1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
|
# 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
from . import bulk_sensor
# Extract stepper queue_step messages
class DumpStepper:
def __init__(self, printer, mcu_stepper):
self.printer = printer
self.mcu_stepper = mcu_stepper
self.last_batch_clock = 0
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('interval', 'count', 'add')}
self.batch_bulk.add_mux_endpoint("motion_report/dump_stepper", "name",
mcu_stepper.get_name(), api_resp)
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))
def _process_batch(self, eventtime):
data, cdata = self.get_step_queue(self.last_batch_clock, 1<<63)
if not data:
return {}
clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
first = data[0]
first_clock = first.first_clock
first_time = clock_to_print_time(first_clock)
self.last_batch_clock = last_clock = data[-1].last_clock
last_time = clock_to_print_time(last_clock)
mcu_pos = first.start_position
start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
step_dist = self.mcu_stepper.get_step_dist()
d = [(s.interval, s.step_count, s.add) for s in data]
return {"data": d, "start_position": start_position,
"start_mcu_position": mcu_pos, "step_distance": step_dist,
"first_clock": first_clock, "first_step_time": first_time,
"last_clock": last_clock, "last_step_time": last_time}
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
self.last_batch_msg = (0., 0.)
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('time', 'duration', 'start_velocity',
'acceleration', 'start_position', 'direction')}
self.batch_bulk.add_mux_endpoint("motion_report/dump_trapq",
"name", name, api_resp)
def extract_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
def _process_batch(self, eventtime):
qtime = self.last_batch_msg[0] + min(self.last_batch_msg[1], 0.100)
data, cdata = self.extract_trapq(qtime, NEVER_TIME)
d = [(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))
for m in data]
if d and d[0] == self.last_batch_msg:
d.pop(0)
if not d:
return {}
self.last_batch_msg = d[-1]
return {"data": d}
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.,
'steppers': [], 'trapq': [],
}
# 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)
# Populate 'trapq' and 'steppers' in get_status result
self.last_status['steppers'] = list(sorted(self.steppers.keys()))
self.last_status['trapq'] = list(sorted(self.trapqs.keys()))
# 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.extract_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)
|
