mirror of https://github.com/Desuuuu/klipper.git
303 lines
12 KiB
Python
303 lines
12 KiB
Python
# Exclude moves toward and inside objects
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#
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# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com>
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# Copyright (C) 2021 Troy Jacobson <troy.d.jacobson@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 logging
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import json
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class ExcludeObject:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode_move = self.printer.load_object(config, 'gcode_move')
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self.printer.register_event_handler('klippy:connect',
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self._handle_connect)
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self.printer.register_event_handler("virtual_sdcard:reset_file",
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self._reset_file)
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self.next_transform = None
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self.last_position_extruded = [0., 0., 0., 0.]
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self.last_position_excluded = [0., 0., 0., 0.]
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self._reset_state()
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self.gcode.register_command(
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'EXCLUDE_OBJECT_START', self.cmd_EXCLUDE_OBJECT_START,
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desc=self.cmd_EXCLUDE_OBJECT_START_help)
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self.gcode.register_command(
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'EXCLUDE_OBJECT_END', self.cmd_EXCLUDE_OBJECT_END,
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desc=self.cmd_EXCLUDE_OBJECT_END_help)
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self.gcode.register_command(
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'EXCLUDE_OBJECT', self.cmd_EXCLUDE_OBJECT,
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desc=self.cmd_EXCLUDE_OBJECT_help)
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self.gcode.register_command(
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'EXCLUDE_OBJECT_DEFINE', self.cmd_EXCLUDE_OBJECT_DEFINE,
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desc=self.cmd_EXCLUDE_OBJECT_DEFINE_help)
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def _register_transform(self):
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if self.next_transform is None:
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tuning_tower = self.printer.lookup_object('tuning_tower')
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if tuning_tower.is_active():
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logging.info('The ExcludeObject move transform is not being '
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'loaded due to Tuning tower being Active')
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return
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self.next_transform = self.gcode_move.set_move_transform(self,
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force=True)
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self.extrusion_offsets = {}
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self.max_position_extruded = 0
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self.max_position_excluded = 0
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self.extruder_adj = 0
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self.initial_extrusion_moves = 5
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self.last_position = [0., 0., 0., 0.]
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self.get_position()
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self.last_position_extruded[:] = self.last_position
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self.last_position_excluded[:] = self.last_position
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def _handle_connect(self):
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self.toolhead = self.printer.lookup_object('toolhead')
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def _unregister_transform(self):
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if self.next_transform:
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tuning_tower = self.printer.lookup_object('tuning_tower')
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if tuning_tower.is_active():
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logging.error('The Exclude Object move transform was not '
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'unregistered because it is not at the head of the '
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'transform chain.')
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return
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self.gcode_move.set_move_transform(self.next_transform, force=True)
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self.next_transform = None
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self.gcode_move.reset_last_position()
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def _reset_state(self):
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self.objects = []
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self.excluded_objects = []
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self.current_object = None
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self.in_excluded_region = False
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def _reset_file(self):
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self._reset_state()
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self._unregister_transform()
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def _get_extrusion_offsets(self):
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offset = self.extrusion_offsets.get(
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self.toolhead.get_extruder().get_name())
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if offset is None:
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offset = [0., 0., 0., 0.]
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self.extrusion_offsets[self.toolhead.get_extruder().get_name()] = \
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offset
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return offset
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def get_position(self):
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offset = self._get_extrusion_offsets()
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pos = self.next_transform.get_position()
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for i in range(4):
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self.last_position[i] = pos[i] + offset[i]
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return list(self.last_position)
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def _normal_move(self, newpos, speed):
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offset = self._get_extrusion_offsets()
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if self.initial_extrusion_moves > 0 and \
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self.last_position[3] != newpos[3]:
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# Since the transform is not loaded until there is a request to
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# exclude an object, the transform needs to track a few extrusions
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# to get the state of the extruder
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self.initial_extrusion_moves -= 1
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self.last_position[:] = newpos
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self.last_position_extruded[:] = self.last_position
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self.max_position_extruded = max(self.max_position_extruded, newpos[3])
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# These next few conditionals handle the moves immediately after leaving
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# and excluded object. The toolhead is at the end of the last printed
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# object and the gcode is at the end of the last excluded object.
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#
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# Ideally, there will be Z and E moves right away to adjust any offsets
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# before moving away from the last position. Any remaining corrections
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# will be made on the firs XY move.
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if (offset[0] != 0 or offset[1] != 0) and \
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(newpos[0] != self.last_position_excluded[0] or \
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newpos[1] != self.last_position_excluded[1]):
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offset[0] = 0
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offset[1] = 0
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offset[2] = 0
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offset[3] += self.extruder_adj
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self.extruder_adj = 0
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if offset[2] != 0 and newpos[2] != self.last_position_excluded[2]:
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offset[2] = 0
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if self.extruder_adj != 0 and \
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newpos[3] != self.last_position_excluded[3]:
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offset[3] += self.extruder_adj
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self.extruder_adj = 0
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tx_pos = newpos[:]
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for i in range(4):
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tx_pos[i] = newpos[i] - offset[i]
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self.next_transform.move(tx_pos, speed)
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def _ignore_move(self, newpos, speed):
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offset = self._get_extrusion_offsets()
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for i in range(3):
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offset[i] = newpos[i] - self.last_position_extruded[i]
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offset[3] = offset[3] + newpos[3] - self.last_position[3]
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self.last_position[:] = newpos
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self.last_position_excluded[:] =self.last_position
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self.max_position_excluded = max(self.max_position_excluded, newpos[3])
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def _move_into_excluded_region(self, newpos, speed):
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self.in_excluded_region = True
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self._ignore_move(newpos, speed)
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def _move_from_excluded_region(self, newpos, speed):
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self.in_excluded_region = False
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# This adjustment value is used to compensate for any retraction
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# differences between the last object printed and excluded one.
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self.extruder_adj = self.max_position_excluded \
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- self.last_position_excluded[3] \
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- (self.max_position_extruded - self.last_position_extruded[3])
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self._normal_move(newpos, speed)
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def _test_in_excluded_region(self):
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# Inside cancelled object
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return self.current_object in self.excluded_objects \
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and self.initial_extrusion_moves == 0
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def get_status(self, eventtime=None):
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status = {
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"objects": self.objects,
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"excluded_objects": self.excluded_objects,
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"current_object": self.current_object
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}
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return status
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def move(self, newpos, speed):
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move_in_excluded_region = self._test_in_excluded_region()
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self.last_speed = speed
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if move_in_excluded_region:
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if self.in_excluded_region:
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self._ignore_move(newpos, speed)
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else:
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self._move_into_excluded_region(newpos, speed)
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else:
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if self.in_excluded_region:
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self._move_from_excluded_region(newpos, speed)
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else:
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self._normal_move(newpos, speed)
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cmd_EXCLUDE_OBJECT_START_help = "Marks the beginning the current object" \
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" as labeled"
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def cmd_EXCLUDE_OBJECT_START(self, gcmd):
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name = gcmd.get('NAME').upper()
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if not any(obj["name"] == name for obj in self.objects):
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self._add_object_definition({"name": name})
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self.current_object = name
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self.was_excluded_at_start = self._test_in_excluded_region()
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cmd_EXCLUDE_OBJECT_END_help = "Marks the end the current object"
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def cmd_EXCLUDE_OBJECT_END(self, gcmd):
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if self.current_object == None and self.next_transform:
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gcmd.respond_info("EXCLUDE_OBJECT_END called, but no object is"
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" currently active")
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return
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name = gcmd.get('NAME', default=None)
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if name != None and name.upper() != self.current_object:
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gcmd.respond_info("EXCLUDE_OBJECT_END NAME=%s does not match the"
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" current object NAME=%s" %
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(name.upper(), self.current_object))
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self.current_object = None
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cmd_EXCLUDE_OBJECT_help = "Cancel moves inside a specified objects"
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def cmd_EXCLUDE_OBJECT(self, gcmd):
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reset = gcmd.get('RESET', None)
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current = gcmd.get('CURRENT', None)
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name = gcmd.get('NAME', '').upper()
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if reset:
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if name:
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self._unexclude_object(name)
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else:
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self.excluded_objects = []
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elif name:
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if name.upper() not in self.excluded_objects:
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self._exclude_object(name.upper())
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elif current:
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if not self.current_object:
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gcmd.respond_error('There is no current object to cancel')
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else:
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self._exclude_object(self.current_object)
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else:
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self._list_excluded_objects(gcmd)
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cmd_EXCLUDE_OBJECT_DEFINE_help = "Provides a summary of an object"
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def cmd_EXCLUDE_OBJECT_DEFINE(self, gcmd):
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reset = gcmd.get('RESET', None)
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name = gcmd.get('NAME', '').upper()
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if reset:
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self._reset_file()
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elif name:
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parameters = gcmd.get_command_parameters().copy()
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parameters.pop('NAME')
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center = parameters.pop('CENTER', None)
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polygon = parameters.pop('POLYGON', None)
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obj = {"name": name.upper()}
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obj.update(parameters)
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if center != None:
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obj['center'] = json.loads('[%s]' % center)
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if polygon != None:
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obj['polygon'] = json.loads(polygon)
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self._add_object_definition(obj)
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else:
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self._list_objects(gcmd)
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def _add_object_definition(self, definition):
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self.objects = sorted(self.objects + [definition],
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key=lambda o: o["name"])
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def _exclude_object(self, name):
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self._register_transform()
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self.gcode.respond_info('Excluding object {}'.format(name.upper()))
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if name not in self.excluded_objects:
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self.excluded_objects = sorted(self.excluded_objects + [name])
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def _unexclude_object(self, name):
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self.gcode.respond_info('Unexcluding object {}'.format(name.upper()))
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if name in self.excluded_objects:
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excluded_objects = list(self.excluded_objects)
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excluded_objects.remove(name)
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self.excluded_objects = sorted(excluded_objects)
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def _list_objects(self, gcmd):
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if gcmd.get('JSON', None) is not None:
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object_list = json.dumps(self.objects)
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else:
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object_list = " ".join(obj['name'] for obj in self.objects)
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gcmd.respond_info('Known objects: {}'.format(object_list))
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def _list_excluded_objects(self, gcmd):
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object_list = " ".join(self.excluded_objects)
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gcmd.respond_info('Excluded objects: {}'.format(object_list))
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def load_config(config):
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return ExcludeObject(config)
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