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Diffstat (limited to 'klippy/extras/motion_report.py')
| -rw-r--r-- | klippy/extras/motion_report.py | 146 |
1 files changed, 146 insertions, 0 deletions
diff --git a/klippy/extras/motion_report.py b/klippy/extras/motion_report.py new file mode 100644 index 00000000..50d9f32f --- /dev/null +++ b/klippy/extras/motion_report.py @@ -0,0 +1,146 @@ +# Diagnostic tool for reporting stepper and kinematic positions +# +# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging +import chelper + +# Extract stepper queue_step messages +class DumpStepper: + def __init__(self, printer, mcu_stepper): + self.printer = printer + self.mcu_stepper = mcu_stepper + def get_step_queue(self, start_clock, end_clock): + mcu_stepper = self.mcu_stepper + res = [] + while 1: + data, count = mcu_stepper.dump_steps(128, start_clock, end_clock) + if not count: + break + res.append((data, count)) + if count < len(data): + break + end_clock = data[count-1].first_clock + res.reverse() + return ([data[i] for i in range(count-1, -1, -1) + for data, count in res], res) + def log_steps(self, data): + if not data: + return + out = [] + out.append("Dumping stepper '%s' (%s) %d queue_step:" + % (self.mcu_stepper.get_name(), + self.mcu_stepper.get_mcu().get_name(), len(data))) + for i, s in enumerate(data): + out.append("queue_step %d: t=%d p=%d i=%d c=%d a=%d" + % (i, s.first_clock, s.start_position, s.interval, + s.step_count, s.add)) + logging.info('\n'.join(out)) + +NEVER_TIME = 9999999999999999. + +# Extract trapezoidal motion queue (trapq) +class DumpTrapQ: + def __init__(self, printer, name, trapq): + self.printer = printer + self.name = name + self.trapq = trapq + def get_trapq(self, start_time, end_time): + ffi_main, ffi_lib = chelper.get_ffi() + res = [] + while 1: + data = ffi_main.new('struct pull_move[128]') + count = ffi_lib.trapq_extract_old(self.trapq, data, len(data), + start_time, end_time) + if not count: + break + res.append((data, count)) + if count < len(data): + break + end_time = data[count-1].print_time + res.reverse() + return ([data[i] for i in range(count-1, -1, -1) + for data, count in res], res) + def log_trapq(self, data): + if not data: + return + out = ["Dumping trapq '%s' %d moves:" % (self.name, len(data))] + for i, m in enumerate(data): + out.append("move %d: pt=%.6f mt=%.6f sv=%.6f a=%.6f" + " sp=(%.6f,%.6f,%.6f) ar=(%.6f,%.6f,%.6f)" + % (i, m.print_time, m.move_t, m.start_v, m.accel, + m.start_x, m.start_y, m.start_z, m.x_r, m.y_r, m.z_r)) + logging.info('\n'.join(out)) + def get_trapq_position(self, print_time): + ffi_main, ffi_lib = chelper.get_ffi() + data = ffi_main.new('struct pull_move[1]') + count = ffi_lib.trapq_extract_old(self.trapq, data, 1, 0., print_time) + if not count: + return None + move = data[0] + move_time = max(0., min(move.move_t, print_time - move.print_time)) + dist = (move.start_v + .5 * move.accel * move_time) * move_time; + return (move.start_x + move.x_r * dist, move.start_y + move.y_r * dist, + move.start_z + move.z_r * dist) + +class PrinterMotionReport: + def __init__(self, config): + self.printer = config.get_printer() + self.steppers = {} + self.trapqs = {} + self.printer.register_event_handler("klippy:connect", self._connect) + self.printer.register_event_handler("klippy:shutdown", self._shutdown) + def register_stepper(self, config, mcu_stepper): + ds = DumpStepper(self.printer, mcu_stepper) + self.steppers[mcu_stepper.get_name()] = ds + def _connect(self): + # Lookup toolhead trapq + toolhead = self.printer.lookup_object("toolhead") + trapq = toolhead.get_trapq() + self.trapqs['toolhead'] = DumpTrapQ(self.printer, 'toolhead', trapq) + # Lookup extruder trapqs + for i in range(99): + ename = "extruder%d" % (i,) + if ename == "extruder0": + ename = "extruder" + extruder = self.printer.lookup_object(ename, None) + if extruder is None: + break + etrapq = extruder.get_trapq() + self.trapqs[ename] = DumpTrapQ(self.printer, ename, etrapq) + # Shutdown handling + def _dump_shutdown(self, eventtime): + # Log stepper queue_steps on mcu that started shutdown (if any) + shutdown_time = NEVER_TIME + for dstepper in self.steppers.values(): + mcu = dstepper.mcu_stepper.get_mcu() + sc = mcu.get_shutdown_clock() + if not sc: + continue + shutdown_time = min(shutdown_time, mcu.clock_to_print_time(sc)) + clock_100ms = mcu.seconds_to_clock(0.100) + start_clock = max(0, sc - clock_100ms) + end_clock = sc + clock_100ms + data, cdata = dstepper.get_step_queue(start_clock, end_clock) + dstepper.log_steps(data) + if shutdown_time >= NEVER_TIME: + return + # Log trapqs around time of shutdown + for dtrapq in self.trapqs.values(): + data, cdata = dtrapq.get_trapq(shutdown_time - .100, + shutdown_time + .100) + dtrapq.log_trapq(data) + # Log estimated toolhead position at time of shutdown + dtrapq = self.trapqs.get('toolhead') + if dtrapq is None: + return + pos = dtrapq.get_trapq_position(shutdown_time) + if pos is not None: + logging.info("Requested toolhead position at shutdown time %.6f: %s" + , shutdown_time, pos) + def _shutdown(self): + self.printer.get_reactor().register_callback(self._dump_shutdown) + +def load_config(config): + return PrinterMotionReport(config) |