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force_move: refactor to mux commands

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Gcode mux supports arg verification and error output.
Just reuse it.

Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
This commit is contained in:
Timofey Titovets 2025-11-24 05:25:37 +01:00
parent 8db326c4a5
commit 906900e9cd
1 changed files with 16 additions and 18 deletions
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34
klippy/extras/force_move.py
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@ -39,17 +39,24 @@ class ForceMove:
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(b'x'), ffi_lib.free)
# Register commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command('STEPPER_BUZZ', self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
if config.getboolean("enable_force_move", False):
gcode.register_command('FORCE_MOVE', self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
self._enable_force_move = config.getboolean("enable_force_move", False)
if self._enable_force_move:
gcode = self.printer.lookup_object('gcode')
gcode.register_command('SET_KINEMATIC_POSITION',
self.cmd_SET_KINEMATIC_POSITION,
desc=self.cmd_SET_KINEMATIC_POSITION_help)
def register_stepper(self, config, mcu_stepper):
self.steppers[mcu_stepper.get_name()] = mcu_stepper
name = mcu_stepper.get_name()
self.steppers[name] = mcu_stepper
# Reuse mux helper args checks
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command('STEPPER_BUZZ', "STEPPER", name,
self.cmd_STEPPER_BUZZ,
desc=self.cmd_STEPPER_BUZZ_help)
if self._enable_force_move:
gcode.register_mux_command('FORCE_MOVE', "STEPPER", name,
self.cmd_FORCE_MOVE,
desc=self.cmd_FORCE_MOVE_help)
def lookup_stepper(self, name):
if name not in self.steppers:
raise self.printer.config_error("Unknown stepper %s" % (name,))
@ -82,18 +89,9 @@ class ForceMove:
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
self.motion_queuing.wipe_trapq(self.trapq)
def _lookup_stepper(self, gcmd):
name = gcmd.get('STEPPER')
if name not in self.steppers:
guess_stepper = ""
for stepper in self.steppers:
if name in stepper:
guess_stepper = ". Probably: \"%s\"?" % stepper
raise gcmd.error("Unknown stepper %s%s" % (name, guess_stepper))
return self.steppers[name]
cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it"
def cmd_STEPPER_BUZZ(self, gcmd):
stepper = self._lookup_stepper(gcmd)
stepper = self.lookup_stepper(gcmd.get('STEPPER'))
logging.info("Stepper buzz %s", stepper.get_name())
did_enable = self._force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
@ -108,7 +106,7 @@ class ForceMove:
self._restore_enable(stepper, did_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd)
stepper = self.lookup_stepper(gcmd.get('STEPPER'))
distance = gcmd.get_float('DISTANCE')
speed = gcmd.get_float('VELOCITY', above=0.)
accel = gcmd.get_float('ACCEL', 0., minval=0.)