mirror of
https://github.com/andreili/klipper.git
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cc6736c3e3
* tests: Added a regression test for generic_cartesian kinematics * kinematics: An intial implementation of generic_cartesian kinematics * generic_cartesian: Refactored kinematics configuration API * generic_cartesian: Use stepper instead of kinematic_stepper in configs * generic_cartesian: Added SET_STEPPER_KINEMATICS command * generic_cartesian: Fixed parsing of section names * docs: Generic Caretsian kinematics documentation and config samples * generic_cartesian: Implemented multi-mcu homing validation * generic_cartesian: Fixed typos in docs, minor fixes * generic_cartesian: Renamed `kinematics` option to `carriages` * generic_cartesian: Moved kinematic_stepper.py file * idex_modes: Internal refactoring of handling dual carriages * stepper: Refactored the code to not store a reference to config object * config: Updated example-generic-cartesian config * generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status * idex_modes: Fixed handling stepper kinematics with input shaper enabled * config: Updated configs and tests for SET_DUAL_CARRIAGE new params * generic_cartesian: Avoid inheritance in the added classes Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
93 lines
3.8 KiB
Python
93 lines
3.8 KiB
Python
# Kinematic stepper class for generic cartesian kinematics
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#
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# Copyright (C) 2024 Dmitry Butyugin <dmbutyugin@google.com>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, re
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import stepper, chelper
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def parse_carriages_string(carriages_str, printer_carriages, parse_error):
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nxt = 0
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pat = re.compile('[+-]')
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coeffs = [0.] * 3
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ref_carriages = []
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while nxt < len(carriages_str):
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match = pat.search(carriages_str, nxt+1)
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end = len(carriages_str) if match is None else match.start()
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term = carriages_str[nxt:end].strip()
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term_lst = term.split('*')
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if len(term_lst) not in [1, 2]:
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raise parse_error(
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"Invalid term '%s' in '%s'" % (term, carriages_str))
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if len(term_lst) == 2:
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try:
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coeff = float(term_lst[0])
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except ValueError:
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raise error("Invalid float '%s'" % term_lst[0])
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else:
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coeff = -1. if term_lst[0].startswith('-') else 1.
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if term_lst[0].startswith('-') or term_lst[0].startswith('+'):
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term_lst[0] = term_lst[0][1:]
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c = term_lst[-1]
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if c not in printer_carriages:
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raise parse_error("Invalid '%s' carriage referenced in '%s'" %
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(c, carriages_str))
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carriage = printer_carriages[c]
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j = carriage.get_axis()
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if coeffs[j]:
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raise error("Carriage '%s' was referenced multiple times in '%s'" %
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(c, carriages_str))
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coeffs[j] = coeff
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ref_carriages.append(carriage)
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nxt = end
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return coeffs, ref_carriages
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class KinematicStepper:
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def __init__(self, config, printer_carriages):
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self.printer = config.get_printer()
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self.stepper = stepper.PrinterStepper(config)
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self.kin_coeffs, self.carriages = parse_carriages_string(
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config.get('carriages'), printer_carriages, config.error)
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if not any(self.kin_coeffs):
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raise config.error(
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"'%s' must provide a valid 'carriages' configuration" %
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self.stepper.get_name())
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self.stepper.setup_itersolve(
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'generic_cartesian_stepper_alloc',
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self.kin_coeffs[0], self.kin_coeffs[1], self.kin_coeffs[2])
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self.stepper_sk = self.stepper.get_stepper_kinematics()
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# Add stepper to the carriages it references
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for sc in self.carriages:
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sc.add_stepper(self)
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def get_name(self, short=False):
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name = self.stepper.get_name(short)
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if short and name.startswith('stepper '):
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return name[8:]
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return name
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def get_stepper(self):
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return self.stepper
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def get_kin_coeffs(self):
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return tuple(self.kin_coeffs)
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def get_active_axes(self):
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return [i for i, c in enumerate(self.kin_coeffs) if c]
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def get_carriages(self):
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return self.carriages
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def update_kin_coeffs(self, kin_coeffs):
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self.kin_coeffs = kin_coeffs
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.generic_cartesian_stepper_set_coeffs(
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self.stepper_sk, kin_coeffs[0], kin_coeffs[1], kin_coeffs[2])
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def update_carriages(self, carriages_str, printer_carriages, report_error):
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kin_coeffs, carriages = parse_carriages_string(
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carriages_str, printer_carriages,
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report_error or self.printer.command_error)
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if report_error is not None and not any(kin_coeffs):
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raise report_error(
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"A valid string that references at least one carriage"
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" must be provided for '%s'" % self.get_name())
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self.carriages = carriages
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self.update_kin_coeffs(kin_coeffs)
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def set_position(self, coord):
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self.stepper.set_position(coord)
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