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, 47 insertions, 30 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index a2f8c0a6..5d635a35 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -56,7 +56,8 @@ class MCU_stepper:
     def get_mcu(self):
         return self._mcu
     def get_name(self, short=False):
-        if short and self._name.startswith('stepper_'):
+        if short and self._name.startswith('stepper'):
+            # Skip an extra symbol after 'stepper'
             return self._name[8:]
         return self._name
     def units_in_radians(self):
@@ -315,23 +316,21 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False):
 # Stepper controlled rails
 ######################################################################
 
-# A motor control "rail" with one (or more) steppers and one (or more)
+# A motor control carriage with one (or more) steppers and one (or more)
 # endstops.
-class PrinterRail:
+class GenericPrinterRail:
     def __init__(self, config, need_position_minmax=True,
                  default_position_endstop=None, units_in_radians=False):
-        # Primary stepper and endstop
         self.stepper_units_in_radians = units_in_radians
+        self.printer = config.get_printer()
+        self.name = config.get_name().split()[-1]
         self.steppers = []
         self.endstops = []
         self.endstop_map = {}
-        self.add_extra_stepper(config)
-        mcu_stepper = self.steppers[0]
-        self.get_name = mcu_stepper.get_name
-        self.get_commanded_position = mcu_stepper.get_commanded_position
-        self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
+        self.endstop_pin = config.get('endstop_pin')
         # Primary endstop position
-        mcu_endstop = self.endstops[0][0]
+        self.query_endstops = self.printer.load_object(config, 'query_endstops')
+        mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name)
         if hasattr(mcu_endstop, "get_position_endstop"):
             self.position_endstop = mcu_endstop.get_position_endstop()
         elif default_position_endstop is None:
@@ -380,6 +379,11 @@ class PrinterRail:
             raise config.error(
                 "Invalid homing_positive_dir / position_endstop in '%s'"
                 % (config.get_name(),))
+    def get_name(self, short=False):
+        if short and self.name.startswith('stepper'):
+            # Skip an extra symbol after 'stepper'
+            return self.name[8:]
+        return self.name
     def get_range(self):
         return self.position_min, self.position_max
     def get_homing_info(self):
@@ -394,16 +398,8 @@ class PrinterRail:
         return list(self.steppers)
     def get_endstops(self):
         return list(self.endstops)
-    def add_extra_stepper(self, config):
-        stepper = PrinterStepper(config, self.stepper_units_in_radians)
-        self.steppers.append(stepper)
-        if self.endstops and config.get('endstop_pin', None) is None:
-            # No endstop defined - use primary endstop
-            self.endstops[0][0].add_stepper(stepper)
-            return
-        endstop_pin = config.get('endstop_pin')
-        printer = config.get_printer()
-        ppins = printer.lookup_object('pins')
+    def lookup_endstop(self, endstop_pin, name):
+        ppins = self.printer.lookup_object('pins')
         pin_params = ppins.parse_pin(endstop_pin, True, True)
         # Normalize pin name
         pin_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin'])
@@ -415,19 +411,32 @@ class PrinterRail:
             self.endstop_map[pin_name] = {'endstop': mcu_endstop,
                                           'invert': pin_params['invert'],
                                           'pullup': pin_params['pullup']}
-            name = stepper.get_name(short=True)
             self.endstops.append((mcu_endstop, name))
-            query_endstops = printer.load_object(config, 'query_endstops')
-            query_endstops.register_endstop(mcu_endstop, name)
+            self.query_endstops.register_endstop(mcu_endstop, name)
         else:
             mcu_endstop = endstop['endstop']
             changed_invert = pin_params['invert'] != endstop['invert']
             changed_pullup = pin_params['pullup'] != endstop['pullup']
             if changed_invert or changed_pullup:
-                raise error("Printer rail %s shared endstop pin %s "
-                            "must specify the same pullup/invert settings" % (
-                                self.get_name(), pin_name))
+                raise self.printer.config_error(
+                        "Printer rail %s shared endstop pin %s "
+                        "must specify the same pullup/invert settings" % (
+                            self.get_name(), pin_name))
+        return mcu_endstop
+    def add_stepper(self, stepper, endstop_pin=None, endstop_name=None):
+        if not self.steppers:
+            self.get_commanded_position = stepper.get_commanded_position
+            self.calc_position_from_coord = stepper.calc_position_from_coord
+        self.steppers.append(stepper)
+        if endstop_pin is not None:
+            mcu_endstop = self.lookup_endstop(
+                    endstop_pin, endstop_name or stepper.get_name(short=True))
+        else:
+            mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name)
         mcu_endstop.add_stepper(stepper)
+    def add_stepper_from_config(self, config):
+        stepper = PrinterStepper(config, self.stepper_units_in_radians)
+        self.add_stepper(stepper, config.get('endstop_pin', None))
     def setup_itersolve(self, alloc_func, *params):
         for stepper in self.steppers:
             stepper.setup_itersolve(alloc_func, *params)
@@ -441,13 +450,21 @@ class PrinterRail:
         for stepper in self.steppers:
             stepper.set_position(coord)
 
+def LookupRail(config, need_position_minmax=True,
+               default_position_endstop=None, units_in_radians=False):
+    rail = GenericPrinterRail(config, need_position_minmax,
+                              default_position_endstop, units_in_radians)
+    rail.add_stepper_from_config(config)
+    return rail
+
 # Wrapper for dual stepper motor support
 def LookupMultiRail(config, need_position_minmax=True,
-                 default_position_endstop=None, units_in_radians=False):
-    rail = PrinterRail(config, need_position_minmax,
-                       default_position_endstop, units_in_radians)
+                    default_position_endstop=None, units_in_radians=False):
+    rail = LookupRail(config, need_position_minmax,
+                      default_position_endstop, units_in_radians)
     for i in range(1, 99):
         if not config.has_section(config.get_name() + str(i)):
             break
-        rail.add_extra_stepper(config.getsection(config.get_name() + str(i)))
+        rail.add_stepper_from_config(
+                config.getsection(config.get_name() + str(i)))
     return rail