gcode_move: Move GCodeMove class from gcode.py to new extras module

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 280 insertions, 0 deletions

diff --git a/klippy/extras/gcode_move.py b/klippy/extras/gcode_move.py
new file mode 100644
index 00000000..08c926e9
--- /dev/null
+++ b/klippy/extras/gcode_move.py
@@ -0,0 +1,280 @@
+# G-Code G1 movement commands (and associated coordinate manipulation)
+#
+# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+import homing
+
+class GCodeMove:
+    def __init__(self, config):
+        self.printer = printer = config.get_printer()
+        printer.register_event_handler("klippy:ready", self._handle_ready)
+        printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
+        printer.register_event_handler("toolhead:set_position",
+                                       self.reset_last_position)
+        printer.register_event_handler("toolhead:manual_move",
+                                       self.reset_last_position)
+        printer.register_event_handler("gcode:command_error",
+                                       self.reset_last_position)
+        printer.register_event_handler("extruder:activate_extruder",
+                                       self._handle_activate_extruder)
+        self.is_printer_ready = False
+        # Register g-code commands
+        gcode = printer.lookup_object('gcode')
+        handlers = [
+            'G1', 'G28', 'G20', 'G21',
+            'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
+            'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
+        ]
+        for cmd in handlers:
+            func = getattr(self, 'cmd_' + cmd)
+            desc = getattr(self, 'cmd_' + cmd + '_help', None)
+            gcode.register_command(cmd, func, False, desc)
+        gcode.register_command('G0', self.cmd_G1)
+        gcode.register_command('M114', self.cmd_M114, True)
+        gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
+        # G-Code coordinate manipulation
+        self.absolute_coord = self.absolute_extrude = True
+        self.base_position = [0.0, 0.0, 0.0, 0.0]
+        self.last_position = [0.0, 0.0, 0.0, 0.0]
+        self.homing_position = [0.0, 0.0, 0.0, 0.0]
+        self.speed = 25.
+        self.speed_factor = 1. / 60.
+        self.extrude_factor = 1.
+        # G-Code state
+        self.saved_states = {}
+        self.move_transform = self.move_with_transform = None
+        self.position_with_transform = (lambda: [0., 0., 0., 0.])
+    def _handle_ready(self):
+        self.is_printer_ready = True
+        if self.move_transform is None:
+            toolhead = self.printer.lookup_object('toolhead')
+            self.move_with_transform = toolhead.move
+            self.position_with_transform = toolhead.get_position
+    def _handle_shutdown(self):
+        if not self.is_printer_ready:
+            return
+        self.is_printer_ready = False
+        logging.info("gcode state: absolute_coord=%s absolute_extrude=%s"
+                     " base_position=%s last_position=%s homing_position=%s"
+                     " speed_factor=%s extrude_factor=%s speed=%s",
+                     self.absolute_coord, self.absolute_extrude,
+                     self.base_position, self.last_position,
+                     self.homing_position, self.speed_factor,
+                     self.extrude_factor, self.speed)
+    def _handle_activate_extruder(self):
+        self.reset_last_position()
+        self.extrude_factor = 1.
+        self.base_position[3] = self.last_position[3]
+    def set_move_transform(self, transform, force=False):
+        if self.move_transform is not None and not force:
+            raise self.printer.config_error(
+                "G-Code move transform already specified")
+        old_transform = self.move_transform
+        if old_transform is None:
+            old_transform = self.printer.lookup_object('toolhead', None)
+        self.move_transform = transform
+        self.move_with_transform = transform.move
+        self.position_with_transform = transform.get_position
+        return old_transform
+    def _get_gcode_position(self):
+        p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
+        p[3] /= self.extrude_factor
+        return p
+    def _get_gcode_speed(self):
+        return self.speed / self.speed_factor
+    def _get_gcode_speed_override(self):
+        return self.speed_factor * 60.
+    def get_status(self, eventtime=None):
+        move_position = self._get_gcode_position()
+        return {
+            'speed_factor': self._get_gcode_speed_override(),
+            'speed': self._get_gcode_speed(),
+            'extrude_factor': self.extrude_factor,
+            'absolute_coordinates': self.absolute_coord,
+            'absolute_extrude': self.absolute_extrude,
+            'homing_origin': homing.Coord(*self.homing_position),
+            'position': homing.Coord(*self.last_position),
+            'gcode_position': homing.Coord(*move_position),
+        }
+    def reset_last_position(self):
+        if self.is_printer_ready:
+            self.last_position = self.position_with_transform()
+    # G-Code movement commands
+    def cmd_G1(self, gcmd):
+        # Move
+        params = gcmd.get_command_parameters()
+        try:
+            for pos, axis in enumerate('XYZ'):
+                if axis in params:
+                    v = float(params[axis])
+                    if not self.absolute_coord:
+                        # value relative to position of last move
+                        self.last_position[pos] += v
+                    else:
+                        # value relative to base coordinate position
+                        self.last_position[pos] = v + self.base_position[pos]
+            if 'E' in params:
+                v = float(params['E']) * self.extrude_factor
+                if not self.absolute_coord or not self.absolute_extrude:
+                    # value relative to position of last move
+                    self.last_position[3] += v
+                else:
+                    # value relative to base coordinate position
+                    self.last_position[3] = v + self.base_position[3]
+            if 'F' in params:
+                gcode_speed = float(params['F'])
+                if gcode_speed <= 0.:
+                    raise gcmd.error("Invalid speed in '%s'"
+                                     % (gcmd.get_commandline(),))
+                self.speed = gcode_speed * self.speed_factor
+        except ValueError as e:
+            raise gcmd.error("Unable to parse move '%s'"
+                             % (gcmd.get_commandline(),))
+        self.move_with_transform(self.last_position, self.speed)
+    def cmd_G28(self, gcmd):
+        # Move to origin
+        axes = []
+        for pos, axis in enumerate('XYZ'):
+            if gcmd.get(axis, None) is not None:
+                axes.append(pos)
+        if not axes:
+            axes = [0, 1, 2]
+        homing_state = homing.Homing(self.printer)
+        homing_state.home_axes(axes)
+        for axis in homing_state.get_axes():
+            self.base_position[axis] = self.homing_position[axis]
+    # G-Code coordinate manipulation
+    def cmd_G20(self, gcmd):
+        # Set units to inches
+        raise gcmd.error('Machine does not support G20 (inches) command')
+    def cmd_G21(self, gcmd):
+        # Set units to millimeters
+        pass
+    def cmd_M82(self, gcmd):
+        # Use absolute distances for extrusion
+        self.absolute_extrude = True
+    def cmd_M83(self, gcmd):
+        # Use relative distances for extrusion
+        self.absolute_extrude = False
+    def cmd_G90(self, gcmd):
+        # Use absolute coordinates
+        self.absolute_coord = True
+    def cmd_G91(self, gcmd):
+        # Use relative coordinates
+        self.absolute_coord = False
+    def cmd_G92(self, gcmd):
+        # Set position
+        offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
+        for i, offset in enumerate(offsets):
+            if offset is not None:
+                if i == 3:
+                    offset *= self.extrude_factor
+                self.base_position[i] = self.last_position[i] - offset
+        if offsets == [None, None, None, None]:
+            self.base_position = list(self.last_position)
+    def cmd_M114(self, gcmd):
+        # Get Current Position
+        p = self._get_gcode_position()
+        gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
+    def cmd_M220(self, gcmd):
+        # Set speed factor override percentage
+        value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
+        self.speed = self._get_gcode_speed() * value
+        self.speed_factor = value
+    def cmd_M221(self, gcmd):
+        # Set extrude factor override percentage
+        new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
+        last_e_pos = self.last_position[3]
+        e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
+        self.base_position[3] = last_e_pos - e_value * new_extrude_factor
+        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, gcmd):
+        move_delta = [0., 0., 0., 0.]
+        for pos, axis in enumerate('XYZE'):
+            offset = gcmd.get_float(axis, None)
+            if offset is None:
+                offset = gcmd.get_float(axis + '_ADJUST', None)
+                if offset is None:
+                    continue
+                offset += self.homing_position[pos]
+            delta = offset - self.homing_position[pos]
+            move_delta[pos] = delta
+            self.base_position[pos] += delta
+            self.homing_position[pos] = offset
+        # Move the toolhead the given offset if requested
+        if gcmd.get_int('MOVE', 0):
+            speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
+            for pos, delta in enumerate(move_delta):
+                self.last_position[pos] += delta
+            self.move_with_transform(self.last_position, speed)
+    cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
+    def cmd_SAVE_GCODE_STATE(self, gcmd):
+        state_name = gcmd.get('NAME', 'default')
+        self.saved_states[state_name] = {
+            'absolute_coord': self.absolute_coord,
+            'absolute_extrude': self.absolute_extrude,
+            'base_position': list(self.base_position),
+            'last_position': list(self.last_position),
+            'homing_position': list(self.homing_position),
+            'speed': self.speed, 'speed_factor': self.speed_factor,
+            'extrude_factor': self.extrude_factor,
+        }
+    cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
+    def cmd_RESTORE_GCODE_STATE(self, gcmd):
+        state_name = gcmd.get('NAME', 'default')
+        state = self.saved_states.get(state_name)
+        if state is None:
+            raise gcmd.error("Unknown g-code state: %s" % (state_name,))
+        # Restore state
+        self.absolute_coord = state['absolute_coord']
+        self.absolute_extrude = state['absolute_extrude']
+        self.base_position = list(state['base_position'])
+        self.homing_position = list(state['homing_position'])
+        self.speed = state['speed']
+        self.speed_factor = state['speed_factor']
+        self.extrude_factor = state['extrude_factor']
+        # Restore the relative E position
+        e_diff = self.last_position[3] - state['last_position'][3]
+        self.base_position[3] += e_diff
+        # Move the toolhead back if requested
+        if gcmd.get_int('MOVE', 0):
+            speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
+            self.last_position[:3] = state['last_position'][:3]
+            self.move_with_transform(self.last_position, speed)
+    def cmd_GET_POSITION(self, gcmd):
+        toolhead = self.printer.lookup_object('toolhead', None)
+        if toolhead is None:
+            raise gcmd.error("Printer not ready")
+        kin = toolhead.get_kinematics()
+        steppers = kin.get_steppers()
+        mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
+                            for s in steppers])
+        for s in steppers:
+            s.set_tag_position(s.get_commanded_position())
+        stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
+                                for s in steppers])
+        kin_pos = " ".join(["%s:%.6f" % (a, v)
+                            for a, v in zip("XYZ", kin.calc_tag_position())])
+        toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
+            "XYZE", toolhead.get_position())])
+        gcode_pos = " ".join(["%s:%.6f"  % (a, v)
+                              for a, v in zip("XYZE", self.last_position)])
+        base_pos = " ".join(["%s:%.6f"  % (a, v)
+                             for a, v in zip("XYZE", self.base_position)])
+        homing_pos = " ".join(["%s:%.6f"  % (a, v)
+                               for a, v in zip("XYZ", self.homing_position)])
+        gcmd.respond_info("mcu: %s\n"
+                          "stepper: %s\n"
+                          "kinematic: %s\n"
+                          "toolhead: %s\n"
+                          "gcode: %s\n"
+                          "gcode base: %s\n"
+                          "gcode homing: %s"
+                          % (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
+                             gcode_pos, base_pos, homing_pos))
+
+def load_config(config):
+    return GCodeMove(config)