kinematics: Generic Cartesian kinematics implementation (#6815)

* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

1 files changed, 10 insertions, 13 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 2a50a05d..0524469a 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -29,14 +29,10 @@ class CartKinematics:
             self.rails.append(stepper.LookupMultiRail(dc_config))
             self.rails[3].setup_itersolve('cartesian_stepper_alloc',
                                           dc_axis.encode())
-            dc_rail_0 = idex_modes.DualCarriagesRail(
-                    self.rails[self.dual_carriage_axis],
-                    axis=self.dual_carriage_axis, active=True)
-            dc_rail_1 = idex_modes.DualCarriagesRail(
-                    self.rails[3], axis=self.dual_carriage_axis, active=False)
             self.dc_module = idex_modes.DualCarriages(
-                    dc_config, dc_rail_0, dc_rail_1,
-                    axis=self.dual_carriage_axis)
+                    self.printer, [self.rails[self.dual_carriage_axis]],
+                    [self.rails[3]], axes=[self.dual_carriage_axis],
+                    safe_dist=config.getfloat('safe_distance', None, minval=0.))
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
@@ -52,9 +48,10 @@ class CartKinematics:
     def calc_position(self, stepper_positions):
         rails = self.rails
         if self.dc_module:
-            primary_rail = self.dc_module.get_primary_rail().get_rail()
-            rails = (rails[:self.dc_module.axis] +
-                     [primary_rail] + rails[self.dc_module.axis+1:])
+            primary_rail = self.dc_module.get_primary_rail(
+                    self.dual_carriage_axis)
+            rails = (rails[:self.dual_carriage_axis] +
+                     [primary_rail] + rails[self.dual_carriage_axis+1:])
         return [stepper_positions[rail.get_name()] for rail in rails]
     def update_limits(self, i, range):
         l, h = self.limits[i]
@@ -67,8 +64,8 @@ class CartKinematics:
             rail.set_position(newpos)
         for axis_name in homing_axes:
             axis = "xyz".index(axis_name)
-            if self.dc_module and axis == self.dc_module.axis:
-                rail = self.dc_module.get_primary_rail().get_rail()
+            if self.dc_module and axis == self.dual_carriage_axis:
+                rail = self.dc_module.get_primary_rail(self.dual_carriage_axis)
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
@@ -93,7 +90,7 @@ class CartKinematics:
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
             if self.dc_module is not None and axis == self.dual_carriage_axis:
-                self.dc_module.home(homing_state)
+                self.dc_module.home(homing_state, self.dual_carriage_axis)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
     def _check_endstops(self, move):