motion_report: Add get_status() method with current requested toolhead position

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-07-19 22:28:40 -04:00
parent 38766c367f
commit 60aa05829f
2 changed files with 55 additions and 4 deletions

View File

@ -189,6 +189,18 @@ The following information is available in
- `last_stats.<statistics_name>`: Statistics information on the
micro-controller connection.
## motion_report
The following information is available in the `motion_report` object
(this object is automatically available if any stepper config section
is defined):
- `live_position`: The requested toolhead position interpolated to the
current time.
- `live_velocity`: The requested toolhead velocity (in mm/s) at the
current time.
- `live_extruder_velocity`: The requested extruder velocity (in mm/s)
at the current time.
## output_pin
The following information is available in

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@ -77,18 +77,28 @@ class DumpTrapQ:
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
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;
return (move.start_x + move.x_r * dist, move.start_y + move.y_r * dist,
move.start_z + move.z_r * dist)
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
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.}
# 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):
@ -135,12 +145,41 @@ class PrinterMotionReport:
dtrapq = self.trapqs.get('toolhead')
if dtrapq is None:
return
pos = dtrapq.get_trapq_position(shutdown_time)
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)