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klippy: Support minimum/maximum value checks on configuration variables 

Verify that numeric parameters are in a sane range when reading the
config.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-11 11:37:09 -04:00
parent 7a7b98cc31
commit 7b03b04c78
10 changed files with 97 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
klippy/cartesian.py
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@ -13,8 +13,10 @@ class CartKinematics:
self.steppers = [stepper.PrinterStepper( self.steppers = [stepper.PrinterStepper(
printer, config.getsection('stepper_' + n), n) printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']] for n in ['x', 'y', 'z']]
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9) self.max_z_velocity = config.getfloat(
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9) 'max_z_velocity', 9999999.9, above=0.)
self.max_z_accel = config.getfloat(
'max_z_accel', 9999999.9, above=0.)
self.need_motor_enable = True self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):

6
klippy/corexy.py
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@ -15,8 +15,10 @@ class CoreXYKinematics:
for n in ['x', 'y', 'z']] for n in ['x', 'y', 'z']]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper) self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper) self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9) self.max_z_velocity = config.getfloat(
self.max_z_accel = config.getfloat('max_z_accel', 9999999.9) 'max_z_velocity', 9999999.9, above=0.)
self.max_z_accel = config.getfloat(
'max_z_accel', 9999999.9, above=0.)
self.need_motor_enable = True self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):

7
klippy/delta.py
View File

@ -19,8 +19,8 @@ class DeltaKinematics:
for n in ['a', 'b', 'c']] for n in ['a', 'b', 'c']]
self.need_motor_enable = self.need_home = True self.need_motor_enable = self.need_home = True
self.max_velocity = self.max_z_velocity = self.max_accel = 0. self.max_velocity = self.max_z_velocity = self.max_accel = 0.
radius = config.getfloat('delta_radius') radius = config.getfloat('delta_radius', above=0.)
arm_length = config.getfloat('delta_arm_length') arm_length = config.getfloat('delta_arm_length', above=radius)
self.arm_length2 = arm_length**2 self.arm_length2 = arm_length**2
self.limit_xy2 = -1. self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2) tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
@ -53,7 +53,8 @@ class DeltaKinematics:
self.set_position([0., 0., 0.]) self.set_position([0., 0., 0.])
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.max_velocity = max_velocity self.max_velocity = max_velocity
max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity) max_z_velocity = self.config.getfloat(
'max_z_velocity', max_velocity, above=0.)
self.max_z_velocity = min(max_velocity, max_z_velocity) self.max_z_velocity = min(max_velocity, max_z_velocity)
self.max_accel = max_accel self.max_accel = max_accel
for stepper in self.steppers: for stepper in self.steppers:

22
klippy/extruder.py
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@ -13,26 +13,32 @@ class PrinterExtruder:
self.config = config self.config = config
self.heater = heater.PrinterHeater(printer, config) self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config, 'extruder') self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.nozzle_diameter = config.getfloat('nozzle_diameter') self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
filament_diameter = config.getfloat('filament_diameter') filament_diameter = config.getfloat(
'filament_diameter', minval=self.nozzle_diameter)
filament_area = math.pi * (filament_diameter * .5)**2 filament_area = math.pi * (filament_diameter * .5)**2
max_cross_section = config.getfloat( max_cross_section = config.getfloat(
'max_extrude_cross_section', 4. * self.nozzle_diameter**2) 'max_extrude_cross_section', 4. * self.nozzle_diameter**2
, above=0.)
self.max_extrude_ratio = max_cross_section / filament_area self.max_extrude_ratio = max_cross_section / filament_area
self.max_e_dist = config.getfloat('max_extrude_only_distance', 50.) self.max_e_dist = config.getfloat(
'max_extrude_only_distance', 50., minval=0.)
self.max_e_velocity = self.max_e_accel = None self.max_e_velocity = self.max_e_accel = None
self.pressure_advance = config.getfloat('pressure_advance', 0.) self.pressure_advance = config.getfloat(
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = 0. self.pressure_advance_lookahead_time = 0.
if self.pressure_advance: if self.pressure_advance:
self.pressure_advance_lookahead_time = config.getfloat( self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010) 'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True self.need_motor_enable = True
self.extrude_pos = 0. self.extrude_pos = 0.
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel): def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.max_e_velocity = self.config.getfloat( self.max_e_velocity = self.config.getfloat(
'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio) 'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
, above=0.)
self.max_e_accel = self.config.getfloat( self.max_e_accel = self.config.getfloat(
'max_extrude_only_accel', max_accel * self.max_extrude_ratio) 'max_extrude_only_accel', max_accel * self.max_extrude_ratio
, above=0.)
self.stepper.set_max_jerk(9999999.9, 9999999.9) self.stepper.set_max_jerk(9999999.9, 9999999.9)
def motor_off(self, move_time): def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0) self.stepper.motor_enable(move_time, 0)

2
klippy/fan.py
View File

@ -11,7 +11,7 @@ class PrinterFan:
def __init__(self, printer, config): def __init__(self, printer, config):
self.last_fan_value = 0. self.last_fan_value = 0.
self.last_fan_time = 0. self.last_fan_time = 0.
self.kick_start_time = config.getfloat('kick_start_time', 0.1) self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
pin = config.get('pin') pin = config.get('pin')
hard_pwm = config.getint('hard_pwm', 0) hard_pwm = config.getint('hard_pwm', 0)
self.mcu_fan = printer.mcu.create_pwm(pin, PWM_CYCLE_TIME, hard_pwm, 0.) self.mcu_fan = printer.mcu.create_pwm(pin, PWM_CYCLE_TIME, hard_pwm, 0.)

19
klippy/heater.py
View File

@ -37,15 +37,16 @@ class PrinterHeater:
sensor_params = config.getchoice('sensor_type', Sensors) sensor_params = config.getchoice('sensor_type', Sensors)
self.is_linear_sensor = (sensor_params[0] == 'linear') self.is_linear_sensor = (sensor_params[0] == 'linear')
if self.is_linear_sensor: if self.is_linear_sensor:
adc_voltage = config.getfloat('adc_voltage', 5.) adc_voltage = config.getfloat('adc_voltage', 5., above=0.)
self.sensor_coef = sensor_params[1] * adc_voltage, sensor_params[2] self.sensor_coef = sensor_params[1] * adc_voltage, sensor_params[2]
else: else:
pullup = config.getfloat('pullup_resistor', 4700.) pullup = config.getfloat('pullup_resistor', 4700., above=0.)
self.sensor_coef = sensor_params[1:] + (pullup,) self.sensor_coef = sensor_params[1:] + (pullup,)
self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.) self.min_temp = config.getfloat('min_temp', minval=0.)
self.min_temp = config.getfloat('min_temp') self.max_temp = config.getfloat('max_temp', above=self.min_temp)
self.max_temp = config.getfloat('max_temp') self.min_extrude_temp = config.getfloat(
self.max_power = max(0., min(1., config.getfloat('max_power', 1.))) 'min_extrude_temp', 170., minval=self.min_temp, maxval=self.max_temp)
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.can_extrude = (self.min_extrude_temp <= 0. self.can_extrude = (self.min_extrude_temp <= 0.
or printer.mcu.is_fileoutput()) or printer.mcu.is_fileoutput())
self.lock = threading.Lock() self.lock = threading.Lock()
@ -141,7 +142,7 @@ class PrinterHeater:
class ControlBangBang: class ControlBangBang:
def __init__(self, heater, config): def __init__(self, heater, config):
self.heater = heater self.heater = heater
self.max_delta = config.getfloat('max_delta', 2.0) self.max_delta = config.getfloat('max_delta', 2.0, above=0.)
self.heating = False self.heating = False
def adc_callback(self, read_time, temp): def adc_callback(self, read_time, temp):
if self.heating and temp >= self.heater.target_temp+self.max_delta: if self.heating and temp >= self.heater.target_temp+self.max_delta:
@ -166,8 +167,8 @@ class ControlPID:
self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
self.min_deriv_time = config.getfloat('pid_deriv_time', 2.) self.min_deriv_time = config.getfloat('pid_deriv_time', 2., above=0.)
imax = config.getfloat('pid_integral_max', heater.max_power) imax = config.getfloat('pid_integral_max', heater.max_power, minval=0.)
self.temp_integ_max = imax / self.Ki self.temp_integ_max = imax / self.Ki
self.prev_temp = AMBIENT_TEMP self.prev_temp = AMBIENT_TEMP
self.prev_temp_time = 0. self.prev_temp_time = 0.

33
klippy/klippy.py
View File

@ -52,26 +52,47 @@ class ConfigWrapper:
def __init__(self, printer, section): def __init__(self, printer, section):
self.printer = printer self.printer = printer
self.section = section self.section = section
def get_wrapper(self, parser, option, default): def get_wrapper(self, parser, option, default
, minval=None, maxval=None, above=None, below=None):
if (default is not self.sentinel if (default is not self.sentinel
and not self.printer.fileconfig.has_option(self.section, option)): and not self.printer.fileconfig.has_option(self.section, option)):
return default return default
self.printer.all_config_options[ self.printer.all_config_options[
(self.section.lower(), option.lower())] = 1 (self.section.lower(), option.lower())] = 1
try: try:
return parser(self.section, option) v = parser(self.section, option)
except self.error, e: except self.error, e:
raise raise
except: except:
raise self.error("Unable to parse option '%s' in section '%s'" % ( raise self.error("Unable to parse option '%s' in section '%s'" % (
option, self.section)) option, self.section))
if minval is not None and v < minval:
raise self.error(
"Option '%s' in section '%s' must have minimum of %s" % (
option, self.section, minval))
if maxval is not None and v > maxval:
raise self.error(
"Option '%s' in section '%s' must have maximum of %s" % (
option, self.section, maxval))
if above is not None and v <= above:
raise self.error(
"Option '%s' in section '%s' must be above %s" % (
option, self.section, above))
if below is not None and v >= below:
raise self.error(
"Option '%s' in section '%s' must be below %s" % (
option, self.section, below))
return v
def get(self, option, default=sentinel): def get(self, option, default=sentinel):
return self.get_wrapper(self.printer.fileconfig.get, option, default) return self.get_wrapper(self.printer.fileconfig.get, option, default)
def getint(self, option, default=sentinel): def getint(self, option, default=sentinel, minval=None, maxval=None):
return self.get_wrapper(self.printer.fileconfig.getint, option, default)
def getfloat(self, option, default=sentinel):
return self.get_wrapper( return self.get_wrapper(
self.printer.fileconfig.getfloat, option, default) self.printer.fileconfig.getint, option, default, minval, maxval)
def getfloat(self, option, default=sentinel
, minval=None, maxval=None, above=None, below=None):
return self.get_wrapper(
self.printer.fileconfig.getfloat, option, default
, minval, maxval, above, below)
def getboolean(self, option, default=sentinel): def getboolean(self, option, default=sentinel):
return self.get_wrapper( return self.get_wrapper(
self.printer.fileconfig.getboolean, option, default) self.printer.fileconfig.getboolean, option, default)

3
klippy/mcu.py
View File

@ -392,7 +392,8 @@ class MCU:
self._custom = config.get('custom', '') self._custom = config.get('custom', '')
# Move command queuing # Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi() ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025) self._max_stepper_error = config.getfloat(
'max_stepper_error', 0.000025, minval=0.)
self._steppers = [] self._steppers = []
self._steppersync = None self._steppersync = None
# Print time to clock epoch calculations # Print time to clock epoch calculations

22
klippy/stepper.py
View File

@ -10,19 +10,24 @@ class PrinterStepper:
def __init__(self, printer, config, name): def __init__(self, printer, config, name):
self.name = name self.name = name
self.step_dist = config.getfloat('step_distance') self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0. self.min_stop_interval = 0.
self.homing_speed = config.getfloat('homing_speed', 5.0) self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_positive_dir = config.getboolean( self.homing_positive_dir = config.getboolean(
'homing_positive_dir', False) 'homing_positive_dir', False)
self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.) self.homing_retract_dist = config.getfloat(
self.homing_stepper_phases = config.getint('homing_stepper_phases', None) 'homing_retract_dist', 5., above=0.)
self.homing_endstop_phase = config.getint('homing_endstop_phase', None) self.homing_stepper_phases = config.getint(
endstop_accuracy = config.getfloat('homing_endstop_accuracy', None) 'homing_stepper_phases', None, minval=0)
self.homing_endstop_accuracy = None endstop_accuracy = config.getfloat(
'homing_endstop_accuracy', None, above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases: if self.homing_stepper_phases:
self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1)
if endstop_accuracy is None: if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1 self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
elif self.homing_endstop_phase is not None: elif self.homing_endstop_phase is not None:
@ -51,8 +56,9 @@ class PrinterStepper:
self.mcu_endstop = mcu.create_endstop(endstop_pin) self.mcu_endstop = mcu.create_endstop(endstop_pin)
self.mcu_endstop.add_stepper(self.mcu_stepper) self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.) self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(
'position_max', 0., above=self.position_min)
self.position_endstop = config.getfloat('position_endstop') self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max', 0.)
self.need_motor_enable = True self.need_motor_enable = True
def _dist_to_time(self, dist, start_velocity, accel): def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel # Calculate the time it takes to travel a distance with constant accel

27
klippy/toolhead.py
View File

@ -188,18 +188,24 @@ class ToolHead:
'corexy': corexy.CoreXYKinematics, 'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics} 'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(printer, config) self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed = config.getfloat('max_velocity') self.max_speed = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel') self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat('max_accel_to_decel' self.max_accel_to_decel = config.getfloat(
, self.max_accel * 0.5) 'max_accel_to_decel', self.max_accel * 0.5
self.junction_deviation = config.getfloat('junction_deviation', 0.02) , above=0., maxval=self.max_accel)
self.junction_deviation = config.getfloat(
'junction_deviation', 0.02, above=0.)
self.move_queue = MoveQueue(self.extruder.lookahead) self.move_queue = MoveQueue(self.extruder.lookahead)
self.commanded_pos = [0., 0., 0., 0.] self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking # Print time tracking
self.buffer_time_high = config.getfloat('buffer_time_high', 2.000) self.buffer_time_low = config.getfloat(
self.buffer_time_low = config.getfloat('buffer_time_low', 1.000) 'buffer_time_low', 1.000, above=0.)
self.buffer_time_start = config.getfloat('buffer_time_start', 0.250) self.buffer_time_high = config.getfloat(
self.move_flush_time = config.getfloat('move_flush_time', 0.050) 'buffer_time_high', 2.000, above=self.buffer_time_low)
self.buffer_time_start = config.getfloat(
'buffer_time_start', 0.250, above=0.)
self.move_flush_time = config.getfloat(
'move_flush_time', 0.050, above=0.)
self.print_time = 0. self.print_time = 0.
self.need_check_stall = -1. self.need_check_stall = -1.
self.print_stall = 0 self.print_stall = 0
@ -208,7 +214,8 @@ class ToolHead:
self.flush_timer = self.reactor.register_timer(self._flush_handler) self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high) self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking # Motor off tracking
self.motor_off_time = config.getfloat('motor_off_time', 600.000) self.motor_off_time = config.getfloat(
'motor_off_time', 600.000, minval=0.)
self.motor_off_timer = self.reactor.register_timer( self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler) self._motor_off_handler)
# Determine the maximum velocity a cartesian axis could have # Determine the maximum velocity a cartesian axis could have