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idex_modes: Native input shaping support with dual carriages

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2023-02-20 01:18:57 +01:00 • committed by KevinOConnor
parent 98ed0a8168
commit 345934bd68
3 changed files with 79 additions and 42 deletions
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57
klippy/kinematics/idex_modes.py
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@ -4,6 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math
import chelper
class DualCarriages:
def __init__(self, printer, rail_0, rail_1, axis):
@ -24,7 +25,8 @@ class DualCarriages:
for i, dc in enumerate(self.dc):
dc_rail = dc.get_rail()
if i != index:
dc.inactivate(pos)
if dc.is_active():
dc.inactivate(pos)
kin.override_rail(3, dc_rail)
elif dc.is_active() is False:
newpos = pos[:self.axis] + [dc.axis_position] \
@ -79,27 +81,50 @@ class DualCarriagesRail:
self.stepper_alloc_active = stepper_alloc_active
self.stepper_alloc_inactive = stepper_alloc_inactive
self.axis_position = -1
def _stepper_alloc(self, position, active=True):
self.stepper_active_sk = {}
self.stepper_inactive_sk = {}
for s in rail.get_steppers():
self._save_sk(self.status, s, s.get_stepper_kinematics())
def _alloc_sk(self, alloc_func, *params):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free)
def _get_sk(self, status, stepper):
sk = None
if status == self.ACTIVE:
sk = self.stepper_active_sk.get(stepper, None)
if sk is None and self.stepper_alloc_active:
sk = self._alloc_sk(*self.stepper_alloc_active)
self._save_sk(status, stepper, sk)
elif status == self.INACTIVE:
sk = self.stepper_inactive_sk.get(stepper, None)
if sk is None and self.stepper_alloc_inactive:
sk = self._alloc_sk(*self.stepper_alloc_inactive)
self._save_sk(status, stepper, sk)
return sk
def _save_sk(self, status, stepper, sk):
if status == self.ACTIVE:
self.stepper_active_sk[stepper] = sk
elif status == self.INACTIVE:
self.stepper_inactive_sk[stepper] = sk
def _update_stepper_alloc(self, position, active=True):
toolhead = self.printer.lookup_object('toolhead')
self.axis_position = position[self.axis]
self.rail.set_trapq(None)
if active is True:
self.status = self.ACTIVE
if self.stepper_alloc_active is not None:
self.rail.setup_itersolve(*self.stepper_alloc_active)
self.rail.set_position(position)
self.rail.set_trapq(toolhead.get_trapq())
else:
self.status = self.INACTIVE
if self.stepper_alloc_inactive is not None:
self.rail.setup_itersolve(*self.stepper_alloc_inactive)
self.rail.set_position(position)
self.rail.set_trapq(toolhead.get_trapq())
old_status = self.status
self.status = (self.INACTIVE, self.ACTIVE)[active]
for s in self.rail.get_steppers():
sk = self._get_sk(self.status, s)
if sk is None:
return
old_sk = s.set_stepper_kinematics(sk)
self._save_sk(old_status, s, old_sk)
self.rail.set_position(position)
self.rail.set_trapq(toolhead.get_trapq())
def get_rail(self):
return self.rail
def is_active(self):
return self.status == self.ACTIVE
def activate(self, position):
self._stepper_alloc(position, active=True)
self._update_stepper_alloc(position, active=True)
def inactivate(self, position):
self._stepper_alloc(position, active=False)
self._update_stepper_alloc(position, active=False)