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>
2025-05-07 00:06:36 +02:00
parent 1cc6398074
commit cc6736c3e3
27 changed files with 1855 additions and 199 deletions
--- a/klippy/kinematics/kinematic_stepper.py
+++ b/klippy/kinematics/kinematic_stepper.py
@@ -0,0 +1,92 @@
+# Kinematic stepper class for generic cartesian kinematics
+#
+# Copyright (C) 2024  Dmitry Butyugin <dmbutyugin@google.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+import logging, re
+import stepper, chelper
+
+def parse_carriages_string(carriages_str, printer_carriages, parse_error):
+    nxt = 0
+    pat = re.compile('[+-]')
+    coeffs = [0.] * 3
+    ref_carriages = []
+    while nxt < len(carriages_str):
+        match = pat.search(carriages_str, nxt+1)
+        end = len(carriages_str) if match is None else match.start()
+        term = carriages_str[nxt:end].strip()
+        term_lst = term.split('*')
+        if len(term_lst) not in [1, 2]:
+            raise parse_error(
+                    "Invalid term '%s' in '%s'" % (term, carriages_str))
+        if len(term_lst) == 2:
+            try:
+                coeff = float(term_lst[0])
+            except ValueError:
+                raise error("Invalid float '%s'" % term_lst[0])
+        else:
+            coeff = -1. if term_lst[0].startswith('-') else 1.
+            if term_lst[0].startswith('-') or term_lst[0].startswith('+'):
+                term_lst[0] = term_lst[0][1:]
+        c = term_lst[-1]
+        if c not in printer_carriages:
+            raise parse_error("Invalid '%s' carriage referenced in '%s'" %
+                              (c, carriages_str))
+        carriage = printer_carriages[c]
+        j = carriage.get_axis()
+        if coeffs[j]:
+            raise error("Carriage '%s' was referenced multiple times in '%s'" %
+                        (c, carriages_str))
+        coeffs[j] = coeff
+        ref_carriages.append(carriage)
+        nxt = end
+    return coeffs, ref_carriages
+
+class KinematicStepper:
+    def __init__(self, config, printer_carriages):
+        self.printer = config.get_printer()
+        self.stepper = stepper.PrinterStepper(config)
+        self.kin_coeffs, self.carriages = parse_carriages_string(
+                config.get('carriages'), printer_carriages, config.error)
+        if not any(self.kin_coeffs):
+            raise config.error(
+                    "'%s' must provide a valid 'carriages' configuration" %
+                    self.stepper.get_name())
+        self.stepper.setup_itersolve(
+                'generic_cartesian_stepper_alloc',
+                self.kin_coeffs[0], self.kin_coeffs[1], self.kin_coeffs[2])
+        self.stepper_sk = self.stepper.get_stepper_kinematics()
+        # Add stepper to the carriages it references
+        for sc in self.carriages:
+            sc.add_stepper(self)
+    def get_name(self, short=False):
+        name = self.stepper.get_name(short)
+        if short and name.startswith('stepper '):
+            return name[8:]
+        return name
+    def get_stepper(self):
+        return self.stepper
+    def get_kin_coeffs(self):
+        return tuple(self.kin_coeffs)
+    def get_active_axes(self):
+        return [i for i, c in enumerate(self.kin_coeffs) if c]
+    def get_carriages(self):
+        return self.carriages
+    def update_kin_coeffs(self, kin_coeffs):
+        self.kin_coeffs = kin_coeffs
+        ffi_main, ffi_lib = chelper.get_ffi()
+        ffi_lib.generic_cartesian_stepper_set_coeffs(
+                self.stepper_sk, kin_coeffs[0], kin_coeffs[1], kin_coeffs[2])
+    def update_carriages(self, carriages_str, printer_carriages, report_error):
+        kin_coeffs, carriages = parse_carriages_string(
+                carriages_str, printer_carriages,
+                report_error or self.printer.command_error)
+        if report_error is not None and not any(kin_coeffs):
+            raise report_error(
+                    "A valid string that references at least one carriage"
+                    " must be provided for '%s'" % self.get_name())
+        self.carriages = carriages
+        self.update_kin_coeffs(kin_coeffs)
+    def set_position(self, coord):
+        self.stepper.set_position(coord)