class TestExtruder(unittest.TestCase):
def setUp(self):
self.Settings = OctolapseSettings(NamedTemporaryFile().name)
self.Extruder = Extruder(self.Settings)
# set the retraction distance
self.Extruder.Printerretraction_length = 4
@staticmethod
def create_octoprint_printer_profile():
return {
"volume": {
"custom_box": False,
"width": 250,
"depth": 200,
"height": 200
}
}
def test_ResetInitialState(self):
"""Test the initial extruder state, change all values, reset and check again"""
# Check the initial state
self.assertEquals(len(self.Extruder.StateHistory), 1)
# add some states
state1 = ExtruderState()
self.Extruder.add_state(state1)
state2 = ExtruderState()
self.Extruder.add_state(state2)
state3 = ExtruderState()
self.Extruder.add_state(state3)
# check the length of StateHistory
self.assertEquals(len(self.Extruder.StateHistory), 4)
# reset the state and check again
self.Extruder.reset()
self.assertEquals(len(self.Extruder.StateHistory), 0)
def test_ExtruderState_InitialValues(self):
# create a new state
state = ExtruderState()
# verify the initial values
self.assertEquals(state.E, 0)
self.assertEquals(state.extrusion_length, 0.0)
self.assertEquals(state.extruder_length_total, 0.0)
self.assertEquals(state.retraction_length, 0.0)
self.assertEquals(state.deretraction_length, 0.0)
self.assertFalse(state.is_extruding_start)
self.assertFalse(state.is_extruding)
self.assertFalse(state.is_primed)
self.assertFalse(state.is_retracting_start)
self.assertFalse(state.is_retracting)
self.assertFalse(state.is_partially_retracted)
self.assertFalse(state.is_retracted)
self.assertFalse(state.is_deretracting_start)
self.assertFalse(state.is_deretracting)
self.assertFalse(state.is_deretracted)
self.assertFalse(state.has_changed)
def test_ExtruderStateCopy(self):
# create a new state
state = ExtruderState()
# change all the default values
state.E = 1
state.extrusion_length = 100
state.extruder_length_total = 200
state.retraction_length = 300
state.deretraction_length = 400
state.is_extruding_start = True
state.is_extruding = True
state.is_primed = True
state.is_retracting_start = True
state.is_retracting = True
state.is_partially_retracted = True
state.is_retracted = True
state.is_deretracting_start = True
state.is_deretracting = True
state.is_deretracted = True
state.has_changed = True
# copy to a new state
new_state = ExtruderState(state)
# verify the state was copied correctly
self.assertEquals(new_state.E, 1)
self.assertEquals(new_state.extrusion_length, 100)
self.assertEquals(new_state.extruder_length_total, 200)
self.assertEquals(new_state.retraction_length, 300)
self.assertEquals(new_state.deretraction_length, 400)
self.assertTrue(new_state.is_extruding_start)
self.assertTrue(new_state.is_extruding)
self.assertTrue(new_state.is_primed)
self.assertTrue(new_state.is_retracting_start)
self.assertTrue(new_state.is_retracting)
self.assertTrue(new_state.is_partially_retracted)
self.assertTrue(new_state.is_retracted)
self.assertTrue(new_state.is_deretracting_start)
self.assertTrue(new_state.is_deretracting)
self.assertTrue(new_state.is_deretracted)
self.assertTrue(new_state.has_changed)
def test_has_changed(self):
"""Test the has_changed flag"""
# test the initial state
self.assertFalse(self.Extruder.has_changed())
# test updating with no movement - Change to primed
self.Extruder.update(0)
self.assertTrue(self.Extruder.has_changed())
# test updating with no movement
self.Extruder.update(0)
self.assertFalse(self.Extruder.has_changed())
# test updating with movement
self.Extruder.update(1)
self.assertTrue(self.Extruder.has_changed())
# test updating with no movement
self.Extruder.update(0)
self.assertTrue(self.Extruder.has_changed())
# test updating with slight movement
self.Extruder.update(.0001)
self.assertTrue(self.Extruder.has_changed())
# test updating with slight movement
self.Extruder.update(.0001)
self.assertTrue(self.Extruder.has_changed())
# test updating with slight movement
self.Extruder.update(.01)
self.assertFalse(self.Extruder.has_changed())
# test updating with slight movement
self.Extruder.update(.01)
self.assertFalse(self.Extruder.has_changed())
# test updating with no movement
self.Extruder.update(0)
self.assertTrue(self.Extruder.has_changed())
# test updating with no movement, is_primed changed from 0 to 1
self.Extruder.update(0)
self.assertFalse(self.Extruder.has_changed())
# test updating with no movement
self.Extruder.update(0)
self.assertFalse(self.Extruder.has_changed())
# test updating with slight negative movement
self.Extruder.update(-0.01)
self.assertTrue(self.Extruder.has_changed())
def test_ExtruderStates_Initial(self):
"""Test the All Extruder States"""
# test the initial state
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStates_FromExtruding(self):
# 1, 0 - From extruding to primed
self.Extruder.reset()
self.Extruder.update(1)
self.Extruder.update(0)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertTrue(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 1, 1 - keep extruding
self.Extruder.reset()
self.Extruder.update(1)
self.Extruder.update(1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertTrue(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 1, -1 - from extruding to partially retracted
self.Extruder.reset()
self.Extruder.update(1)
self.Extruder.update(-1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 1, -4 - from extruding to fully retracted
self.Extruder.reset()
self.Extruder.update(1)
self.Extruder.update(-4)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 1, -5 - from extruding to beyond fully retracted
self.Extruder.reset()
self.Extruder.update(1)
self.Extruder.update(-5)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStates_FromPrimed(self):
# 0, 0 - remain primed
self.Extruder.reset()
self.Extruder.update(0)
self.Extruder.update(0)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertTrue(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 0, 1 - from primed to extruding
self.Extruder.reset()
self.Extruder.update(0)
self.Extruder.update(1)
self.assertTrue(self.Extruder.is_extruding_start())
self.assertTrue(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 0, -1 - from primed to partially retracted
self.Extruder.reset()
self.Extruder.update(0)
self.Extruder.update(-1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 0, -4 - from primed to fully retracted
self.Extruder.reset()
self.Extruder.update(0)
self.Extruder.update(-4)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# 0, -5 - from primed to beyond fully retracted
self.Extruder.reset()
self.Extruder.update(0)
self.Extruder.update(-5)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertTrue(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStates_FromPartiallyRetracted(self):
# -2,3 - from partially retracted to extruding
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(3)
self.assertTrue(self.Extruder.is_extruding_start())
self.assertTrue(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -2,2 - deretract
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(2)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertTrue(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -2,1 - deretract from partially retracted to partially retracted
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -2, 0 - remain partially retracted
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(0)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -2,-1 - retract from partially retracted to partially retracted
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(-1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -2,-2 - from partially retracted to fully retracted
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(-2)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -2,-3 - from partially retracted to beyond partially retracted
self.Extruder.reset()
self.Extruder.update(-2)
self.Extruder.update(-3)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStates_FromFullyRetracted(self):
# -4,5 - Fully Retracted To Extruding
self.Extruder.reset()
self.Extruder.update(-4)
self.Extruder.update(5)
self.assertTrue(self.Extruder.is_extruding_start())
self.assertTrue(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -4,4 - Fully Retracted to Primed/Deretracted
self.Extruder.reset()
self.Extruder.update(-4)
self.Extruder.update(4)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertTrue(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -4,1 - Fully Retracted to Partially Retracted
self.Extruder.reset()
self.Extruder.update(-4)
self.Extruder.update(1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -4,0 - Remain Fully Retracted
self.Extruder.reset()
self.Extruder.update(-4)
self.Extruder.update(0)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -4,-1 - Fully Retracted, Continue Retracting
self.Extruder.reset()
self.Extruder.update(-4)
self.Extruder.update(-1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStates_FromBeyondFullyRetracted(self):
# -5,6 - Beyond fully retracted to extruding
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(6)
self.assertTrue(self.Extruder.is_extruding_start())
self.assertTrue(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -5,5 - Beyond fully retracted to primed/deretracted
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(5)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertTrue(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertTrue(self.Extruder.is_deretracted())
# -5,4 - Beyond fully retracted to partially retracted
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(4)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertTrue(self.Extruder.is_partially_retracted())
self.assertFalse(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -5,1 - Beyond fully retracted to fully retracted
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertTrue(self.Extruder.is_deretracting_start())
self.assertTrue(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -5,0 - Remain beyond fully retracted
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(0)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertFalse(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
# -5, -1 - Beyond fully retracted, continuing to retract
self.Extruder.reset()
self.Extruder.update(-5)
self.Extruder.update(-1)
self.assertFalse(self.Extruder.is_extruding_start())
self.assertFalse(self.Extruder.is_extruding())
self.assertFalse(self.Extruder.is_primed())
self.assertFalse(self.Extruder.is_retracting_start())
self.assertTrue(self.Extruder.is_retracting())
self.assertFalse(self.Extruder.is_partially_retracted())
self.assertTrue(self.Extruder.is_retracted())
self.assertFalse(self.Extruder.is_deretracting_start())
self.assertFalse(self.Extruder.is_deretracting())
self.assertFalse(self.Extruder.is_deretracted())
def test_ExtruderStateTriggered(self):
self.assertTrue(
self.Extruder._extruder_state_triggered(None, False) is None)
self.assertTrue(
self.Extruder._extruder_state_triggered(None, True) is None)
self.assertTrue(
self.Extruder._extruder_state_triggered(True, False) is None)
self.assertTrue(self.Extruder._extruder_state_triggered(True, True))
self.assertTrue(
self.Extruder._extruder_state_triggered(False, False) is None)
self.assertFalse(self.Extruder._extruder_state_triggered(False, True))
def test_extruderTriggers_NoFilter(self):
"""Test the extruder triggers"""
# test with no filters - should trigger
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
state.is_primed = False # turn this off so we don't have to account for this default state
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, None, None)
self.assertTrue(self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_extruding_start(self):
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
# test on_extruding_start - True Filter
triggers = ExtruderTriggers(True, None, None, None, None, None, None,
None, None, None)
# test True with true filter
state.is_extruding_start = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_extruding_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_extruding_start - False Filter
triggers = ExtruderTriggers(False, None, None, None, None, None, None,
None, None, None)
# test True with False filter
state.is_extruding_start = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_extruding_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_extruding(self):
# test onExtruding
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, True, None, None, None, None, None,
None, None, None)
# test True with true filter
state.is_extruding = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_extruding = False
self.assertFalse(self.Extruder.is_triggered(triggers))
# test on_extruding - False Filter
triggers = ExtruderTriggers(None, False, None, None, None, None, None,
None, None, None)
# test True with False filter
state.is_extruding = True
self.assertFalse(self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_extruding = False
self.assertFalse(self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_primed(self):
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, True, None, None, None, None,
None, None, None)
# test True with true filter
state.is_primed = True
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_primed = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_primed - False Filter
triggers = ExtruderTriggers(None, None, False, None, None, None, None,
None, None, None)
# test True with False filter
state.is_primed = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_primed = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_retracting_start(self):
# test on_retracting_start
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, True, None, None, None,
None, None, None)
# test True with true filter
state.is_retracting_start = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_retracting_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_retracting_start - False Filter
triggers = ExtruderTriggers(None, None, None, False, None, None, None,
None, None, None)
# test True with False filter
state.is_retracting_start = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_retracting_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_retracting(self):
# test on_retracting
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, True, None, None,
None, None, None)
# test True with true filter
state.is_retracting = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_retracting = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_retracting - False Filter
triggers = ExtruderTriggers(None, None, None, None, False, None, None,
None, None, None)
# test True with False filter
state.is_retracting = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_retracting = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_partially_retracted(self):
# test on_partially_retracted
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, None, True, None,
None, None, None)
# test True with true filter
state.is_partially_retracted = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_partially_retracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_partially_retracted - False Filter
triggers = ExtruderTriggers(None, None, None, None, None, False, None,
None, None, None)
# test True with False filter
state.is_partially_retracted = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_partially_retracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_retracted(self):
# test on_retracted
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, None, None, True,
None, None, None)
# test True with true filter
state.is_retracted = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_retracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_retracted - False Filter
triggers = ExtruderTriggers(None, None, None, None, None, None, False,
None, None, None)
# test True with False filter
state.is_retracted = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_retracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_deretracting_start(self):
# test on_deretracting_start
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
True, None, None)
# test True with true filter
state.is_deretracting_start = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_deretracting_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_deretracting_start - False Filter
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
False, None, None)
# test True with False filter
state.is_deretracting_start = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_deretracting_start = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_deretracting(self):
# test on_deretracting
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, True, None)
# test True with true filter
state.is_deretracting = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_deretracting = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_deretracting - False Filter
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, False, None)
# test True with False filter
state.is_deretracting = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_deretracting = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_on_deretracted(self):
# test on_deretracted
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, None, True)
# test True with true filter
state.is_deretracted = True
state.is_primed = False # turn this off so we don't have to account for this default state
self.assertTrue(self.Extruder.is_triggered(triggers))
# test False with True filter
state.is_deretracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test on_deretracted - False Filter
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, None, False)
# test True with False filter
state.is_deretracted = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# test False with False filter
state.is_deretracted = False
self.assertTrue(not self.Extruder.is_triggered(triggers))
def test_extruderTriggers_Mixed(self):
# Test mixed nones, trues and falses
self.Extruder.reset()
state = ExtruderState()
self.Extruder.add_state(state)
triggers = ExtruderTriggers(None, True, False, None, True, False, None,
True, False, None)
# Forbidden Due to is_primed
state.is_extruding_start = True
state.is_extruding = True
state.is_primed = True
state.is_retracting_start = True
state.is_retracting = True
state.is_partially_retracted = False
state.is_retracted = True
state.is_deretracting_start = True
state.is_deretracting = False
state.is_deretracted = True
self.assertTrue(not self.Extruder.is_triggered(triggers))
# True - is extruding
state.is_extruding_start = False
state.is_extruding = True
state.is_primed = False
state.is_retracting_start = True
state.is_retracting = False
state.is_partially_retracted = False
state.is_retracted = True
state.is_deretracting_start = False
state.is_deretracting = False
state.is_deretracted = True
self.assertTrue(self.Extruder.is_triggered(triggers))
# Test all false states and all Nones
state.is_extruding_start = True
state.is_extruding = True
state.is_primed = True
state.is_retracting_start = True
state.is_retracting = True
state.is_partially_retracted = True
state.is_retracted = True
state.is_deretracting_start = True
state.is_deretracting = True
state.is_deretracted = True
triggers = ExtruderTriggers(None, None, None, None, None, None, None,
None, None, None)
self.assertTrue(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(False, True, True, True, True, True, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, False, True, True, True, True, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, False, True, True, True, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, False, True, True, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, False, True, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, True, False, True,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, True, True, False,
True, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, True, True, True,
False, True, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, True, True, True,
True, False, True)
self.assertFalse(self.Extruder.is_triggered(triggers))
triggers = ExtruderTriggers(True, True, True, True, True, True, True,
True, True, False)
self.assertFalse(self.Extruder.is_triggered(triggers))
class Position(object):
def __init__(self, octolapse_settings, octoprint_printer_profile,
g90_influences_extruder):
self.Settings = octolapse_settings
self.Printer = Printer(self.Settings.current_printer())
self.Snapshot = Snapshot(self.Settings.current_snapshot())
self.OctoprintPrinterProfile = octoprint_printer_profile
self.Origin = {
"X": self.Printer.origin_x,
"Y": self.Printer.origin_y,
"Z": self.Printer.origin_z
}
self.BoundingBox = utility.get_bounding_box(self.Printer,
octoprint_printer_profile)
self.PrinterTolerance = self.Printer.printer_position_confirmation_tolerance
self.Positions = deque(maxlen=5)
self.SavedPosition = None
self.HasRestrictedPosition = len(
self.Snapshot.position_restrictions) > 0
self.reset()
self.Extruder = Extruder(octolapse_settings)
if self.Printer.g90_influences_extruder in ['true', 'false']:
self.G90InfluencesExtruder = True if self.Printer.g90_influences_extruder == 'true' else False
else:
self.G90InfluencesExtruder = g90_influences_extruder
if self.Printer.z_hop is None:
self.Printer.z_hop = 0
self.LocationDetectionCommands = []
self.create_location_detection_commands()
def create_location_detection_commands(self):
if self.Printer.auto_position_detection_commands is not None:
trimmed_commands = self.Printer.auto_position_detection_commands.strip(
)
if len(trimmed_commands) > 0:
self.LocationDetectionCommands = [
x.strip().upper() for x in
self.Printer.auto_position_detection_commands.split(',')
]
if "G28" not in self.LocationDetectionCommands:
self.LocationDetectionCommands.append("G28")
if "G29" not in self.LocationDetectionCommands:
self.LocationDetectionCommands.append("G29")
def reset(self):
# todo: This reset function doesn't seem to reset everything.
self.Positions.clear()
self.SavedPosition = None
def update_position(self,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False,
calculate_changes=False):
num_positions = len(self.Positions)
if num_positions == 0:
return
pos = self.Positions[0]
pos.update_position(self.BoundingBox, x, y, z, e, f, force)
if calculate_changes and num_positions > 1:
previous_pos = self.Positions[1]
pos.HasPositionChanged = not pos.is_position_equal(
previous_pos, self.PrinterTolerance)
pos.HasStateChanged = not pos.is_state_equal(
previous_pos, self.PrinterTolerance)
def to_dict(self):
if len(self.Positions) > 0:
previous_pos = self.Positions[0]
return previous_pos.to_dict()
return None
def to_position_dict(self):
if len(self.Positions) > 0:
previous_pos = self.Positions[0]
return previous_pos.to_position_dict()
return None
def to_state_dict(self):
if len(self.Positions) > 0:
previous_pos = self.Positions[0]
return previous_pos.to_state_dict()
return None
def z_delta(self, pos, index=0):
previous_pos = self.get_position(index)
if previous_pos is not None:
# calculate ZDelta
if pos.Height is not None:
if previous_pos.Height is None:
return pos.Height
else:
return pos.Height - previous_pos.Height
return 0
def distance_to_zlift(self, index=0):
pos = self.get_position(index)
assert (isinstance(pos, Pos))
if pos is None:
return None
# get the lift amount, but don't restrict it so we can log properly
amount_to_lift = pos.distance_to_zlift(self.Printer.z_hop, False)
if amount_to_lift < 0:
# the current lift is negative
self.Settings.current_debug_profile().log_warning(
"position.py - A 'distance_to_zlift' was requested, "
"but the current lift is already above the z_hop height.")
return 0
elif amount_to_lift > self.Printer.z_hop:
# For some reason we're lower than we expected
self.Settings.current_debug_profile().log_warning(
"position.py - A 'distance_to_zlift' was requested, "
"but was found to be more than the z_hop height.")
return self.Printer.z_hop
else:
# we are in-between 0 and z_hop, calculate lift
return amount_to_lift
def has_state_changed(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.HasStateChanged
def is_in_position(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsInPosition
def in_path_position(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.InPathPosition
def has_position_changed(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.HasPositionChanged
def has_position_error(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.HasPositionError
def position_error(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.PositionError
def x(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.X
def x_offset(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.XOffset
def y(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.Y
def y_offset(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.YOffset
def z(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.Z
def z_offset(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.ZOffset
def e(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.E
def e_offset(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.EOffset
def f(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.F
def is_zhop(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsZHop
def is_layer_change(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsLayerChange
def layer(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.Layer
def height(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.Height
def is_relative(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsRelative
def is_extruder_relative(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsExtruderRelative
def is_metric(self, index=0):
pos = self.get_position(index)
if pos is None:
return None
return pos.IsMetric
def has_received_home_command(self, index=0):
pos = self.get_position(index)
if pos is None:
return False
return pos.HasReceivedHomeCommand and self.has_homed_axes(index)
def command_requires_location_detection(self, cmd):
if self.Printer.auto_detect_position:
if cmd in self.LocationDetectionCommands:
return True
return False
def requires_location_detection(self, index=0):
pos = self.get_position(index)
if pos is None:
return False
if self.command_requires_location_detection(pos.Command):
return True
return False
def undo_update(self):
pos = self.get_position(0)
previous_position = None
previous_extruder = None
if pos is not None:
previous_position = self.Positions.popleft()
previous_extruder = self.Extruder.undo_update()
return previous_position, previous_extruder
def get_position(self, index=0):
if len(self.Positions) > index:
return self.Positions[index]
return None
def update(self, gcode, cmd, parameters):
# a new position
pos = None
previous_pos = None
num_positions = len(self.Positions)
if num_positions > 0:
pos = Pos(self.Printer, self.OctoprintPrinterProfile,
self.Positions[0])
previous_pos = Pos(self.Printer, self.OctoprintPrinterProfile,
self.Positions[0])
if pos is None:
pos = Pos(self.Printer, self.OctoprintPrinterProfile)
if previous_pos is None:
previous_pos = Pos(self.Printer, self.OctoprintPrinterProfile)
# reset the current position state (copied from the previous position,
# or a
# new position)
pos.reset_state()
# set the pos gcode cmd
pos.Command = cmd
pos.Parameters = parameters
pos.GCode = gcode
# apply the cmd to the position tracker
# TODO: this should NOT be an else/if structure anymore.. Simplify
if cmd is not None:
if cmd in Commands.CommandsRequireMetric and not pos.IsMetric:
pos.HasPositionError = True
pos.PositionError = "Units are not metric. Unable to continue print."
elif cmd in ["G0", "G1"]:
# Movement
self.Settings.current_debug_profile(
).log_position_command_received("Received {0}".format(cmd))
x = parameters["X"] if "X" in parameters else None
y = parameters["Y"] if "Y" in parameters else None
z = parameters["Z"] if "Z" in parameters else None
e = parameters["E"] if "E" in parameters else None
f = parameters["F"] if "F" in parameters else None
# If we're moving on the X/Y plane only, mark this position as travel only
pos.IsTravelOnly = e is None and (x is not None or y
is not None or z is not None)
if x is not None or y is not None or z is not None or f is not None:
if pos.IsRelative is not None:
if pos.HasPositionError and not pos.IsRelative:
pos.HasPositionError = False
pos.PositionError = ""
pos.update_position(self.BoundingBox,
x,
y,
z,
e=None,
f=f)
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Position - Unable to update the X/Y/Z axis position, the axis mode ("
"relative/absolute) has not been explicitly set via G90/G91. "
)
if e is not None:
if pos.IsExtruderRelative is not None:
if pos.HasPositionError and not pos.IsExtruderRelative:
pos.HasPositionError = False
pos.PositionError = ""
pos.update_position(self.BoundingBox,
x=None,
y=None,
z=None,
e=e,
f=None)
else:
self.Settings.current_debug_profile().log_error(
"Position - Unable to update the extruder position, the extruder mode ("
"relative/absolute) has been selected (absolute/relative). "
)
message = "Position Change - {0} - {1} Move From(X:{2},Y:{3},Z:{4},E:{5}) - To(X:{6},Y:{7},Z:{8}," \
"E:{9}) "
if previous_pos is None:
message = message.format(
gcode, "Relative" if pos.IsRelative else "Absolute",
"None", "None", "None", "None", pos.X, pos.Y, pos.Z,
pos.E)
else:
message = message.format(
gcode, "Relative" if pos.IsRelative else "Absolute",
previous_pos.X, previous_pos.Y, previous_pos.Z,
previous_pos.E, pos.X, pos.Y, pos.Z, pos.E)
self.Settings.current_debug_profile().log_position_change(
message)
elif cmd == "G20":
# change units to inches
if pos.IsMetric is None or pos.IsMetric:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G20 - Switching units to inches.")
pos.IsMetric = False
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G20 - Already in inches.")
elif cmd == "G21":
# change units to millimeters
if pos.IsMetric is None or not pos.IsMetric:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G21 - Switching units to millimeters.")
pos.IsMetric = True
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G21 - Already in millimeters.")
elif cmd == "G28":
# Home
pos.HasReceivedHomeCommand = True
x = parameters["X"] if "X" in parameters else None
y = parameters["Y"] if "Y" in parameters else None
z = parameters["Z"] if "Z" in parameters else None
# ignore the W parameter, it's used in Prusa firmware to indicate a home without mesh bed leveling
#w = parameters["W"] if "W" in parameters else None
x_homed = False
y_homed = False
z_homed = False
if x is not None:
x_homed = True
if y is not None:
y_homed = True
if z is not None:
z_homed = True
# if there are no x,y or z parameters, we're homing all axes
if x is None and y is None and z is None:
x_homed = True
y_homed = True
z_homed = True
home_strings = []
if x_homed:
pos.XHomed = True
pos.X = self.Origin[
"X"] if not self.Printer.auto_detect_position else None
if pos.X is None:
home_strings.append("Homing X to Unknown Origin.")
else:
home_strings.append("Homing X to {0}.".format(
get_formatted_coordinate(pos.X)))
if y_homed:
pos.YHomed = True
pos.Y = self.Origin[
"Y"] if not self.Printer.auto_detect_position else None
if pos.Y is None:
home_strings.append("Homing Y to Unknown Origin.")
else:
home_strings.append("Homing Y to {0}.".format(
get_formatted_coordinate(pos.Y)))
if z_homed:
pos.ZHomed = True
pos.Z = self.Origin[
"Z"] if not self.Printer.auto_detect_position else None
if pos.Z is None:
home_strings.append("Homing Z to Unknown Origin.")
else:
home_strings.append("Homing Z to {0}.".format(
get_formatted_coordinate(pos.Z)))
self.Settings.current_debug_profile(
).log_position_command_received("Received G28 - ".format(
" ".join(home_strings)))
pos.HasPositionError = False
pos.PositionError = None
# we must do this in case we have more than one home command
previous_pos = Pos(self.Printer, self.OctoprintPrinterProfile,
pos)
elif cmd == "G90":
# change x,y,z to absolute
if pos.IsRelative is None or pos.IsRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G90 - Switching to absolute x,y,z coordinates."
)
pos.IsRelative = False
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G90 - Already using absolute x,y,z coordinates."
)
# for some firmwares we need to switch the extruder to
# absolute
# coordinates
# as well
if self.G90InfluencesExtruder:
if pos.IsExtruderRelative is None or pos.IsExtruderRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G90 - Switching to absolute extruder coordinates"
)
pos.IsExtruderRelative = False
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G90 - Already using absolute extruder coordinates"
)
elif cmd == "G91":
# change x,y,z to relative
if pos.IsRelative is None or not pos.IsRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G91 - Switching to relative x,y,z coordinates"
)
pos.IsRelative = True
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G91 - Already using relative x,y,z coordinates"
)
# for some firmwares we need to switch the extruder to
# absolute
# coordinates
# as well
if self.G90InfluencesExtruder:
if pos.IsExtruderRelative is None or not pos.IsExtruderRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G91 - Switching to relative extruder coordinates"
)
pos.IsExtruderRelative = True
else:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G91 - Already using relative extruder coordinates"
)
elif cmd == "M83":
# Extruder - Set Relative
if pos.IsExtruderRelative is None or not pos.IsExtruderRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received M83 - Switching Extruder to Relative Coordinates"
)
pos.IsExtruderRelative = True
elif cmd == "M82":
# Extruder - Set Absolute
if pos.IsExtruderRelative is None or pos.IsExtruderRelative:
self.Settings.current_debug_profile(
).log_position_command_received(
"Received M82 - Switching Extruder to Absolute Coordinates"
)
pos.IsExtruderRelative = False
elif cmd == "G92":
# Set Position (offset)
x = parameters["X"] if "X" in parameters else None
y = parameters["Y"] if "Y" in parameters else None
z = parameters["Z"] if "Z" in parameters else None
e = parameters["E"] if "E" in parameters else None
if x is None and y is None and z is None and e is None:
pos.XOffset = pos.X
pos.YOffset = pos.Y
pos.ZOffset = pos.Z
pos.EOffset = pos.E
# set the offsets if they are provided
if x is not None:
if pos.X is not None and pos.XHomed:
pos.XOffset = pos.X - utility.get_float(x, 0)
else:
pos.X = utility.get_float(x, 0)
if y is not None:
if pos.Y is not None and pos.YHomed:
pos.YOffset = pos.Y - utility.get_float(y, 0)
else:
pos.Y = utility.get_float(y, 0)
if z is not None:
if pos.Z is not None and pos.ZHomed:
pos.ZOffset = pos.Z - utility.get_float(z, 0)
else:
pos.Z = utility.get_float(z, 0)
if e is not None:
if pos.E is not None:
pos.EOffset = pos.E - utility.get_float(e, 0)
else:
pos.E = utility.get_float(e, 0)
self.Settings.current_debug_profile(
).log_position_command_received(
"Received G92 - Set Position. Command:{0}, XOffset:{1}, "
+ "YOffset:{2}, ZOffset:{3}, EOffset:{4}".format(
gcode, pos.XOffset, pos.YOffset, pos.ZOffset,
pos.EOffset))
########################################
# Update the extruder monitor.
self.Extruder.update(self.e_relative_pos(pos))
########################################
# If we have a homed axis, detect changes.
########################################
# for now we're going to ignore extruder changes and just run calculations every time.
# has_extruder_changed = self.Extruder.HasChanged()
pos.HasPositionChanged = not pos.is_position_equal(previous_pos, 0)
pos.HasStateChanged = not pos.is_state_equal(previous_pos,
self.PrinterTolerance)
if (pos.has_homed_position() and previous_pos.has_homed_position()
and (self.Extruder.has_changed(0) or pos.HasPositionChanged)):
if self.HasRestrictedPosition:
_is_in_position, _intersections = self.calculate_path_intersections(
self.Snapshot.position_restrictions, pos.X, pos.Y,
previous_pos.X, previous_pos.Y)
if _is_in_position:
pos.IsInPosition = _is_in_position
else:
pos.IsInPosition = False
pos.InPathPosition = _intersections
else:
pos.IsInPosition = True
# calculate LastExtrusionHeight and Height
if self.Extruder.is_extruding():
pos.LastExtrusionHeight = pos.Z
# see if we have primed yet
if self.Printer.priming_height > 0:
if not pos.IsPrimed and pos.LastExtrusionHeight < self.Printer.priming_height:
pos.IsPrimed = True
else:
# if we have no priming height set, just set IsPrimed = true.
pos.IsPrimed = True
# make sure we are primed before calculating height/layers
if pos.IsPrimed:
if pos.Height is None or utility.round_to(
pos.Z,
self.PrinterTolerance) > previous_pos.Height:
pos.Height = utility.round_to(pos.Z,
self.PrinterTolerance)
self.Settings.current_debug_profile(
).log_position_height_change(
"Position - Reached New Height:{0}.".format(
pos.Height))
# calculate layer change
if (utility.round_to(self.z_delta(pos),
self.PrinterTolerance) > 0
or pos.Layer == 0):
pos.IsLayerChange = True
pos.Layer += 1
self.Settings.current_debug_profile(
).log_position_layer_change(
"Position - Layer:{0}.".format(pos.Layer))
else:
pos.IsLayerChange = False
# Calculate ZHop based on last extrusion height
if pos.LastExtrusionHeight is not None:
# calculate lift, taking into account floating point
# rounding
lift = pos.distance_to_zlift(self.Printer.z_hop)
# todo: replace rounding with a call to is close or greater than utility function
lift = utility.round_to(lift, self.PrinterTolerance)
is_lifted = lift >= self.Printer.z_hop and not (
self.Extruder.is_extruding()
or self.Extruder.is_extruding_start())
if is_lifted or self.Printer.z_hop == 0:
pos.IsZHop = True
if pos.IsZHop and self.Printer.z_hop > 0:
self.Settings.current_debug_profile().log_position_zhop(
"Position - Zhop:{0}".format(self.Printer.z_hop))
self.Positions.appendleft(pos)
def has_homed_position(self, index=0):
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return pos.has_homed_position()
def has_homed_axes(self, index=0):
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return pos.has_homed_axes()
def x_relative(self, index=0, x=None):
if x:
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return x - pos.X + pos.XOffset
else:
if len(self.Positions) <= index + 1:
return None
pos = self.Positions[index]
previous_pos = self.Positions[index + 1]
return pos.X - previous_pos.X
def y_relative(self, index=0, y=None):
if y:
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return y - pos.Y + pos.YOffset
else:
if len(self.Positions) <= index + 1:
return None
pos = self.Positions[index]
previous_pos = self.Positions[index + 1]
return pos.Y - previous_pos.Y
def z_relative(self, index=0, z=None):
if z:
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return z - pos.Z + pos.ZOffset
else:
if len(self.Positions) <= index + 1:
return None
pos = self.Positions[index]
previous_pos = self.Positions[index + 1]
return pos.Z - previous_pos.Z
def e_relative(self, index=0, e=None):
if e:
if len(self.Positions) <= index:
return None
pos = self.Positions[index]
return e - pos.E + pos.EOffset
else:
if len(self.Positions) <= index + 1:
return None
pos = self.Positions[index]
previous_pos = self.Positions[index + 1]
return pos.E - previous_pos.E
def e_relative_pos(self, pos):
if len(self.Positions) < 1:
return None
previous_pos = self.Positions[0]
return pos.E - previous_pos.E
@staticmethod
def is_at_position(x, y, z, pos, tolerance, apply_offsets):
if apply_offsets:
x = x + pos.XOffset
y = y + pos.YOffset
if z is not None:
z = z + pos.ZOffset
if ((pos.X is None or utility.is_close(pos.X, x, abs_tol=tolerance))
and
(pos.Y is None or utility.is_close(pos.Y, y, abs_tol=tolerance))
and (z is None or pos.Z is None
or utility.is_close(pos.Z, z, abs_tol=tolerance))):
return True
return False
def is_at_previous_position(self, x, y, z=None):
if len(self.Positions) < 2:
return False
return self.is_at_position(
x, y, z, self.Positions[1],
self.Printer.printer_position_confirmation_tolerance, True)
def is_at_current_position(self, x, y, z=None):
if len(self.Positions) < 1:
return False
return self.is_at_position(
x, y, z, self.Positions[0],
self.Printer.printer_position_confirmation_tolerance, True)
def get_position_string(self, index=0):
if len(self.Positions) < 1:
return get_formatted_coordinates(None, None, None, None)
current_position = self.Positions[index]
return get_formatted_coordinates(current_position.X,
current_position.Y,
current_position.Z,
current_position.E)
def calculate_path_intersections(self, restrictions, x, y, previous_x,
previous_y):
if self.calculate_is_in_position(
restrictions, x, y,
self.Printer.printer_position_confirmation_tolerance):
return True, None
if previous_x is None or previous_y is None:
return False, False
return False, self.calculate_in_position_intersection(
restrictions, x, y, previous_x, previous_y,
self.Printer.printer_position_confirmation_tolerance)
@staticmethod
def calculate_in_position_intersection(restrictions, x, y, previous_x,
previous_y, tolerance):
intersections = []
for restriction in restrictions:
cur_intersections = restriction.get_intersections(
x, y, previous_x, previous_y)
if cur_intersections:
for cur_intersection in cur_intersections:
intersections.append(cur_intersection)
if len(intersections) == 0:
return False
for intersection in intersections:
if Position.calculate_is_in_position(restrictions, intersection[0],
intersection[1], tolerance):
# calculate the distance from x/y previous to the intersection
distance_to_intersection = math.sqrt(
math.pow(previous_x - intersection[0], 2) +
math.pow(previous_y - intersection[1], 2))
# calculate the length of the lin x,y to previous_x, previous_y
total_distance = math.sqrt(
math.pow(previous_x - x, 2) + math.pow(previous_y - y, 2))
if total_distance > 0:
path_ratio_1 = distance_to_intersection / total_distance
path_ratio_2 = 1.0 - path_ratio_1
else:
path_ratio_1 = 0
path_ratio_2 = 0
return {
'intersection': intersection,
'path_ratio_1': path_ratio_1,
'path_ratio_2': path_ratio_2
}
return False
@staticmethod
def calculate_is_in_position(restrictions, x, y, tolerance):
# we need to know if there is at least one required position
has_required_position = False
# isInPosition will be used to determine if we return
# true where we have at least one required type
in_position = False
# loop through each restriction
for restriction in restrictions:
if restriction.Type == "required":
# we have at least on required position, so at least one point must be in
# position for us to return true
has_required_position = True
if restriction.is_in_position(x, y, tolerance):
if restriction.Type == "forbidden":
# if we're in a forbidden position, return false now
return False
else:
# we're in position in at least one required position restriction
in_position = True
if has_required_position:
# if at least one position restriction is required
return in_position
# if we're here then we only have forbidden restrictions, but the point
# was not within the restricted area(s)
return True