cartesian: Convert step generation to use trapq system

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

2 files changed, 18 insertions, 20 deletions

diff --git a/klippy/chelper/kin_cartesian.c b/klippy/chelper/kin_cartesian.c
index 4ae89e38..86569d4a 100644
--- a/klippy/chelper/kin_cartesian.c
+++ b/klippy/chelper/kin_cartesian.c
@@ -1,6 +1,6 @@
 // Cartesian kinematics stepper pulse time generation
 //
-// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -37,11 +37,15 @@ cartesian_stepper_alloc(char axis)
 {
     struct stepper_kinematics *sk = malloc(sizeof(*sk));
     memset(sk, 0, sizeof(*sk));
-    if (axis == 'x')
+    if (axis == 'x') {
         sk->calc_position_cb = cart_stepper_x_calc_position;
-    else if (axis == 'y')
+        sk->active_flags = AF_X;
+    } else if (axis == 'y') {
         sk->calc_position_cb = cart_stepper_y_calc_position;
-    else if (axis == 'z')
+        sk->active_flags = AF_Y;
+    } else if (axis == 'z') {
         sk->calc_position_cb = cart_stepper_z_calc_position;
+        sk->active_flags = AF_Z;
+    }
     return sk;
 }
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index a08c3770..615f4dbd 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -1,6 +1,6 @@
 # Code for handling the kinematics of cartesian robots
 #
-# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2019  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -11,16 +11,18 @@ class CartKinematics:
         self.printer = config.get_printer()
         # Setup axis rails
         self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
-                      for n in ['x', 'y', 'z']]
+                      for n in 'xyz']
         for rail, axis in zip(self.rails, 'xyz'):
             rail.setup_itersolve('cartesian_stepper_alloc', axis)
+        for s in self.get_steppers():
+            s.set_trapq(toolhead.get_trapq())
+            toolhead.register_move_handler(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
             'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
         self.max_z_accel = config.getfloat(
             'max_z_accel', max_accel, above=0., maxval=max_accel)
-        self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
         # Setup stepper max halt velocity
         max_halt_velocity = toolhead.get_max_axis_halt()
@@ -37,6 +39,8 @@ class CartKinematics:
             self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
             dc_rail = stepper.LookupMultiRail(dc_config)
             dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
+            for s in dc_rail.get_steppers():
+                toolhead.register_move_handler(s.generate_steps)
             dc_rail.set_max_jerk(max_halt_velocity, max_accel)
             self.dual_carriage_rails = [
                 self.rails[self.dual_carriage_axis], dc_rail]
@@ -86,14 +90,6 @@ class CartKinematics:
             rail.motor_enable(print_time, 0)
         for rail in self.dual_carriage_rails:
             rail.motor_enable(print_time, 0)
-        self.need_motor_enable = True
-    def _check_motor_enable(self, print_time, move):
-        need_motor_enable = False
-        for i, rail in enumerate(self.rails):
-            if move.axes_d[i]:
-                rail.motor_enable(print_time, 1)
-            need_motor_enable |= not rail.is_motor_enabled()
-        self.need_motor_enable = need_motor_enable
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):
@@ -119,11 +115,7 @@ class CartKinematics:
         move.limit_speed(
             self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
     def move(self, print_time, move):
-        if self.need_motor_enable:
-            self._check_motor_enable(print_time, move)
-        for i, rail in enumerate(self.rails):
-            if move.axes_d[i]:
-                rail.step_itersolve(move.cmove)
+        pass
     def get_status(self):
         return {'homed_axes': "".join([a
                     for a, (l, h) in zip("XYZ", self.limits) if l <= h])
@@ -134,6 +126,8 @@ class CartKinematics:
         toolhead.get_last_move_time()
         dc_rail = self.dual_carriage_rails[carriage]
         dc_axis = self.dual_carriage_axis
+        self.rails[dc_axis].set_trapq(None)
+        dc_rail.set_trapq(toolhead.get_trapq())
         self.rails[dc_axis] = dc_rail
         extruder_pos = toolhead.get_position()[3]
         toolhead.set_position(self.calc_position() + [extruder_pos])