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Diffstat (limited to 'klippy/extras/gcode_move.py')
| -rw-r--r-- | klippy/extras/gcode_move.py | 280 |
1 files changed, 280 insertions, 0 deletions
diff --git a/klippy/extras/gcode_move.py b/klippy/extras/gcode_move.py new file mode 100644 index 00000000..08c926e9 --- /dev/null +++ b/klippy/extras/gcode_move.py @@ -0,0 +1,280 @@ +# G-Code G1 movement commands (and associated coordinate manipulation) +# +# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +import homing + +class GCodeMove: + def __init__(self, config): + self.printer = printer = config.get_printer() + printer.register_event_handler("klippy:ready", self._handle_ready) + printer.register_event_handler("klippy:shutdown", self._handle_shutdown) + printer.register_event_handler("toolhead:set_position", + self.reset_last_position) + printer.register_event_handler("toolhead:manual_move", + self.reset_last_position) + printer.register_event_handler("gcode:command_error", + self.reset_last_position) + printer.register_event_handler("extruder:activate_extruder", + self._handle_activate_extruder) + self.is_printer_ready = False + # Register g-code commands + gcode = printer.lookup_object('gcode') + handlers = [ + 'G1', 'G28', 'G20', 'G21', + 'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221', + 'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE', + ] + for cmd in handlers: + func = getattr(self, 'cmd_' + cmd) + desc = getattr(self, 'cmd_' + cmd + '_help', None) + gcode.register_command(cmd, func, False, desc) + gcode.register_command('G0', self.cmd_G1) + gcode.register_command('M114', self.cmd_M114, True) + gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True) + # G-Code coordinate manipulation + self.absolute_coord = self.absolute_extrude = True + self.base_position = [0.0, 0.0, 0.0, 0.0] + self.last_position = [0.0, 0.0, 0.0, 0.0] + self.homing_position = [0.0, 0.0, 0.0, 0.0] + self.speed = 25. + self.speed_factor = 1. / 60. + self.extrude_factor = 1. + # G-Code state + self.saved_states = {} + self.move_transform = self.move_with_transform = None + self.position_with_transform = (lambda: [0., 0., 0., 0.]) + def _handle_ready(self): + self.is_printer_ready = True + if self.move_transform is None: + toolhead = self.printer.lookup_object('toolhead') + self.move_with_transform = toolhead.move + self.position_with_transform = toolhead.get_position + def _handle_shutdown(self): + if not self.is_printer_ready: + return + self.is_printer_ready = False + logging.info("gcode state: absolute_coord=%s absolute_extrude=%s" + " base_position=%s last_position=%s homing_position=%s" + " speed_factor=%s extrude_factor=%s speed=%s", + self.absolute_coord, self.absolute_extrude, + self.base_position, self.last_position, + self.homing_position, self.speed_factor, + self.extrude_factor, self.speed) + def _handle_activate_extruder(self): + self.reset_last_position() + self.extrude_factor = 1. + self.base_position[3] = self.last_position[3] + def set_move_transform(self, transform, force=False): + if self.move_transform is not None and not force: + raise self.printer.config_error( + "G-Code move transform already specified") + old_transform = self.move_transform + if old_transform is None: + old_transform = self.printer.lookup_object('toolhead', None) + self.move_transform = transform + self.move_with_transform = transform.move + self.position_with_transform = transform.get_position + return old_transform + def _get_gcode_position(self): + p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)] + p[3] /= self.extrude_factor + return p + def _get_gcode_speed(self): + return self.speed / self.speed_factor + def _get_gcode_speed_override(self): + return self.speed_factor * 60. + def get_status(self, eventtime=None): + move_position = self._get_gcode_position() + return { + 'speed_factor': self._get_gcode_speed_override(), + 'speed': self._get_gcode_speed(), + 'extrude_factor': self.extrude_factor, + 'absolute_coordinates': self.absolute_coord, + 'absolute_extrude': self.absolute_extrude, + 'homing_origin': homing.Coord(*self.homing_position), + 'position': homing.Coord(*self.last_position), + 'gcode_position': homing.Coord(*move_position), + } + def reset_last_position(self): + if self.is_printer_ready: + self.last_position = self.position_with_transform() + # G-Code movement commands + def cmd_G1(self, gcmd): + # Move + params = gcmd.get_command_parameters() + try: + for pos, axis in enumerate('XYZ'): + if axis in params: + v = float(params[axis]) + if not self.absolute_coord: + # value relative to position of last move + self.last_position[pos] += v + else: + # value relative to base coordinate position + self.last_position[pos] = v + self.base_position[pos] + if 'E' in params: + v = float(params['E']) * self.extrude_factor + if not self.absolute_coord or not self.absolute_extrude: + # value relative to position of last move + self.last_position[3] += v + else: + # value relative to base coordinate position + self.last_position[3] = v + self.base_position[3] + if 'F' in params: + gcode_speed = float(params['F']) + if gcode_speed <= 0.: + raise gcmd.error("Invalid speed in '%s'" + % (gcmd.get_commandline(),)) + self.speed = gcode_speed * self.speed_factor + except ValueError as e: + raise gcmd.error("Unable to parse move '%s'" + % (gcmd.get_commandline(),)) + self.move_with_transform(self.last_position, self.speed) + def cmd_G28(self, gcmd): + # Move to origin + axes = [] + for pos, axis in enumerate('XYZ'): + if gcmd.get(axis, None) is not None: + axes.append(pos) + if not axes: + axes = [0, 1, 2] + homing_state = homing.Homing(self.printer) + homing_state.home_axes(axes) + for axis in homing_state.get_axes(): + self.base_position[axis] = self.homing_position[axis] + # G-Code coordinate manipulation + def cmd_G20(self, gcmd): + # Set units to inches + raise gcmd.error('Machine does not support G20 (inches) command') + def cmd_G21(self, gcmd): + # Set units to millimeters + pass + def cmd_M82(self, gcmd): + # Use absolute distances for extrusion + self.absolute_extrude = True + def cmd_M83(self, gcmd): + # Use relative distances for extrusion + self.absolute_extrude = False + def cmd_G90(self, gcmd): + # Use absolute coordinates + self.absolute_coord = True + def cmd_G91(self, gcmd): + # Use relative coordinates + self.absolute_coord = False + def cmd_G92(self, gcmd): + # Set position + offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ] + for i, offset in enumerate(offsets): + if offset is not None: + if i == 3: + offset *= self.extrude_factor + self.base_position[i] = self.last_position[i] - offset + if offsets == [None, None, None, None]: + self.base_position = list(self.last_position) + def cmd_M114(self, gcmd): + # Get Current Position + p = self._get_gcode_position() + gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) + def cmd_M220(self, gcmd): + # Set speed factor override percentage + value = gcmd.get_float('S', 100., above=0.) / (60. * 100.) + self.speed = self._get_gcode_speed() * value + self.speed_factor = value + def cmd_M221(self, gcmd): + # Set extrude factor override percentage + new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100. + last_e_pos = self.last_position[3] + e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor + self.base_position[3] = last_e_pos - e_value * new_extrude_factor + self.extrude_factor = new_extrude_factor + cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions" + def cmd_SET_GCODE_OFFSET(self, gcmd): + move_delta = [0., 0., 0., 0.] + for pos, axis in enumerate('XYZE'): + offset = gcmd.get_float(axis, None) + if offset is None: + offset = gcmd.get_float(axis + '_ADJUST', None) + if offset is None: + continue + offset += self.homing_position[pos] + delta = offset - self.homing_position[pos] + move_delta[pos] = delta + self.base_position[pos] += delta + self.homing_position[pos] = offset + # Move the toolhead the given offset if requested + if gcmd.get_int('MOVE', 0): + speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.) + for pos, delta in enumerate(move_delta): + self.last_position[pos] += delta + self.move_with_transform(self.last_position, speed) + cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state" + def cmd_SAVE_GCODE_STATE(self, gcmd): + state_name = gcmd.get('NAME', 'default') + self.saved_states[state_name] = { + 'absolute_coord': self.absolute_coord, + 'absolute_extrude': self.absolute_extrude, + 'base_position': list(self.base_position), + 'last_position': list(self.last_position), + 'homing_position': list(self.homing_position), + 'speed': self.speed, 'speed_factor': self.speed_factor, + 'extrude_factor': self.extrude_factor, + } + cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state" + def cmd_RESTORE_GCODE_STATE(self, gcmd): + state_name = gcmd.get('NAME', 'default') + state = self.saved_states.get(state_name) + if state is None: + raise gcmd.error("Unknown g-code state: %s" % (state_name,)) + # Restore state + self.absolute_coord = state['absolute_coord'] + self.absolute_extrude = state['absolute_extrude'] + self.base_position = list(state['base_position']) + self.homing_position = list(state['homing_position']) + self.speed = state['speed'] + self.speed_factor = state['speed_factor'] + self.extrude_factor = state['extrude_factor'] + # Restore the relative E position + e_diff = self.last_position[3] - state['last_position'][3] + self.base_position[3] += e_diff + # Move the toolhead back if requested + if gcmd.get_int('MOVE', 0): + speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.) + self.last_position[:3] = state['last_position'][:3] + self.move_with_transform(self.last_position, speed) + def cmd_GET_POSITION(self, gcmd): + toolhead = self.printer.lookup_object('toolhead', None) + if toolhead is None: + raise gcmd.error("Printer not ready") + kin = toolhead.get_kinematics() + steppers = kin.get_steppers() + mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position()) + for s in steppers]) + for s in steppers: + s.set_tag_position(s.get_commanded_position()) + stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position()) + for s in steppers]) + kin_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZ", kin.calc_tag_position())]) + toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip( + "XYZE", toolhead.get_position())]) + gcode_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.last_position)]) + base_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZE", self.base_position)]) + homing_pos = " ".join(["%s:%.6f" % (a, v) + for a, v in zip("XYZ", self.homing_position)]) + gcmd.respond_info("mcu: %s\n" + "stepper: %s\n" + "kinematic: %s\n" + "toolhead: %s\n" + "gcode: %s\n" + "gcode base: %s\n" + "gcode homing: %s" + % (mcu_pos, stepper_pos, kin_pos, toolhead_pos, + gcode_pos, base_pos, homing_pos)) + +def load_config(config): + return GCodeMove(config) |