diff options
Diffstat (limited to 'klippy/extras/gcode_move.py')
| -rw-r--r-- | klippy/extras/gcode_move.py | 284 |
1 files changed, 174 insertions, 110 deletions
diff --git a/klippy/extras/gcode_move.py b/klippy/extras/gcode_move.py index 94a0ce42..8a49cc30 100644 --- a/klippy/extras/gcode_move.py +++ b/klippy/extras/gcode_move.py @@ -5,116 +5,146 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import logging + 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("toolhead:update_extra_axes", - self._update_extra_axes) - printer.register_event_handler("gcode:command_error", - self.reset_last_position) - printer.register_event_handler("extruder:activate_extruder", - self._handle_activate_extruder) - printer.register_event_handler("homing:home_rails_end", - self._handle_home_rails_end) + 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( + "toolhead:update_extra_axes", self._update_extra_axes + ) + printer.register_event_handler("gcode:command_error", self.reset_last_position) + printer.register_event_handler( + "extruder:activate_extruder", self._handle_activate_extruder + ) + printer.register_event_handler( + "homing:home_rails_end", self._handle_home_rails_end + ) self.is_printer_ready = False # Register g-code commands - gcode = printer.lookup_object('gcode') + gcode = printer.lookup_object("gcode") handlers = [ - 'G1', 'G20', 'G21', - 'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221', - 'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE', + "G1", + "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) + 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, - desc=self.cmd_GET_POSITION_help) + 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, desc=self.cmd_GET_POSITION_help + ) self.Coord = gcode.Coord # 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.axis_map = {'X':0, 'Y': 1, 'Z': 2, 'E': 3} - self.speed = 25. - self.speed_factor = 1. / 60. - self.extrude_factor = 1. + self.axis_map = {"X": 0, "Y": 1, "Z": 2, "E": 3} + self.speed = 25.0 + self.speed_factor = 1.0 / 60.0 + self.extrude_factor = 1.0 # G-Code state self.saved_states = {} self.move_transform = self.move_with_transform = None - self.position_with_transform = (lambda: [0., 0., 0., 0.]) + self.position_with_transform = lambda: [0.0, 0.0, 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') + toolhead = self.printer.lookup_object("toolhead") self.move_with_transform = toolhead.move self.position_with_transform = toolhead.get_position self.reset_last_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) + 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.extrude_factor = 1.0 self.base_position[3] = self.last_position[3] + def _handle_home_rails_end(self, homing_state, rails): self.reset_last_position() for axis in homing_state.get_axes(): self.base_position[axis] = self.homing_position[axis] + 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") + 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) + 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. + return self.speed_factor * 60.0 + 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': self.Coord(*self.homing_position[:4]), - 'position': self.Coord(*self.last_position[:4]), - 'gcode_position': self.Coord(*move_position[:4]), + "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": self.Coord(*self.homing_position[:4]), + "position": self.Coord(*self.last_position[:4]), + "gcode_position": self.Coord(*move_position[:4]), } + def reset_last_position(self): if self.is_printer_ready: self.last_position = self.position_with_transform() + def _update_extra_axes(self): - toolhead = self.printer.lookup_object('toolhead') - axis_map = {'X':0, 'Y': 1, 'Z': 2, 'E': 3} + toolhead = self.printer.lookup_object("toolhead") + axis_map = {"X": 0, "Y": 1, "Z": 2, "E": 3} extra_axes = toolhead.get_extra_axes() for index, ea in enumerate(extra_axes): if ea is None: @@ -124,8 +154,9 @@ class GCodeMove: continue axis_map[gcode_id] = index self.axis_map = axis_map - self.base_position[4:] = [0.] * (len(extra_axes) - 4) + self.base_position[4:] = [0.0] * (len(extra_axes) - 4) self.reset_last_position() + # G-Code movement commands def cmd_G1(self, gcmd): # Move @@ -135,7 +166,7 @@ class GCodeMove: if axis in params: v = float(params[axis]) absolute_coord = self.absolute_coord - if axis == 'E': + if axis == "E": v *= self.extrude_factor if not self.absolute_extrude: absolute_coord = False @@ -145,38 +176,45 @@ class GCodeMove: else: # value relative to base coordinate position self.last_position[pos] = v + self.base_position[pos] - if 'F' in params: - gcode_speed = float(params['F']) - if gcode_speed <= 0.: - raise gcmd.error("Invalid speed in '%s'" - % (gcmd.get_commandline(),)) + if "F" in params: + gcode_speed = float(params["F"]) + if gcode_speed <= 0.0: + 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(),)) + raise gcmd.error("Unable to parse move '%s'" % (gcmd.get_commandline(),)) self.move_with_transform(self.last_position, self.speed) + # G-Code coordinate manipulation def cmd_G20(self, gcmd): # Set units to inches - raise gcmd.error('Machine does not support G20 (inches) command') + 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' ] + offsets = [gcmd.get_float(a, None) for a in "XYZE"] for i, offset in enumerate(offsets): if offset is not None: if i == 3: @@ -184,29 +222,34 @@ class GCodeMove: self.base_position[i] = self.last_position[i] - offset if offsets == [None, None, None, None]: self.base_position[:4] = self.last_position[:4] + 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.) + value = gcmd.get_float("S", 100.0, above=0.0) / (60.0 * 100.0) 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. + new_extrude_factor = gcmd.get_float("S", 100.0, above=0.0) / 100.0 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'): + move_delta = [0.0, 0.0, 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) + offset = gcmd.get_float(axis + "_ADJUST", None) if offset is None: continue offset += self.homing_position[pos] @@ -215,76 +258,97 @@ class GCodeMove: 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.) + if gcmd.get_int("MOVE", 0): + speed = gcmd.get_float("MOVE_SPEED", self.speed, above=0.0) 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') + 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, + "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_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[:4] = state['base_position'][:4] - self.homing_position = list(state['homing_position']) - self.speed = state['speed'] - self.speed_factor = state['speed_factor'] - self.extrude_factor = state['extrude_factor'] + self.absolute_coord = state["absolute_coord"] + self.absolute_extrude = state["absolute_extrude"] + self.base_position[:4] = state["base_position"][:4] + 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] + 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] + if gcmd.get_int("MOVE", 0): + speed = gcmd.get_float("MOVE_SPEED", self.speed, above=0.0) + self.last_position[:3] = state["last_position"][:3] self.move_with_transform(self.last_position, speed) - cmd_GET_POSITION_help = ( - "Return information on the current location of the toolhead") + + cmd_GET_POSITION_help = "Return information on the current location of the toolhead" + def cmd_GET_POSITION(self, gcmd): - toolhead = self.printer.lookup_object('toolhead', None) + 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]) + mcu_pos = " ".join( + ["%s:%d" % (s.get_name(), s.get_mcu_position()) for s in steppers] + ) cinfo = [(s.get_name(), s.get_commanded_position()) for s in steppers] stepper_pos = " ".join(["%s:%.6f" % (a, v) for a, v in cinfo]) kinfo = zip("XYZ", kin.calc_position(dict(cinfo))) kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo]) - toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip( - "XYZE", toolhead.get_position()[:4])]) - 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)) + toolhead_pos = " ".join( + ["%s:%.6f" % (a, v) for a, v in zip("XYZE", toolhead.get_position()[:4])] + ) + 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) |