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gcode: Position returned by M114 should be relative to last G92

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It looks like OctoPrint is expecting the result from M114 to be
relative to the last G92 command.  Also, introduce GET_POSITION to
report the actual location that the printer is at.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-03-09 21:43:24 -05:00
parent ef820d98f6
commit 451f7d5672
3 changed files with 42 additions and 17 deletions
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53
klippy/gcode.py
View file

@ -367,9 +367,9 @@ class GCodeParser:
self.run_script(self.extruder.get_activate_gcode(True))
all_handlers = [
'G1', 'G4', 'G28', 'M18', 'M400',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221',
'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'PID_TUNE',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
# G-Code movement commands
cmd_G1_aliases = ['G0']
@ -463,6 +463,12 @@ class GCodeParser:
self.base_position[p] = self.last_position[p] - offset
if not offsets:
self.base_position = list(self.last_position)
cmd_M114_when_not_ready = True
def cmd_M114(self, params):
# Get Current Position
p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
p[3] /= self.extrude_factor
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
def cmd_M206(self, params):
# Set home offset
offsets = { self.axis2pos[a]: self.get_float(a, params)
@ -513,17 +519,6 @@ class GCodeParser:
def cmd_M112(self, params):
# Emergency Stop
self.printer.invoke_shutdown("Shutdown due to M112 command")
cmd_M114_when_not_ready = True
def cmd_M114(self, params):
# Get Current Position
if self.toolhead is None:
self.cmd_default(params)
return
raw_pos = homing.query_position(self.toolhead)
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
self.last_position[0], self.last_position[1],
self.last_position[2], self.last_position[3],
" ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos])))
cmd_M115_when_not_ready = True
def cmd_M115(self, params):
# Get Firmware Version and Capabilities
@ -542,6 +537,38 @@ class GCodeParser:
res = homing.query_endstops(self.toolhead)
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
for name, t in res]))
cmd_GET_POSITION_when_not_ready = True
def cmd_GET_POSITION(self, params):
if self.toolhead is None:
self.cmd_default(params)
return
kin = self.toolhead.get_kinematics()
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position())
for s in steppers])
stepper_pos = " ".join(
["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position())
for s in steppers])
kinematic_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", kin.get_position())])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", self.toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", self.last_position)])
origin_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", self.base_position)])
homing_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", self.homing_add)])
self.respond_info(
"mcu: %s\n"
"stepper: %s\n"
"kinematic: %s\n"
"toolhead: %s\n"
"gcode: %s\n"
"gcode origin: %s\n"
"gcode homing: %s" % (
mcu_pos, stepper_pos, kinematic_pos, toolhead_pos,
gcode_pos, origin_pos, homing_pos))
cmd_PID_TUNE_help = "Run PID Tuning"
cmd_PID_TUNE_aliases = ["M303"]
def cmd_PID_TUNE(self, params):