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# 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 ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], 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 ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], 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, 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;
pos = (move.start_x + move.x_r * dist, move.start_y + move.y_r * dist,
move.start_z + move.z_r * dist)
velocity = move.start_v + move.accel * move_time
return pos, velocity
STATUS_REFRESH_TIME = 0.250
class PrinterMotionReport:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
self.trapqs = {}
# get_status information
self.next_status_time = 0.
gcode = self.printer.lookup_object('gcode')
self.last_status = {'live_position': gcode.Coord(0., 0., 0., 0.),
'live_velocity': 0., 'live_extruder_velocity': 0.}
# Register handlers
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, velocity = 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)
# Status reporting
def get_status(self, eventtime):
if eventtime < self.next_status_time or not self.trapqs:
return self.last_status
self.next_status_time = eventtime + STATUS_REFRESH_TIME
xyzpos = (0., 0., 0.)
epos = (0.,)
xyzvelocity = evelocity = 0.
# Calculate current requested toolhead position
mcu = self.printer.lookup_object('mcu')
print_time = mcu.estimated_print_time(eventtime)
pos, velocity = self.trapqs['toolhead'].get_trapq_position(print_time)
if pos is not None:
xyzpos = pos[:3]
xyzvelocity = velocity
# Calculate requested position of currently active extruder
toolhead = self.printer.lookup_object('toolhead')
ehandler = self.trapqs.get(toolhead.get_extruder().get_name())
if ehandler is not None:
pos, velocity = ehandler.get_trapq_position(print_time)
if pos is not None:
epos = (pos[0],)
evelocity = velocity
# Report status
self.last_status = dict(self.last_status)
self.last_status['live_position'] = toolhead.Coord(*(xyzpos + epos))
self.last_status['live_velocity'] = xyzvelocity
self.last_status['live_extruder_velocity'] = evelocity
return self.last_status
def load_config(config):
return PrinterMotionReport(config)
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