diff options
Diffstat (limited to 'klippy/kinematics/idex_modes.py')
| -rw-r--r-- | klippy/kinematics/idex_modes.py | 57 |
1 files changed, 41 insertions, 16 deletions
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py index 1ca79c86..73fac776 100644 --- a/klippy/kinematics/idex_modes.py +++ b/klippy/kinematics/idex_modes.py @@ -4,6 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math +import chelper class DualCarriages: def __init__(self, printer, rail_0, rail_1, axis): @@ -24,7 +25,8 @@ class DualCarriages: for i, dc in enumerate(self.dc): dc_rail = dc.get_rail() if i != index: - dc.inactivate(pos) + if dc.is_active(): + dc.inactivate(pos) kin.override_rail(3, dc_rail) elif dc.is_active() is False: newpos = pos[:self.axis] + [dc.axis_position] \ @@ -79,27 +81,50 @@ class DualCarriagesRail: self.stepper_alloc_active = stepper_alloc_active self.stepper_alloc_inactive = stepper_alloc_inactive self.axis_position = -1 - def _stepper_alloc(self, position, active=True): + self.stepper_active_sk = {} + self.stepper_inactive_sk = {} + for s in rail.get_steppers(): + self._save_sk(self.status, s, s.get_stepper_kinematics()) + def _alloc_sk(self, alloc_func, *params): + ffi_main, ffi_lib = chelper.get_ffi() + return ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free) + def _get_sk(self, status, stepper): + sk = None + if status == self.ACTIVE: + sk = self.stepper_active_sk.get(stepper, None) + if sk is None and self.stepper_alloc_active: + sk = self._alloc_sk(*self.stepper_alloc_active) + self._save_sk(status, stepper, sk) + elif status == self.INACTIVE: + sk = self.stepper_inactive_sk.get(stepper, None) + if sk is None and self.stepper_alloc_inactive: + sk = self._alloc_sk(*self.stepper_alloc_inactive) + self._save_sk(status, stepper, sk) + return sk + def _save_sk(self, status, stepper, sk): + if status == self.ACTIVE: + self.stepper_active_sk[stepper] = sk + elif status == self.INACTIVE: + self.stepper_inactive_sk[stepper] = sk + def _update_stepper_alloc(self, position, active=True): toolhead = self.printer.lookup_object('toolhead') self.axis_position = position[self.axis] self.rail.set_trapq(None) - if active is True: - self.status = self.ACTIVE - if self.stepper_alloc_active is not None: - self.rail.setup_itersolve(*self.stepper_alloc_active) - self.rail.set_position(position) - self.rail.set_trapq(toolhead.get_trapq()) - else: - self.status = self.INACTIVE - if self.stepper_alloc_inactive is not None: - self.rail.setup_itersolve(*self.stepper_alloc_inactive) - self.rail.set_position(position) - self.rail.set_trapq(toolhead.get_trapq()) + old_status = self.status + self.status = (self.INACTIVE, self.ACTIVE)[active] + for s in self.rail.get_steppers(): + sk = self._get_sk(self.status, s) + if sk is None: + return + old_sk = s.set_stepper_kinematics(sk) + self._save_sk(old_status, s, old_sk) + self.rail.set_position(position) + self.rail.set_trapq(toolhead.get_trapq()) def get_rail(self): return self.rail def is_active(self): return self.status == self.ACTIVE def activate(self, position): - self._stepper_alloc(position, active=True) + self._update_stepper_alloc(position, active=True) def inactivate(self, position): - self._stepper_alloc(position, active=False) + self._update_stepper_alloc(position, active=False) |