diff options
Diffstat (limited to 'klippy/kinematics/kinematic_stepper.py')
| -rw-r--r-- | klippy/kinematics/kinematic_stepper.py | 65 |
1 files changed, 42 insertions, 23 deletions
diff --git a/klippy/kinematics/kinematic_stepper.py b/klippy/kinematics/kinematic_stepper.py index c82f0855..7d983ed1 100644 --- a/klippy/kinematics/kinematic_stepper.py +++ b/klippy/kinematics/kinematic_stepper.py @@ -7,86 +7,105 @@ import logging, re import stepper, chelper + def parse_carriages_string(carriages_str, printer_carriages, parse_error): nxt = 0 - pat = re.compile('[+-]') - coeffs = [0.] * 3 + pat = re.compile("[+-]") + coeffs = [0.0] * 3 ref_carriages = [] while nxt < len(carriages_str): - match = pat.search(carriages_str, nxt+1) + match = pat.search(carriages_str, nxt + 1) end = len(carriages_str) if match is None else match.start() term = carriages_str[nxt:end].strip() - term_lst = term.split('*') + term_lst = term.split("*") if len(term_lst) not in [1, 2]: - raise parse_error( - "Invalid term '%s' in '%s'" % (term, carriages_str)) + raise parse_error("Invalid term '%s' in '%s'" % (term, carriages_str)) if len(term_lst) == 2: try: coeff = float(term_lst[0]) except ValueError: raise error("Invalid float '%s'" % term_lst[0]) else: - coeff = -1. if term_lst[0].startswith('-') else 1. - if term_lst[0].startswith('-') or term_lst[0].startswith('+'): + coeff = -1.0 if term_lst[0].startswith("-") else 1.0 + if term_lst[0].startswith("-") or term_lst[0].startswith("+"): term_lst[0] = term_lst[0][1:] c = term_lst[-1] if c not in printer_carriages: - raise parse_error("Invalid '%s' carriage referenced in '%s'" % - (c, carriages_str)) + raise parse_error( + "Invalid '%s' carriage referenced in '%s'" % (c, carriages_str) + ) carriage = printer_carriages[c] j = carriage.get_axis() if coeffs[j]: - raise error("Carriage '%s' was referenced multiple times in '%s'" % - (c, carriages_str)) + raise error( + "Carriage '%s' was referenced multiple times in '%s'" + % (c, carriages_str) + ) coeffs[j] = coeff ref_carriages.append(carriage) nxt = end return coeffs, ref_carriages + class KinematicStepper: def __init__(self, config, printer_carriages): self.printer = config.get_printer() self.stepper = stepper.PrinterStepper(config) self.kin_coeffs, self.carriages = parse_carriages_string( - config.get('carriages'), printer_carriages, config.error) + config.get("carriages"), printer_carriages, config.error + ) if not any(self.kin_coeffs): raise config.error( - "'%s' must provide a valid 'carriages' configuration" % - self.stepper.get_name()) + "'%s' must provide a valid 'carriages' configuration" + % self.stepper.get_name() + ) self.stepper.setup_itersolve( - 'generic_cartesian_stepper_alloc', - self.kin_coeffs[0], self.kin_coeffs[1], self.kin_coeffs[2]) + "generic_cartesian_stepper_alloc", + self.kin_coeffs[0], + self.kin_coeffs[1], + self.kin_coeffs[2], + ) self.stepper_sk = self.stepper.get_stepper_kinematics() # Add stepper to the carriages it references for sc in self.carriages: sc.add_stepper(self) + def get_name(self, short=False): name = self.stepper.get_name(short) - if short and name.startswith('stepper '): + if short and name.startswith("stepper "): return name[8:] return name + def get_stepper(self): return self.stepper + def get_kin_coeffs(self): return tuple(self.kin_coeffs) + def get_active_axes(self): return [i for i, c in enumerate(self.kin_coeffs) if c] + def get_carriages(self): return self.carriages + def update_kin_coeffs(self, kin_coeffs): self.kin_coeffs = kin_coeffs ffi_main, ffi_lib = chelper.get_ffi() ffi_lib.generic_cartesian_stepper_set_coeffs( - self.stepper_sk, kin_coeffs[0], kin_coeffs[1], kin_coeffs[2]) + self.stepper_sk, kin_coeffs[0], kin_coeffs[1], kin_coeffs[2] + ) + def update_carriages(self, carriages_str, printer_carriages, report_error): kin_coeffs, carriages = parse_carriages_string( - carriages_str, printer_carriages, - report_error or self.printer.command_error) + carriages_str, printer_carriages, report_error or self.printer.command_error + ) if report_error is not None and not any(kin_coeffs): raise report_error( - "A valid string that references at least one carriage" - " must be provided for '%s'" % self.get_name()) + "A valid string that references at least one carriage" + " must be provided for '%s'" % self.get_name() + ) self.carriages = carriages self.update_kin_coeffs(kin_coeffs) + def set_position(self, coord): self.stepper.set_position(coord) |