mirror of https://github.com/Desuuuu/klipper.git
106 lines
4.4 KiB
Python
106 lines
4.4 KiB
Python
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# Support for duplication and mirroring modes for IDEX printers
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#
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# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.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 math
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class DualCarriages:
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def __init__(self, printer, rail_0, rail_1, axis):
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self.printer = printer
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self.axis = axis
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self.dc = (rail_0, rail_1)
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self.saved_state = None
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self.printer.add_object('dual_carriage', self)
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command(
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'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
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desc=self.cmd_SET_DUAL_CARRIAGE_help)
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def toggle_active_dc_rail(self, index):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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pos = toolhead.get_position()
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kin = toolhead.get_kinematics()
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for i, dc in enumerate(self.dc):
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dc_rail = dc.get_rail()
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if i != index:
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dc.inactivate(pos)
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kin.override_rail(3, dc_rail)
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elif dc.is_active() is False:
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newpos = pos[:self.axis] + [dc.axis_position] \
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+ pos[self.axis+1:]
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dc.activate(newpos)
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kin.override_rail(self.axis, dc_rail)
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toolhead.set_position(newpos)
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kin.update_limits(self.axis, dc_rail.get_range())
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def get_status(self, eventtime):
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dc0, dc1 = self.dc
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if (dc0.is_active() is True):
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return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_0' }
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else:
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return { 'mode': 'FULL_CONTROL', 'active_carriage': 'CARRIAGE_1' }
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def save_idex_state(self):
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dc0, dc1 = self.dc
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if (dc0.is_active() is True):
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mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_0')
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else:
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mode, active_carriage = ('FULL_CONTROL', 'CARRIAGE_1')
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self.saved_state = {
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'mode': mode,
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'active_carriage': active_carriage,
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'axis_positions': (dc0.axis_position, dc1.axis_position)
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}
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def restore_idex_state(self):
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if self.saved_state is not None:
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# set carriage 0 active
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if (self.saved_state['active_carriage'] == 'CARRIAGE_0'
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and self.dc[0].is_active() is False):
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self.toggle_active_dc_rail(0)
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# set carriage 1 active
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elif (self.saved_state['active_carriage'] == 'CARRIAGE_1'
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and self.dc[1].is_active() is False):
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self.toggle_active_dc_rail(1)
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cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
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def cmd_SET_DUAL_CARRIAGE(self, gcmd):
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index = gcmd.get_int('CARRIAGE', minval=0, maxval=1)
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if (not(self.dc[0].is_active() == self.dc[1].is_active() == True)
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and self.dc[index].is_active() is False):
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self.toggle_active_dc_rail(index)
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class DualCarriagesRail:
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ACTIVE=1
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INACTIVE=2
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def __init__(self, printer, rail, axis, active, stepper_alloc_active,
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stepper_alloc_inactive=None):
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self.printer = printer
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self.rail = rail
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self.axis = axis
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self.status = (self.INACTIVE, self.ACTIVE)[active]
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self.stepper_alloc_active = stepper_alloc_active
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self.stepper_alloc_inactive = stepper_alloc_inactive
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self.axis_position = -1
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def _stepper_alloc(self, position, active=True):
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toolhead = self.printer.lookup_object('toolhead')
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self.axis_position = position[self.axis]
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self.rail.set_trapq(None)
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if active is True:
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self.status = self.ACTIVE
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if self.stepper_alloc_active is not None:
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self.rail.setup_itersolve(*self.stepper_alloc_active)
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self.rail.set_position(position)
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self.rail.set_trapq(toolhead.get_trapq())
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else:
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self.status = self.INACTIVE
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if self.stepper_alloc_inactive is not None:
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self.rail.setup_itersolve(*self.stepper_alloc_inactive)
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self.rail.set_position(position)
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self.rail.set_trapq(toolhead.get_trapq())
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def get_rail(self):
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return self.rail
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def is_active(self):
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return self.status == self.ACTIVE
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def activate(self, position):
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self._stepper_alloc(position, active=True)
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def inactivate(self, position):
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self._stepper_alloc(position, active=False)
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