idex_modes: Fixed the case when carriages home in the same direction (#6310)

Previous version of the code assumed that dual carriages home away
from each other, which is not true on some machines, which have the
second dual carriage homing on the first carriage. The new code
correctly identifies the relative order of the carriages now.

This fixes discrepancies between the documentation and the actual
implementation of the carriages kinematic ranges calculation.

Notes about dual_carriage homing and proximity checks changes

Fixed clearing of homing state after homing in certain modes

In case of multi-MCU homing it is possible that the carriage position
will end up outside of the allowed motion range due to latencies in data
transmission between MCUs. Selecting certain modes after homing could
result in home state clearing instead of blocking the motion of the
active carriage. This commit fixes this undesired behavior.

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

1 files changed, 45 insertions, 8 deletions

diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py
index b54f9657..2ce91afe 100644
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@@ -65,7 +65,13 @@ class DualCarriages:
         kin.update_limits(self.axis, target_dc.get_rail().get_range())
     def home(self, homing_state):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for i, dc_rail in enumerate(self.dc):
+        enumerated_dcs = list(enumerate(self.dc))
+        if (self.get_dc_order(0, 1) > 0) != \
+                self.dc[0].get_rail().get_homing_info().positive_dir:
+            # The second carriage must home first, because the carriages home in
+            # the same direction and the first carriage homes on the second one
+            enumerated_dcs.reverse()
+        for i, dc_rail in enumerated_dcs:
             self.toggle_active_dc_rail(i, override_rail=True)
             kin.home_axis(homing_state, self.axis, dc_rail.get_rail())
         # Restore the original rails ordering
@@ -78,9 +84,15 @@ class DualCarriages:
         axes_pos = [dc.get_axis_position(pos) for dc in self.dc]
         dc0_rail = self.dc[0].get_rail()
         dc1_rail = self.dc[1].get_rail()
-        range_min = dc0_rail.position_min
-        range_max = dc0_rail.position_max
+        if mode != PRIMARY or self.dc[0].is_active():
+            range_min = dc0_rail.position_min
+            range_max = dc0_rail.position_max
+        else:
+            range_min = dc1_rail.position_min
+            range_max = dc1_rail.position_max
         safe_dist = self.safe_dist
+        if not safe_dist:
+            return (range_min, range_max)
 
         if mode == COPY:
             range_min = max(range_min,
@@ -88,7 +100,7 @@ class DualCarriages:
             range_max = min(range_max,
                             axes_pos[0] - axes_pos[1] + dc1_rail.position_max)
         elif mode == MIRROR:
-            if dc0_rail.get_homing_info().positive_dir:
+            if self.get_dc_order(0, 1) > 0:
                 range_min = max(range_min,
                                 0.5 * (sum(axes_pos) + safe_dist))
                 range_max = min(range_max,
@@ -102,14 +114,39 @@ class DualCarriages:
             # mode == PRIMARY
             active_idx = 1 if self.dc[1].is_active() else 0
             inactive_idx = 1 - active_idx
-            if active_idx:
-                range_min = dc1_rail.position_min
-                range_max = dc1_rail.position_max
-            if self.dc[active_idx].get_rail().get_homing_info().positive_dir:
+            if self.get_dc_order(active_idx, inactive_idx) > 0:
                 range_min = max(range_min, axes_pos[inactive_idx] + safe_dist)
             else:
                 range_max = min(range_max, axes_pos[inactive_idx] - safe_dist)
+        if range_min > range_max:
+            # During multi-MCU homing it is possible that the carriage
+            # position will end up below position_min or above position_max
+            # if position_endstop is too close to the rail motion ends due
+            # to inherent latencies of the data transmission between MCUs.
+            # This can result in an invalid range_min > range_max range
+            # in certain modes, which may confuse the kinematics code.
+            # So, return an empty range instead, which will correctly
+            # block the carriage motion until a different mode is selected
+            # which actually permits carriage motion.
+            return (range_min, range_min)
         return (range_min, range_max)
+    def get_dc_order(self, first, second):
+        if first == second:
+            return 0
+        # Check the relative order of the first and second carriages and
+        # return -1 if the first carriage position is always smaller
+        # than the second one and 1 otherwise
+        first_rail = self.dc[first].get_rail()
+        second_rail = self.dc[second].get_rail()
+        first_homing_info = first_rail.get_homing_info()
+        second_homing_info = second_rail.get_homing_info()
+        if first_homing_info.positive_dir != second_homing_info.positive_dir:
+            # Carriages home away from each other
+            return 1 if first_homing_info.positive_dir else -1
+        # Carriages home in the same direction
+        if first_rail.position_endstop > second_rail.position_endstop:
+            return 1
+        return -1
     def activate_dc_mode(self, index, mode):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()