10)
+        self.gcode.register_command('G11', self.cmd_G11)
+
+    def get_status(self, eventtime):
+        return {
+            "retract_length": self.retract_length,
+            "retract_speed": self.retract_speed,
+            "unretract_extra_length": self.unretract_extra_length,
+            "unretract_speed": self.unretract_speed,
+            "z_hop": self.z_hop
+        }
+
+    def cmd_SET_RETRACTION(self, params):
+        self.retract_length = self.gcode.get_float(
+            'RETRACT_LENGTH',
+            params, self.retract_length, minval=0.)
+        self.retract_speed = self.gcode.get_float(
+            'RETRACT_SPEED',
+            params, self.retract_speed, minval=1)
+        self.unretract_extra_length = self.gcode.get_float(
+            'UNRETRACT_EXTRA_LENGTH',
+            params, self.unretract_extra_length, minval=0.)
+        self.unretract_speed = self.gcode.get_float(
+            'UNRETRACT_SPEED',
+            params, self.unretract_speed, minval=1)
+        self.z_hop = self.gcode.get_float(
+            'Z_HOP',
+            params, self.z_hop, minval=0.)
+        self.unretract_length = (self.retract_length
+        + self.unretract_extra_length)
+        self.is_retracted = False
+
+    def cmd_GET_RETRACTION(self, params):
+        msg = ("RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f "
+               "UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f "
+               "Z_HOP=%.5f"
+               % (self.retract_length, self.retract_speed,
+                  self.unretract_extra_length, self.unretract_speed,
+                  self.z_hop))
+        self.gcode.respond_info(msg)
+
+    def cmd_G10(self, params):
+        if not self.is_retracted:
+            self.gcode.run_script_from_command(
+                "SAVE_GCODE_STATE NAME=_retract_state\n"
+                "G92 E0\n"
+                "G91\n"
+                "G1 E-%.5f F%d\n"
+                "G1 Z%.5f\n"
+                "RESTORE_GCODE_STATE NAME=_retract_state"
+                % (self.retract_length, self.retract_speed*60, self.z_hop))
+            self.is_retracted = True
+
+    def cmd_G11(self, params):
+        if self.is_retracted:
+            self.gcode.run_script_from_command(
+                "SAVE_GCODE_STATE NAME=_retract_state\n"
+                "G92 E0\n"
+                "G91\n"
+                "G1 E%.5f F%d\n"
+                "G1 Z-%.5f\n"
+                "RESTORE_GCODE_STATE NAME=_retract_state"
+                % (self.unretract_length, self.unretract_speed*60, self.z_hop))
+            self.is_retracted = False
+
+
+def load_config(config):
+    return FirmwareRetraction(config)