From b1011e3fb14df7470d9b74e59042383012b199c6 Mon Sep 17 00:00:00 2001
From: Dmitry Butyugin <dmbutyugin@google.com>
Date: Sat, 17 May 2025 17:28:58 +0200
Subject: [PATCH] dual_carriage: Fixed input shaper stepper kinematics
 initialization

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
---
 klippy/extras/input_shaper.py   |  4 ++++
 klippy/kinematics/idex_modes.py | 12 +++++++++---
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/klippy/extras/input_shaper.py b/klippy/extras/input_shaper.py
index a628289e..82d63572 100644
--- a/klippy/extras/input_shaper.py
+++ b/klippy/extras/input_shaper.py
@@ -101,6 +101,10 @@ class InputShaper:
                                desc=self.cmd_SET_INPUT_SHAPER_help)
     def get_shapers(self):
         return self.shapers
+    def init_for_steppers(self, steppers):
+        ffi_main, ffi_lib = chelper.get_ffi()
+        for s in steppers:
+            self._get_input_shaper_stepper_kinematics(s)
     def connect(self):
         self.toolhead = self.printer.lookup_object("toolhead")
         # Configure initial values
diff --git a/klippy/kinematics/idex_modes.py b/klippy/kinematics/idex_modes.py
index ee9ee31d..c7c2305c 100644
--- a/klippy/kinematics/idex_modes.py
+++ b/klippy/kinematics/idex_modes.py
@@ -18,7 +18,7 @@ class DualCarriages:
                  safe_dist={}):
         self.printer = printer
         self.axes = axes
-        self._init_steppers(primary_rails + dual_rails)
+        steppers = self._init_steppers(primary_rails + dual_rails)
         self.primary_rails = [
                 DualCarriagesRail(c, dual_rails[i], axes[i], active=True)
                 for i, c in enumerate(primary_rails)]
@@ -28,6 +28,7 @@ class DualCarriages:
         self.dc_rails = collections.OrderedDict(
                 [(c.rail.get_name(short=True), c)
                  for c in self.primary_rails + self.dual_rails])
+        self._init_shapers(steppers)
         self.saved_states = {}
         self.safe_dist = {}
         for i, dc in enumerate(dual_rails):
@@ -75,6 +76,13 @@ class DualCarriages:
             self.dc_stepper_kinematics.append(sk)
             self.orig_stepper_kinematics.append(orig_sk)
             s.set_stepper_kinematics(sk)
+        return steppers
+    def _init_shapers(self, steppers):
+        input_shaper = self.printer.lookup_object("input_shaper", None)
+        if input_shaper is not None:
+            # Make sure to initialize input shaper stepper kinematics
+            # before modifying IDEX stepper kinematics.
+            input_shaper.init_for_steppers(steppers)
     def get_axes(self):
         return self.axes
     def get_primary_rail(self, axis):
@@ -213,8 +221,6 @@ class DualCarriages:
             dc.activate(mode, toolhead.get_position())
         kin.update_limits(axis, self.get_kin_range(toolhead, mode, axis))
     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_rail in self.dc_rails.values():
             dc_rail.apply_transform()
     cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode"