mirror of https://github.com/Desuuuu/klipper.git
326 lines
13 KiB
Python
326 lines
13 KiB
Python
# Diagnostic tool for reporting stepper and kinematic positions
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#
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# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
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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
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import chelper
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API_UPDATE_INTERVAL = 0.500
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# Helper to periodically transmit data to a set of API clients
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class APIDumpHelper:
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def __init__(self, printer, data_cb, startstop_cb=None,
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update_interval=API_UPDATE_INTERVAL):
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self.printer = printer
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self.data_cb = data_cb
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if startstop_cb is None:
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startstop_cb = (lambda is_start: None)
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self.startstop_cb = startstop_cb
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self.update_interval = update_interval
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self.update_timer = None
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self.clients = {}
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def _stop(self):
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self.clients.clear()
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if self.update_timer is None:
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return
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reactor = self.printer.get_reactor()
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reactor.unregister_timer(self.update_timer)
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self.update_timer = None
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try:
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self.startstop_cb(False)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper stop callback error")
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return reactor.NEVER
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def _start(self):
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if self.update_timer is not None:
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return
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try:
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self.startstop_cb(True)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper start callback error")
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self._stop()
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raise
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reactor = self.printer.get_reactor()
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systime = reactor.monotonic()
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waketime = systime + self.update_interval
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self.update_timer = reactor.register_timer(self._update, waketime)
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def add_client(self, web_request):
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cconn = web_request.get_client_connection()
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template = web_request.get_dict('response_template', {})
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self.clients[cconn] = template
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self._start()
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def add_internal_client(self):
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cconn = InternalDumpClient()
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self.clients[cconn] = {}
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self._start()
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return cconn
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def _update(self, eventtime):
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try:
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msg = self.data_cb(eventtime)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper data callback error")
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return self._stop()
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if not msg:
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return eventtime + self.update_interval
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for cconn, template in list(self.clients.items()):
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if cconn.is_closed():
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del self.clients[cconn]
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if not self.clients:
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return self._stop()
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continue
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tmp = dict(template)
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tmp['params'] = msg
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cconn.send(tmp)
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return eventtime + self.update_interval
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# An "internal webhooks" wrapper for using APIDumpHelper internally
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class InternalDumpClient:
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def __init__(self):
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self.msgs = []
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self.is_done = False
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def get_messages(self):
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return self.msgs
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def finalize(self):
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self.is_done = True
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def is_closed(self):
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return self.is_done
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def send(self, msg):
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self.msgs.append(msg)
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if len(self.msgs) >= 10000:
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# Avoid filling up memory with too many samples
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self.finalize()
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# Extract stepper queue_step messages
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class DumpStepper:
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def __init__(self, printer, mcu_stepper):
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self.printer = printer
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self.mcu_stepper = mcu_stepper
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self.last_api_clock = 0
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_stepper", "name",
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mcu_stepper.get_name(), self._add_api_client)
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def get_step_queue(self, start_clock, end_clock):
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mcu_stepper = self.mcu_stepper
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res = []
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while 1:
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data, count = mcu_stepper.dump_steps(128, start_clock, end_clock)
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if not count:
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break
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res.append((data, count))
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if count < len(data):
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break
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end_clock = data[count-1].first_clock
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res.reverse()
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return ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], res)
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def log_steps(self, data):
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if not data:
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return
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out = []
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out.append("Dumping stepper '%s' (%s) %d queue_step:"
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% (self.mcu_stepper.get_name(),
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self.mcu_stepper.get_mcu().get_name(), len(data)))
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for i, s in enumerate(data):
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out.append("queue_step %d: t=%d p=%d i=%d c=%d a=%d"
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% (i, s.first_clock, s.start_position, s.interval,
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s.step_count, s.add))
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logging.info('\n'.join(out))
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def _api_update(self, eventtime):
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data, cdata = self.get_step_queue(self.last_api_clock, 1<<63)
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if not data:
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return {}
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clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
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first = data[0]
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first_clock = first.first_clock
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first_time = clock_to_print_time(first_clock)
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self.last_api_clock = last_clock = data[-1].last_clock
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last_time = clock_to_print_time(last_clock)
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mcu_pos = first.start_position
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start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
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step_dist = self.mcu_stepper.get_step_dist()
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if self.mcu_stepper.is_dir_inverted():
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step_dist = -step_dist
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d = [(s.interval, s.step_count, s.add) for s in data]
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return {"data": d, "start_position": start_position,
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"start_mcu_position": mcu_pos, "step_distance": step_dist,
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"first_clock": first_clock, "first_step_time": first_time,
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"last_clock": last_clock, "last_step_time": last_time}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('interval', 'count', 'add')
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web_request.send({'header': hdr})
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NEVER_TIME = 9999999999999999.
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# Extract trapezoidal motion queue (trapq)
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class DumpTrapQ:
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def __init__(self, printer, name, trapq):
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self.printer = printer
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self.name = name
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self.trapq = trapq
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self.last_api_msg = (0., 0.)
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_trapq", "name", name,
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self._add_api_client)
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def extract_trapq(self, start_time, end_time):
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ffi_main, ffi_lib = chelper.get_ffi()
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res = []
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while 1:
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data = ffi_main.new('struct pull_move[128]')
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count = ffi_lib.trapq_extract_old(self.trapq, data, len(data),
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start_time, end_time)
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if not count:
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break
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res.append((data, count))
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if count < len(data):
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break
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end_time = data[count-1].print_time
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res.reverse()
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return ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], res)
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def log_trapq(self, data):
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if not data:
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return
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out = ["Dumping trapq '%s' %d moves:" % (self.name, len(data))]
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for i, m in enumerate(data):
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out.append("move %d: pt=%.6f mt=%.6f sv=%.6f a=%.6f"
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" sp=(%.6f,%.6f,%.6f) ar=(%.6f,%.6f,%.6f)"
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% (i, m.print_time, m.move_t, m.start_v, m.accel,
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m.start_x, m.start_y, m.start_z, m.x_r, m.y_r, m.z_r))
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logging.info('\n'.join(out))
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def get_trapq_position(self, print_time):
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ffi_main, ffi_lib = chelper.get_ffi()
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data = ffi_main.new('struct pull_move[1]')
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count = ffi_lib.trapq_extract_old(self.trapq, data, 1, 0., print_time)
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if not count:
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return None, None
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move = data[0]
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move_time = max(0., min(move.move_t, print_time - move.print_time))
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dist = (move.start_v + .5 * move.accel * move_time) * move_time;
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pos = (move.start_x + move.x_r * dist, move.start_y + move.y_r * dist,
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move.start_z + move.z_r * dist)
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velocity = move.start_v + move.accel * move_time
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return pos, velocity
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def _api_update(self, eventtime):
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qtime = self.last_api_msg[0] + min(self.last_api_msg[1], 0.100)
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data, cdata = self.extract_trapq(qtime, NEVER_TIME)
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d = [(m.print_time, m.move_t, m.start_v, m.accel,
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(m.start_x, m.start_y, m.start_z), (m.x_r, m.y_r, m.z_r))
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for m in data]
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if d and d[0] == self.last_api_msg:
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d.pop(0)
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if not d:
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return {}
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self.last_api_msg = d[-1]
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return {"data": d}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('time', 'duration', 'start_velocity', 'acceleration',
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'start_position', 'direction')
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web_request.send({'header': hdr})
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STATUS_REFRESH_TIME = 0.250
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class PrinterMotionReport:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.steppers = {}
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self.trapqs = {}
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# get_status information
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self.next_status_time = 0.
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gcode = self.printer.lookup_object('gcode')
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self.last_status = {
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'live_position': gcode.Coord(0., 0., 0., 0.),
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'live_velocity': 0., 'live_extruder_velocity': 0.,
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'steppers': [], 'trapq': [],
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}
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# Register handlers
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self.printer.register_event_handler("klippy:connect", self._connect)
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self.printer.register_event_handler("klippy:shutdown", self._shutdown)
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def register_stepper(self, config, mcu_stepper):
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ds = DumpStepper(self.printer, mcu_stepper)
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self.steppers[mcu_stepper.get_name()] = ds
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def _connect(self):
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# Lookup toolhead trapq
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toolhead = self.printer.lookup_object("toolhead")
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trapq = toolhead.get_trapq()
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self.trapqs['toolhead'] = DumpTrapQ(self.printer, 'toolhead', trapq)
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# Lookup extruder trapqs
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for i in range(99):
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ename = "extruder%d" % (i,)
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if ename == "extruder0":
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ename = "extruder"
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extruder = self.printer.lookup_object(ename, None)
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if extruder is None:
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break
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etrapq = extruder.get_trapq()
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self.trapqs[ename] = DumpTrapQ(self.printer, ename, etrapq)
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# Populate 'trapq' and 'steppers' in get_status result
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self.last_status['steppers'] = list(sorted(self.steppers.keys()))
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self.last_status['trapq'] = list(sorted(self.trapqs.keys()))
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# Shutdown handling
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def _dump_shutdown(self, eventtime):
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# Log stepper queue_steps on mcu that started shutdown (if any)
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shutdown_time = NEVER_TIME
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for dstepper in self.steppers.values():
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mcu = dstepper.mcu_stepper.get_mcu()
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sc = mcu.get_shutdown_clock()
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if not sc:
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continue
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shutdown_time = min(shutdown_time, mcu.clock_to_print_time(sc))
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clock_100ms = mcu.seconds_to_clock(0.100)
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start_clock = max(0, sc - clock_100ms)
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end_clock = sc + clock_100ms
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data, cdata = dstepper.get_step_queue(start_clock, end_clock)
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dstepper.log_steps(data)
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if shutdown_time >= NEVER_TIME:
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return
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# Log trapqs around time of shutdown
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for dtrapq in self.trapqs.values():
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data, cdata = dtrapq.extract_trapq(shutdown_time - .100,
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shutdown_time + .100)
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dtrapq.log_trapq(data)
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# Log estimated toolhead position at time of shutdown
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dtrapq = self.trapqs.get('toolhead')
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if dtrapq is None:
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return
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pos, velocity = dtrapq.get_trapq_position(shutdown_time)
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if pos is not None:
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logging.info("Requested toolhead position at shutdown time %.6f: %s"
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, shutdown_time, pos)
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def _shutdown(self):
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self.printer.get_reactor().register_callback(self._dump_shutdown)
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# Status reporting
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def get_status(self, eventtime):
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if eventtime < self.next_status_time or not self.trapqs:
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return self.last_status
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self.next_status_time = eventtime + STATUS_REFRESH_TIME
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xyzpos = (0., 0., 0.)
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epos = (0.,)
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xyzvelocity = evelocity = 0.
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# Calculate current requested toolhead position
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mcu = self.printer.lookup_object('mcu')
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print_time = mcu.estimated_print_time(eventtime)
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pos, velocity = self.trapqs['toolhead'].get_trapq_position(print_time)
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if pos is not None:
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xyzpos = pos[:3]
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xyzvelocity = velocity
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# Calculate requested position of currently active extruder
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toolhead = self.printer.lookup_object('toolhead')
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ehandler = self.trapqs.get(toolhead.get_extruder().get_name())
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if ehandler is not None:
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pos, velocity = ehandler.get_trapq_position(print_time)
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if pos is not None:
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epos = (pos[0],)
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evelocity = velocity
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# Report status
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self.last_status = dict(self.last_status)
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self.last_status['live_position'] = toolhead.Coord(*(xyzpos + epos))
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self.last_status['live_velocity'] = xyzvelocity
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self.last_status['live_extruder_velocity'] = evelocity
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return self.last_status
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def load_config(config):
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return PrinterMotionReport(config)
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