kinematics: Generic Cartesian kinematics implementation (#6815)
* tests: Added a regression test for generic_cartesian kinematics * kinematics: An intial implementation of generic_cartesian kinematics * generic_cartesian: Refactored kinematics configuration API * generic_cartesian: Use stepper instead of kinematic_stepper in configs * generic_cartesian: Added SET_STEPPER_KINEMATICS command * generic_cartesian: Fixed parsing of section names * docs: Generic Caretsian kinematics documentation and config samples * generic_cartesian: Implemented multi-mcu homing validation * generic_cartesian: Fixed typos in docs, minor fixes * generic_cartesian: Renamed `kinematics` option to `carriages` * generic_cartesian: Moved kinematic_stepper.py file * idex_modes: Internal refactoring of handling dual carriages * stepper: Refactored the code to not store a reference to config object * config: Updated example-generic-cartesian config * generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status * idex_modes: Fixed handling stepper kinematics with input shaper enabled * config: Updated configs and tests for SET_DUAL_CARRIAGE new params * generic_cartesian: Avoid inheritance in the added classes Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
GitHub
358
klippy/kinematics/generic_cartesian.py
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358
klippy/kinematics/generic_cartesian.py
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# Code for generic handling the kinematics of cartesian-like printers
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#
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# Copyright (C) 2024-2025 Dmitry Butyugin <dmbutyugin@google.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 copy, itertools, logging, math
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import gcode, mathutil, stepper
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from . import idex_modes
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from . import kinematic_stepper as ks
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def mat_mul(a, b):
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if len(a[0]) != len(b):
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return None
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res = []
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for i in range(len(a)):
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res.append([])
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for j in range(len(b[0])):
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res[i].append(sum(a[i][k] * b[k][j] for k in range(len(b))))
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return res
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def mat_transp(a):
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res = []
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for i in range(len(a[0])):
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res.append([a[j][i] for j in range(len(a))])
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return res
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def mat_pseudo_inverse(m):
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mt = mat_transp(m)
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mtm = mat_mul(mt, m)
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pinv = mat_mul(mathutil.matrix_inv(mtm), mt)
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return pinv
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class MainCarriage:
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def __init__(self, config, axis):
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self.rail = stepper.GenericPrinterRail(config)
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self.axis = ord(axis) - ord('x')
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self.axis_name = axis
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self.dual_carriage = None
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def get_name(self):
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return self.rail.get_name()
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def get_axis(self):
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return self.axis
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def get_rail(self):
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return self.rail
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def add_stepper(self, kin_stepper):
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self.rail.add_stepper(kin_stepper.get_stepper())
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def is_active(self):
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if self.dual_carriage is None:
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return True
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return self.dual_carriage.get_dc_module().is_active(self.rail)
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def set_dual_carriage(self, carriage):
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old_dc = self.dual_carriage
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self.dual_carriage = carriage
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return old_dc
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def get_dual_carriage(self):
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return self.dual_carriage
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class ExtraCarriage:
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def __init__(self, config, carriages):
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self.name = config.get_name().split()[-1]
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self.primary_carriage = config.getchoice('primary_carriage', carriages)
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self.endstop_pin = config.get('endstop_pin')
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def get_name(self):
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return self.name
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def get_axis(self):
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return self.primary_carriage.get_axis()
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def get_rail(self):
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return self.primary_carriage.get_rail()
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def add_stepper(self, kin_stepper):
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self.get_rail().add_stepper(kin_stepper.get_stepper(),
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self.endstop_pin, self.name)
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class DualCarriage:
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def __init__(self, config, carriages):
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self.printer = config.get_printer()
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self.rail = stepper.GenericPrinterRail(config)
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self.primary_carriage = config.getchoice('primary_carriage', carriages)
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if self.primary_carriage.set_dual_carriage(self) is not None:
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raise config.error(
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"Redefinition of dual_carriage for carriage '%s'" %
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self.primary_carriage.get_name())
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self.axis = self.primary_carriage.get_axis()
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if self.axis > 1:
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raise config.error("Invalid axis '%s' for dual_carriage" %
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self.primary_carriage.get_axis_name())
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self.safe_dist = config.getfloat('safe_distance', None, minval=0.)
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def get_name(self):
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return self.rail.get_name()
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def get_axis(self):
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return self.primary_carriage.get_axis()
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def get_rail(self):
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return self.rail
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def get_safe_dist(self):
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return self.safe_dist
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def get_dc_module(self):
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return self.printer.lookup_object('dual_carriage')
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def is_active(self):
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return self.get_dc_module().is_active(self.rail)
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def get_dual_carriage(self):
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return self.primary_carriage
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def add_stepper(self, kin_stepper):
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self.rail.add_stepper(kin_stepper.get_stepper())
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class GenericCartesianKinematics:
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def __init__(self, toolhead, config):
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self.printer = config.get_printer()
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self._load_kinematics(config)
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for s in self.get_steppers():
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s.set_trapq(toolhead.get_trapq())
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toolhead.register_step_generator(s.generate_steps)
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self.dc_module = None
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if self.dc_carriages:
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pcs = [dc.get_dual_carriage() for dc in self.dc_carriages]
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primary_rails = [pc.get_rail() for pc in pcs]
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dual_rails = [dc.get_rail() for dc in self.dc_carriages]
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axes = [dc.get_axis() for dc in self.dc_carriages]
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safe_dist = {dc.get_axis() : dc.get_safe_dist()
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for dc in self.dc_carriages}
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self.dc_module = dc_module = idex_modes.DualCarriages(
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self.printer, primary_rails, dual_rails, axes, safe_dist)
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zero_pos = (0., 0.)
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for acs in itertools.product(*zip(pcs, self.dc_carriages)):
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for c in acs:
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dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
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idex_modes.PRIMARY, zero_pos)
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dc_rail = c.get_dual_carriage().get_rail()
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dc_module.get_dc_rail_wrapper(dc_rail).inactivate(zero_pos)
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self._check_kinematics(config.error)
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for c in pcs:
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dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
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idex_modes.PRIMARY, zero_pos)
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dc_rail = c.get_dual_carriage().get_rail()
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dc_module.get_dc_rail_wrapper(dc_rail).inactivate(zero_pos)
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else:
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self._check_kinematics(config.error)
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
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above=0., maxval=max_velocity)
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self.max_z_accel = config.getfloat('max_z_accel', max_accel,
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above=0., maxval=max_accel)
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self.limits = [(1.0, -1.0)] * 3
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# Register gcode commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command("SET_STEPPER_CARRIAGES",
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self.cmd_SET_STEPPER_CARRIAGES,
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desc=self.cmd_SET_STEPPER_CARRIAGES_help)
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def _load_kinematics(self, config):
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carriages = {a : MainCarriage(config.getsection('carriage ' + a), a)
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for a in 'xyz'}
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dc_carriages = []
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for c in config.get_prefix_sections('dual_carriage '):
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dc_carriages.append(DualCarriage(c, carriages))
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for dc in dc_carriages:
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name = dc.get_name()
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if name in carriages:
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raise config.error("Redefinition of carriage %s" % name)
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carriages[name] = dc
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self.carriages = dict(carriages)
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self.dc_carriages = dc_carriages
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ec_carriages = []
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for c in config.get_prefix_sections('extra_carriage '):
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ec_carriages.append(ExtraCarriage(c, carriages))
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for ec in ec_carriages:
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name = ec.get_name()
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if name in carriages:
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raise config.error("Redefinition of carriage %s" % name)
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carriages[name] = ec
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self.kin_steppers = self._load_steppers(config, carriages)
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self.all_carriages = carriages
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self._check_carriages_references(config.error)
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self._check_multi_mcu_homing(config.error)
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def _check_carriages_references(self, report_error):
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carriages = dict(self.all_carriages)
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for s in self.kin_steppers:
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for c in s.get_carriages():
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carriages.pop(c.get_name(), None)
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if carriages:
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raise report_error(
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"Carriage(s) %s must be referenced by some "
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"stepper(s)" % (", ".join(carriages),))
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def _check_multi_mcu_homing(self, report_error):
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for carriage in self.carriages.values():
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for es in carriage.get_rail().get_endstops():
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stepper_mcus = set([s.get_mcu() for s in es[0].get_steppers()
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if s in carriage.get_rail().get_steppers()])
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if len(stepper_mcus) > 1:
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raise report_error("Multi-mcu homing not supported on"
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" multi-mcu shared carriage %s" % es[1])
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def _load_steppers(self, config, carriages):
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return [ks.KinematicStepper(c, carriages)
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for c in config.get_prefix_sections('stepper ')]
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def get_steppers(self):
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return [s.get_stepper() for s in self.kin_steppers]
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def get_primary_carriages(self):
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carriages = [self.carriages[a] for a in "xyz"]
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if self.dc_module:
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for a in self.dc_module.get_axes():
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primary_rail = self.dc_module.get_primary_rail(a)
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for c in self.carriages.values():
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if c.get_rail() == primary_rail:
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carriages[a] = c
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return carriages
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def _get_kinematics_coeffs(self):
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matr = {s.get_name() : list(s.get_kin_coeffs())
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for s in self.kin_steppers}
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offs = {s.get_name() : [0.] * 3 for s in self.kin_steppers}
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if self.dc_module is None:
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return ([matr[s.get_name()] for s in self.kin_steppers],
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[0. for s in self.kin_steppers])
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axes = [dc.get_axis() for dc in self.dc_carriages]
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orig_matr = copy.deepcopy(matr)
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for dc in self.dc_carriages:
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axis = dc.get_axis()
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for c in [dc.get_dual_carriage(), dc]:
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m, o = self.dc_module.get_transform(c.get_rail())
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for s in c.get_rail().get_steppers():
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matr[s.get_name()][axis] *= m
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offs[s.get_name()][axis] += o
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return ([matr[s.get_name()] for s in self.kin_steppers],
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[mathutil.matrix_dot(orig_matr[s.get_name()],
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offs[s.get_name()])
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for s in self.kin_steppers])
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def _check_kinematics(self, report_error):
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matr, _ = self._get_kinematics_coeffs()
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det = mathutil.matrix_det(mat_mul(mat_transp(matr), matr))
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if abs(det) < 0.00001:
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raise report_error(
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"Verify configured stepper(s) and their 'carriages' "
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"specifications, the current configuration does not "
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"allow independent movements of all printer axes.")
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def calc_position(self, stepper_positions):
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matr, offs = self._get_kinematics_coeffs()
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spos = [stepper_positions[s.get_name()] for s in self.kin_steppers]
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pinv = mat_pseudo_inverse(matr)
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pos = mat_mul([[sp-o for sp, o in zip(spos, offs)]], mat_transp(pinv))
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for i in range(3):
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if not any(pinv[i]):
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pos[0][i] = None
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return pos[0]
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def update_limits(self, i, range):
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l, h = self.limits[i]
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# Only update limits if this axis was already homed,
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# otherwise leave in un-homed state.
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if l <= h:
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self.limits[i] = range
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def set_position(self, newpos, homing_axes):
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for s in self.kin_steppers:
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s.set_position(newpos)
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for axis_name in homing_axes:
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axis = "xyz".index(axis_name)
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for c in self.carriages.values():
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if c.get_axis() == axis and c.is_active():
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self.limits[axis] = c.get_rail().get_range()
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break
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def clear_homing_state(self, clear_axes):
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for axis, axis_name in enumerate("xyz"):
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if axis_name in clear_axes:
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self.limits[axis] = (1.0, -1.0)
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def home_axis(self, homing_state, axis, rail):
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# Determine movement
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position_min, position_max = rail.get_range()
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hi = rail.get_homing_info()
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homepos = [None, None, None, None]
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homepos[axis] = hi.position_endstop
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forcepos = list(homepos)
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if hi.positive_dir:
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forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
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else:
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forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
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# Perform homing
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homing_state.home_rails([rail], forcepos, homepos)
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def home(self, homing_state):
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self._check_kinematics(self.printer.command_error)
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# Each axis is homed independently and in order
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for axis in homing_state.get_axes():
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carriage = self.carriages["xyz"[axis]]
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if carriage.get_dual_carriage() != None:
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self.dc_module.home(homing_state, axis)
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else:
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self.home_axis(homing_state, axis, carriage.get_rail())
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def _check_endstops(self, move):
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end_pos = move.end_pos
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for i in (0, 1, 2):
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if (move.axes_d[i]
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and (end_pos[i] < self.limits[i][0]
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or end_pos[i] > self.limits[i][1])):
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if self.limits[i][0] > self.limits[i][1]:
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raise move.move_error("Must home axis first")
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raise move.move_error()
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def check_move(self, move):
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limits = self.limits
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xpos, ypos = move.end_pos[:2]
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if (xpos < limits[0][0] or xpos > limits[0][1]
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or ypos < limits[1][0] or ypos > limits[1][1]):
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self._check_endstops(move)
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if not move.axes_d[2]:
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# Normal XY move - use defaults
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return
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# Move with Z - update velocity and accel for slower Z axis
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self._check_endstops(move)
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z_ratio = move.move_d / abs(move.axes_d[2])
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move.limit_speed(
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self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
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def get_status(self, eventtime):
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axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
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ranges = [c.get_rail().get_range()
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for c in self.get_primary_carriages()]
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axes_min = gcode.Coord(*[r[0] for r in ranges], e=0.)
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axes_max = gcode.Coord(*[r[1] for r in ranges], e=0.)
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return {
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'homed_axes': "".join(axes),
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'axis_minimum': axes_min,
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'axis_maximum': axes_max,
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}
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cmd_SET_STEPPER_CARRIAGES_help = "Set stepper carriages"
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def cmd_SET_STEPPER_CARRIAGES(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.flush_step_generation()
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stepper_name = gcmd.get("STEPPER")
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steppers = [stepper for stepper in self.kin_steppers
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if stepper.get_name() == stepper_name
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or stepper.get_name(short=True) == stepper_name]
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if len(steppers) != 1:
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raise gcmd.error("Invalid STEPPER '%s' specified" % stepper_name)
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stepper = steppers[0]
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carriages_str = gcmd.get("CARRIAGES").lower()
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validate = not gcmd.get_int("DISABLE_CHECKS", 0)
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old_carriages = stepper.get_carriages()
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old_kin_coeffs = stepper.get_kin_coeffs()
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stepper.update_carriages(carriages_str, self.all_carriages, gcmd.error)
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new_carriages = stepper.get_carriages()
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if new_carriages != old_carriages:
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stepper.update_kin_coeffs(old_kin_coeffs)
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raise gcmd.error("SET_STEPPER_CARRIAGES cannot add or remove "
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"carriages that the stepper controls")
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pos = toolhead.get_position()
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stepper.set_position(pos)
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if not validate:
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return
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if self.dc_module:
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dc_state = self.dc_module.save_dual_carriage_state()
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pcs = [dc.get_dual_carriage() for dc in self.dc_carriages]
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axes = [dc.get_axis() for dc in self.dc_carriages]
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for acs in itertools.product(*zip(pcs, self.dc_carriages)):
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for c in acs:
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self.dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
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idex_modes.PRIMARY, pos)
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self.dc_module.get_dc_rail_wrapper(
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c.get_dual_carriage().get_rail()).inactivate(pos)
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self._check_kinematics(gcmd.error)
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self.dc_module.restore_dual_carriage_state(dc_state, move=0)
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else:
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self._check_kinematics(gcmd.error)
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def load_kinematics(toolhead, config):
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return GenericCartesianKinematics(toolhead, config)
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