diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 272 |
1 files changed, 0 insertions, 272 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index ec5439de..d2ce232f 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -325,277 +325,6 @@ class GCodeDispatch: cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd])) gcmd.respond_info("\n".join(cmdhelp), log=False) -# G1 movement commands (and associated coordinate manipulation) -class GCodeMove: - def __init__(self, printer): - self.printer = 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 = self.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._params - 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)) - # Support reading gcode from a pseudo-tty interface class GCodeIO: def __init__(self, printer): @@ -696,5 +425,4 @@ class GCodeIO: def add_early_printer_objects(printer): printer.add_object('gcode', GCodeDispatch(printer)) - printer.add_object('gcode_move', GCodeMove(printer)) printer.add_object('gcode_io', GCodeIO(printer)) |