extruder: Add initial support for multi-extruders

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

3 files changed, 69 insertions, 14 deletions

diff --git a/klippy/extruder.py b/klippy/extruder.py
index a4d6bd5a..6ce4fdfd 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -40,6 +40,10 @@ class PrinterExtruder:
             'max_extrude_only_accel', max_accel * self.max_extrude_ratio
             , above=0.)
         self.stepper.set_max_jerk(9999999.9, 9999999.9)
+    def get_heater(self):
+        return self.heater
+    def set_active(self, print_time, is_active):
+        return self.extrude_pos
     def motor_off(self, move_time):
         self.stepper.motor_enable(move_time, 0)
         self.need_motor_enable = True
@@ -201,6 +205,8 @@ class PrinterExtruder:
 class DummyExtruder:
     def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
         pass
+    def set_active(self, print_time, is_active):
+        return 0.
     def motor_off(self, move_time):
         pass
     def check_move(self, move):
@@ -212,6 +218,22 @@ class DummyExtruder:
         return flush_count
 
 def add_printer_objects(printer, config):
-    if config.has_section('extruder'):
-        printer.add_object('extruder', PrinterExtruder(
-            printer, config.getsection('extruder')))
+    for i in range(99):
+        section = 'extruder%d' % (i,)
+        if not config.has_section(section):
+            if not i and config.has_section('extruder'):
+                printer.add_object('extruder0', PrinterExtruder(
+                    printer, config.getsection('extruder')))
+                continue
+            break
+        printer.add_object(section, PrinterExtruder(
+            printer, config.getsection(section)))
+
+def get_printer_extruders(printer):
+    out = []
+    for i in range(99):
+        extruder = printer.objects.get('extruder%d' % (i,))
+        if extruder is None:
+            break
+        out.append(extruder)
+    return out
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 96caacb7..bfaa7d19 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections
-import homing
+import homing, extruder
 
 # Parse out incoming GCode and find and translate head movements
 class GCodeParser:
@@ -27,6 +27,7 @@ class GCodeParser:
         self.is_printer_ready = False
         self.need_ack = False
         self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
+        self.extruder = None
         self.speed = 25.0
         self.absolutecoord = self.absoluteextrude = True
         self.base_position = [0.0, 0.0, 0.0, 0.0]
@@ -56,9 +57,11 @@ class GCodeParser:
         # Lookup printer components
         self.toolhead = self.printer.objects.get('toolhead')
         self.heater_nozzle = None
-        extruder = self.printer.objects.get('extruder')
-        if extruder:
-            self.heater_nozzle = extruder.heater
+        extruders = extruder.get_printer_extruders(self.printer)
+        if extruders:
+            self.extruder = extruders[0]
+            self.heater_nozzle = self.extruder.get_heater()
+            self.toolhead.set_extruder(self.extruder)
         self.heater_bed = self.printer.objects.get('heater_bed')
         self.fan = self.printer.objects.get('fan')
         if self.is_fileinput and self.fd_handle is None:
@@ -233,7 +236,28 @@ class GCodeParser:
         if not cmd:
             logging.debug(params['#original'])
             return
+        if cmd[0] == 'T' and len(cmd) > 1 and cmd[1].isdigit():
+            # Tn command has to be handled specially
+            self.cmd_Tn(params)
+            return
         self.respond('echo:Unknown command:"%s"' % (cmd,))
+    def cmd_Tn(self, params):
+        # Select Tool
+        index = self.get_int('T', params)
+        extruders = extruder.get_printer_extruders(self.printer)
+        if self.extruder is None or index < 0 or index >= len(extruders):
+            self.respond_error("Extruder %d not configured" % (index,))
+            return
+        e = extruders[index]
+        if self.extruder is e:
+            return
+        try:
+            self.toolhead.set_extruder(e)
+        except homing.EndstopError, e:
+            self.respond_error(str(e))
+            return
+        self.extruder = e
+        self.last_position = self.toolhead.get_position()
     all_handlers = [
         'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
         'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 7b25c7e5..ab064cfe 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -96,8 +96,8 @@ LOOKAHEAD_FLUSH_TIME = 0.250
 # Class to track a list of pending move requests and to facilitate
 # "look-ahead" across moves to reduce acceleration between moves.
 class MoveQueue:
-    def __init__(self, extruder_lookahead):
-        self.extruder_lookahead = extruder_lookahead
+    def __init__(self):
+        self.extruder_lookahead = None
         self.queue = []
         self.leftover = 0
         self.junction_flush = LOOKAHEAD_FLUSH_TIME
@@ -107,6 +107,8 @@ class MoveQueue:
         self.junction_flush = LOOKAHEAD_FLUSH_TIME
     def set_flush_time(self, flush_time):
         self.junction_flush = flush_time
+    def set_extruder(self, extruder):
+        self.extruder_lookahead = extruder.lookahead
     def flush(self, lazy=False):
         self.junction_flush = LOOKAHEAD_FLUSH_TIME
         update_flush_count = lazy
@@ -181,9 +183,7 @@ class ToolHead:
     def __init__(self, printer, config):
         self.printer = printer
         self.reactor = printer.reactor
-        self.extruder = printer.objects.get('extruder')
-        if self.extruder is None:
-            self.extruder = extruder.DummyExtruder()
+        self.extruder = extruder.DummyExtruder()
         kintypes = {'cartesian': cartesian.CartKinematics,
                     'corexy': corexy.CoreXYKinematics,
                     'delta': delta.DeltaKinematics}
@@ -195,7 +195,8 @@ class ToolHead:
             , above=0., maxval=self.max_accel)
         self.junction_deviation = config.getfloat(
             'junction_deviation', 0.02, above=0.)
-        self.move_queue = MoveQueue(self.extruder.lookahead)
+        self.move_queue = MoveQueue()
+        self.move_queue.set_extruder(self.extruder)
         self.commanded_pos = [0., 0., 0., 0.]
         # Print time tracking
         self.buffer_time_low = config.getfloat(
@@ -223,7 +224,8 @@ class ToolHead:
         # before cornering.  The 8. was determined experimentally.
         xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
         self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
-        self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
+        for e in extruder.get_printer_extruders(printer):
+            e.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
     # Print time tracking
     def update_move_time(self, movetime):
         self.print_time += movetime
@@ -363,6 +365,13 @@ class ToolHead:
     def query_endstops(self):
         last_move_time = self.get_last_move_time()
         return self.kin.query_endstops(last_move_time)
+    def set_extruder(self, extruder):
+        last_move_time = self.get_last_move_time()
+        self.extruder.set_active(last_move_time, False)
+        extrude_pos = extruder.set_active(last_move_time, True)
+        self.extruder = extruder
+        self.move_queue.set_extruder(extruder)
+        self.commanded_pos[3] = extrude_pos
     # Misc commands
     def stats(self, eventtime):
         buffer_time = 0.