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input_shaper: Define input shapers in a single place in Python code

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2021-10-22 20:46:20 +02:00 • committed by KevinOConnor
parent 6c395fd016
commit d5a7a7f00f
7 changed files with 209 additions and 385 deletions
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82
klippy/extras/input_shaper.py
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@ -5,31 +5,30 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import chelper
from . import shaper_defs
class InputShaper:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect", self.connect)
self.toolhead = None
self.shapers = {s.name : s.init_func for s in shaper_defs.INPUT_SHAPERS}
self.damping_ratio_x = config.getfloat(
'damping_ratio_x', 0.1, minval=0., maxval=1.)
'damping_ratio_x', shaper_defs.DEFAULT_DAMPING_RATIO,
minval=0., maxval=1.)
self.damping_ratio_y = config.getfloat(
'damping_ratio_y', 0.1, minval=0., maxval=1.)
'damping_ratio_y', shaper_defs.DEFAULT_DAMPING_RATIO,
minval=0., maxval=1.)
self.shaper_freq_x = config.getfloat('shaper_freq_x', 0., minval=0.)
self.shaper_freq_y = config.getfloat('shaper_freq_y', 0., minval=0.)
ffi_main, ffi_lib = chelper.get_ffi()
self.shapers = {None: None
, 'zv': ffi_lib.INPUT_SHAPER_ZV
, 'zvd': ffi_lib.INPUT_SHAPER_ZVD
, 'mzv': ffi_lib.INPUT_SHAPER_MZV
, 'ei': ffi_lib.INPUT_SHAPER_EI
, '2hump_ei': ffi_lib.INPUT_SHAPER_2HUMP_EI
, '3hump_ei': ffi_lib.INPUT_SHAPER_3HUMP_EI}
shaper_type = config.get('shaper_type', 'mzv')
self.shaper_type_x = config.getchoice(
'shaper_type_x', self.shapers, shaper_type)
self.shaper_type_y = config.getchoice(
'shaper_type_y', self.shapers, shaper_type)
self.shaper_type_x = config.get('shaper_type_x', 'mzv').lower()
if self.shaper_type_x not in self.shapers:
raise config.error(
'Unsupported shaper type: %s' % (self.shaper_type_x,))
self.shaper_type_y = config.get('shaper_type_y', 'mzv').lower()
if self.shaper_type_y not in self.shapers:
raise config.error(
'Unsupported shaper type: %s' % (self.shaper_type_y,))
self.saved_shaper_freq_x = self.saved_shaper_freq_y = 0.
self.stepper_kinematics = []
self.orig_stepper_kinematics = []
@ -58,18 +57,25 @@ class InputShaper:
self._set_input_shaper(self.shaper_type_x, self.shaper_type_y,
self.shaper_freq_x, self.shaper_freq_y,
self.damping_ratio_x, self.damping_ratio_y)
def _get_shaper(self, shaper_type, shaper_freq, damping_ratio):
if not shaper_freq:
return shaper_defs.get_none_shaper()
A, T = self.shapers[shaper_type](shaper_freq, damping_ratio)
return len(A), A, T
def _set_input_shaper(self, shaper_type_x, shaper_type_y
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y):
if (shaper_type_x != self.shaper_type_x
or shaper_type_y != self.shaper_type_y):
self.toolhead.flush_step_generation()
n_x, A_x, T_x = self._get_shaper(
shaper_type_x, shaper_freq_x, damping_ratio_x)
n_y, A_y, T_y = self._get_shaper(
shaper_type_y, shaper_freq_y, damping_ratio_y)
ffi_main, ffi_lib = chelper.get_ffi()
new_delay = max(
ffi_lib.input_shaper_get_step_generation_window(
shaper_type_x, shaper_freq_x, damping_ratio_x),
ffi_lib.input_shaper_get_step_generation_window(
shaper_type_y, shaper_freq_y, damping_ratio_y))
ffi_lib.input_shaper_get_step_generation_window(n_x, A_x, T_x),
ffi_lib.input_shaper_get_step_generation_window(n_y, A_y, T_y))
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay=self.old_delay)
self.old_delay = new_delay
@ -80,10 +86,8 @@ class InputShaper:
self.damping_ratio_x = damping_ratio_x
self.damping_ratio_y = damping_ratio_y
for sk in self.stepper_kinematics:
ffi_lib.input_shaper_set_shaper_params(sk
, shaper_type_x, shaper_type_y
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y)
ffi_lib.input_shaper_set_shaper_params(
sk, len(A_x), A_x, T_x, len(A_y), A_y, T_y)
def disable_shaping(self):
if (self.saved_shaper_freq_x or self.saved_shaper_freq_y) and not (
self.shaper_freq_x or self.shaper_freq_y):
@ -113,35 +117,29 @@ class InputShaper:
shaper_freq_y = gcmd.get_float(
'SHAPER_FREQ_Y', self.shaper_freq_y, minval=0.)
def parse_shaper(shaper_type_str):
shaper_type_str = shaper_type_str.lower()
if shaper_type_str not in self.shapers:
raise gcmd.error(
"Requested shaper type '%s' is not supported" % (
shaper_type_str))
return self.shapers[shaper_type_str]
shaper_type = gcmd.get('SHAPER_TYPE', None, parser=parse_shaper)
shaper_type = gcmd.get('SHAPER_TYPE', None)
if shaper_type is None:
shaper_type_x = gcmd.get('SHAPER_TYPE_X', self.shaper_type_x,
parser=parse_shaper)
shaper_type_y = gcmd.get('SHAPER_TYPE_Y', self.shaper_type_y,
parser=parse_shaper)
shaper_type_x = gcmd.get(
'SHAPER_TYPE_X', self.shaper_type_x).lower()
shaper_type_y = gcmd.get(
'SHAPER_TYPE_Y', self.shaper_type_y).lower()
else:
shaper_type_x = shaper_type_y = shaper_type
shaper_type_x = shaper_type_y = shaper_type.lower()
if shaper_type_x not in self.shapers:
raise gcmd.error('Unsupported shaper type: %s' % (shaper_type_x,))
if shaper_type_y not in self.shapers:
raise gcmd.error('Unsupported shaper type: %s' % (shaper_type_y,))
self._set_input_shaper(shaper_type_x, shaper_type_y,
shaper_freq_x, shaper_freq_y,
damping_ratio_x, damping_ratio_y)
id_to_name = {v: n for n, v in self.shapers.items()}
gcmd.respond_info("shaper_type_x:%s shaper_type_y:%s "
"shaper_freq_x:%.3f shaper_freq_y:%.3f "
"damping_ratio_x:%.6f damping_ratio_y:%.6f"
% (id_to_name[shaper_type_x],
id_to_name[shaper_type_y],
shaper_freq_x, shaper_freq_y,
damping_ratio_x, damping_ratio_y))
% (self.shaper_type_x, self.shaper_type_y,
self.shaper_freq_x, self.shaper_freq_y,
self.damping_ratio_x, self.damping_ratio_y))
def load_config(config):
return InputShaper(config)