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, 7 insertions, 10 deletions

diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 6fa120f7..6399f236 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -12,7 +12,7 @@ class HybridCoreXZKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
         # itersolve parameters
-        self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
+        self.rails = [ stepper.LookupRail(config.getsection('stepper_x')),
                        stepper.LookupMultiRail(config.getsection('stepper_y')),
                        stepper.LookupMultiRail(config.getsection('stepper_z'))]
         self.rails[2].get_endstops()[0][0].add_stepper(
@@ -29,16 +29,13 @@ class HybridCoreXZKinematics:
             # dummy for cartesian config users
             dc_config.getchoice('axis', ['x'], default='x')
             # setup second dual carriage rail
-            self.rails.append(stepper.PrinterRail(dc_config))
+            self.rails.append(stepper.LookupRail(dc_config))
             self.rails[2].get_endstops()[0][0].add_stepper(
                 self.rails[3].get_steppers()[0])
             self.rails[3].setup_itersolve('corexz_stepper_alloc', b'+')
-            dc_rail_0 = idex_modes.DualCarriagesRail(
-                self.rails[0], axis=0, active=True)
-            dc_rail_1 = idex_modes.DualCarriagesRail(
-                self.rails[3], axis=0, active=False)
             self.dc_module = idex_modes.DualCarriages(
-                    dc_config, dc_rail_0, dc_rail_1, axis=0)
+                    self.printer, [self.rails[0]], [self.rails[3]], axes=[0],
+                    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)
@@ -69,8 +66,8 @@ class HybridCoreXZKinematics:
             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 == 0:
+                rail = self.dc_module.get_primary_rail(axis)
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
@@ -93,7 +90,7 @@ class HybridCoreXZKinematics:
     def home(self, homing_state):
         for axis in homing_state.get_axes():
             if self.dc_module is not None and axis == 0:
-                self.dc_module.home(homing_state)
+                self.dc_module.home(homing_state, axis)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
     def _check_endstops(self, move):