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# Support for duplication and mirroring modes for IDEX printers
#
# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
# Copyright (C) 2023 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import chelper
INACTIVE = 'INACTIVE'
PRIMARY = 'PRIMARY'
COPY = 'COPY'
MIRROR = 'MIRROR'
class DualCarriages:
VALID_MODES = [PRIMARY, COPY, MIRROR]
def __init__(self, dc_config, rail_0, rail_1, axis):
self.printer = dc_config.get_printer()
self.axis = axis
self.dc = (rail_0, rail_1)
self.saved_states = {}
safe_dist = dc_config.getfloat('safe_distance', None, minval=0.)
if safe_dist is None:
dc0_rail = rail_0.get_rail()
dc1_rail = rail_1.get_rail()
safe_dist = min(abs(dc0_rail.position_min - dc1_rail.position_min),
abs(dc0_rail.position_max - dc1_rail.position_max))
self.safe_dist = safe_dist
self.printer.add_object('dual_carriage', self)
self.printer.register_event_handler("klippy:ready", self._handle_ready)
gcode = self.printer.lookup_object('gcode')
gcode.register_command(
'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
desc=self.cmd_SET_DUAL_CARRIAGE_help)
gcode.register_command(
'SAVE_DUAL_CARRIAGE_STATE',
self.cmd_SAVE_DUAL_CARRIAGE_STATE,
desc=self.cmd_SAVE_DUAL_CARRIAGE_STATE_help)
gcode.register_command(
'RESTORE_DUAL_CARRIAGE_STATE',
self.cmd_RESTORE_DUAL_CARRIAGE_STATE,
desc=self.cmd_RESTORE_DUAL_CARRIAGE_STATE_help)
def get_rails(self):
return self.dc
def get_primary_rail(self):
for rail in self.dc:
if rail.mode == PRIMARY:
return rail
return None
def toggle_active_dc_rail(self, index):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
pos = toolhead.get_position()
kin = toolhead.get_kinematics()
for i, dc in enumerate(self.dc):
dc_rail = dc.get_rail()
if i != index:
if dc.is_active():
dc.inactivate(pos)
target_dc = self.dc[index]
if target_dc.mode != PRIMARY:
newpos = pos[:self.axis] + [target_dc.get_axis_position(pos)] \
+ pos[self.axis+1:]
target_dc.activate(PRIMARY, newpos, old_position=pos)
toolhead.set_position(newpos)
kin.update_limits(self.axis, target_dc.get_rail().get_range())
def home(self, homing_state):
kin = self.printer.lookup_object('toolhead').get_kinematics()
enumerated_dcs = list(enumerate(self.dc))
if (self.get_dc_order(0, 1) > 0) != \
self.dc[0].get_rail().get_homing_info().positive_dir:
# The second carriage must home first, because the carriages home in
# the same direction and the first carriage homes on the second one
enumerated_dcs.reverse()
for i, dc_rail in enumerated_dcs:
self.toggle_active_dc_rail(i)
kin.home_axis(homing_state, self.axis, dc_rail.get_rail())
# Restore the original rails ordering
self.toggle_active_dc_rail(0)
def get_status(self, eventtime=None):
return {('carriage_%d' % (i,)) : dc.mode
for (i, dc) in enumerate(self.dc)}
def get_kin_range(self, toolhead, mode):
pos = toolhead.get_position()
axes_pos = [dc.get_axis_position(pos) for dc in self.dc]
dc0_rail = self.dc[0].get_rail()
dc1_rail = self.dc[1].get_rail()
if mode != PRIMARY or self.dc[0].is_active():
range_min = dc0_rail.position_min
range_max = dc0_rail.position_max
else:
range_min = dc1_rail.position_min
range_max = dc1_rail.position_max
safe_dist = self.safe_dist
if not safe_dist:
return (range_min, range_max)
if mode == COPY:
range_min = max(range_min,
axes_pos[0] - axes_pos[1] + dc1_rail.position_min)
range_max = min(range_max,
axes_pos[0] - axes_pos[1] + dc1_rail.position_max)
elif mode == MIRROR:
if self.get_dc_order(0, 1) > 0:
range_min = max(range_min,
0.5 * (sum(axes_pos) + safe_dist))
range_max = min(range_max,
sum(axes_pos) - dc1_rail.position_min)
else:
range_max = min(range_max,
0.5 * (sum(axes_pos) - safe_dist))
range_min = max(range_min,
sum(axes_pos) - dc1_rail.position_max)
else:
# mode == PRIMARY
active_idx = 1 if self.dc[1].is_active() else 0
inactive_idx = 1 - active_idx
if self.get_dc_order(active_idx, inactive_idx) > 0:
range_min = max(range_min, axes_pos[inactive_idx] + safe_dist)
else:
range_max = min(range_max, axes_pos[inactive_idx] - safe_dist)
if range_min > range_max:
# During multi-MCU homing it is possible that the carriage
# position will end up below position_min or above position_max
# if position_endstop is too close to the rail motion ends due
# to inherent latencies of the data transmission between MCUs.
# This can result in an invalid range_min > range_max range
# in certain modes, which may confuse the kinematics code.
# So, return an empty range instead, which will correctly
# block the carriage motion until a different mode is selected
# which actually permits carriage motion.
return (range_min, range_min)
return (range_min, range_max)
def get_dc_order(self, first, second):
if first == second:
return 0
# Check the relative order of the first and second carriages and
# return -1 if the first carriage position is always smaller
# than the second one and 1 otherwise
first_rail = self.dc[first].get_rail()
second_rail = self.dc[second].get_rail()
first_homing_info = first_rail.get_homing_info()
second_homing_info = second_rail.get_homing_info()
if first_homing_info.positive_dir != second_homing_info.positive_dir:
# Carriages home away from each other
return 1 if first_homing_info.positive_dir else -1
# Carriages home in the same direction
if first_rail.position_endstop > second_rail.position_endstop:
return 1
return -1
def activate_dc_mode(self, index, mode):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
kin = toolhead.get_kinematics()
if mode == INACTIVE:
self.dc[index].inactivate(toolhead.get_position())
elif mode == PRIMARY:
self.toggle_active_dc_rail(index)
else:
self.toggle_active_dc_rail(0)
self.dc[index].activate(mode, toolhead.get_position())
kin.update_limits(self.axis, self.get_kin_range(toolhead, mode))
def _handle_ready(self):
# Apply the transform later during Klipper initialization to make sure
# that input shaping can pick up the correct stepper kinematic flags.
for dc in self.dc:
dc.apply_transform()
cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode"
def cmd_SET_DUAL_CARRIAGE(self, gcmd):
index = gcmd.get_int('CARRIAGE', minval=0, maxval=1)
mode = gcmd.get('MODE', PRIMARY).upper()
if mode not in self.VALID_MODES:
raise gcmd.error("Invalid mode=%s specified" % (mode,))
if mode in [COPY, MIRROR]:
if index == 0:
raise gcmd.error(
"Mode=%s is not supported for carriage=0" % (mode,))
curtime = self.printer.get_reactor().monotonic()
kin = self.printer.lookup_object('toolhead').get_kinematics()
axis = 'xyz'[self.axis]
if axis not in kin.get_status(curtime)['homed_axes']:
raise gcmd.error(
"Axis %s must be homed prior to enabling mode=%s" %
(axis, mode))
self.activate_dc_mode(index, mode)
cmd_SAVE_DUAL_CARRIAGE_STATE_help = \
"Save dual carriages modes and positions"
def cmd_SAVE_DUAL_CARRIAGE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
pos = self.printer.lookup_object('toolhead').get_position()
self.saved_states[state_name] = {
'carriage_modes': [dc.mode for dc in self.dc],
'axes_positions': [dc.get_axis_position(pos) for dc in self.dc],
}
cmd_RESTORE_DUAL_CARRIAGE_STATE_help = \
"Restore dual carriages modes and positions"
def cmd_RESTORE_DUAL_CARRIAGE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
saved_state = self.saved_states.get(state_name)
if saved_state is None:
raise gcmd.error("Unknown DUAL_CARRIAGE state: %s" % (state_name,))
move_speed = gcmd.get_float('MOVE_SPEED', 0., above=0.)
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
if gcmd.get_int('MOVE', 1):
homing_speed = 99999999.
cur_pos = []
for i, dc in enumerate(self.dc):
self.toggle_active_dc_rail(i)
homing_speed = min(homing_speed, dc.get_rail().homing_speed)
cur_pos.append(toolhead.get_position())
move_pos = list(cur_pos[0])
dl = [saved_state['axes_positions'][i] - cur_pos[i][self.axis]
for i in range(2)]
primary_ind = 0 if abs(dl[0]) >= abs(dl[1]) else 1
self.toggle_active_dc_rail(primary_ind)
move_pos[self.axis] = saved_state['axes_positions'][primary_ind]
dc_mode = INACTIVE if min(abs(dl[0]), abs(dl[1])) < 0.000000001 \
else COPY if dl[0] * dl[1] > 0 else MIRROR
if dc_mode != INACTIVE:
self.dc[1-primary_ind].activate(dc_mode, cur_pos[primary_ind])
self.dc[1-primary_ind].override_axis_scaling(
abs(dl[1-primary_ind] / dl[primary_ind]),
cur_pos[primary_ind])
toolhead.manual_move(move_pos, move_speed or homing_speed)
toolhead.flush_step_generation()
# Make sure the scaling coefficients are restored with the mode
self.dc[0].inactivate(move_pos)
self.dc[1].inactivate(move_pos)
for i, dc in enumerate(self.dc):
saved_mode = saved_state['carriage_modes'][i]
self.activate_dc_mode(i, saved_mode)
class DualCarriagesRail:
ENC_AXES = [b'x', b'y']
def __init__(self, rail, axis, active):
self.rail = rail
self.axis = axis
self.mode = (INACTIVE, PRIMARY)[active]
self.offset = 0.
self.scale = 1. if active else 0.
ffi_main, ffi_lib = chelper.get_ffi()
self.dc_stepper_kinematics = []
self.orig_stepper_kinematics = []
for s in rail.get_steppers():
sk = ffi_main.gc(ffi_lib.dual_carriage_alloc(), ffi_lib.free)
orig_sk = s.get_stepper_kinematics()
ffi_lib.dual_carriage_set_sk(sk, orig_sk)
# Set the default transform for the other axis
ffi_lib.dual_carriage_set_transform(
sk, self.ENC_AXES[1 - axis], 1., 0.)
self.dc_stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
s.set_stepper_kinematics(sk)
def get_rail(self):
return self.rail
def is_active(self):
return self.mode != INACTIVE
def get_axis_position(self, position):
return position[self.axis] * self.scale + self.offset
def apply_transform(self):
ffi_main, ffi_lib = chelper.get_ffi()
for sk in self.dc_stepper_kinematics:
ffi_lib.dual_carriage_set_transform(
sk, self.ENC_AXES[self.axis], self.scale, self.offset)
def activate(self, mode, position, old_position=None):
old_axis_position = self.get_axis_position(old_position or position)
self.scale = -1. if mode == MIRROR else 1.
self.offset = old_axis_position - position[self.axis] * self.scale
self.apply_transform()
self.mode = mode
def inactivate(self, position):
self.offset = self.get_axis_position(position)
self.scale = 0.
self.apply_transform()
self.mode = INACTIVE
def override_axis_scaling(self, new_scale, position):
old_axis_position = self.get_axis_position(position)
self.scale = math.copysign(new_scale, self.scale)
self.offset = old_axis_position - position[self.axis] * self.scale
self.apply_transform()
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