class Position(object):
def __init__(self, octolapseSettings, octoprintPrinterProfile,
g90InfluencesExtruder):
self.Settings = octolapseSettings
self.Printer = self.Settings.CurrentPrinter()
self.OctoprintPrinterProfile = octoprintPrinterProfile
self.Origin = {
"X": self.Printer.origin_x,
"Y": self.Printer.origin_y,
"Z": self.Printer.origin_z
}
self.BoundingBox = utility.GetBoundingBox(self.Printer,
octoprintPrinterProfile)
self.PrinterTolerance = self.Printer.printer_position_confirmation_tolerance
self.Positions = []
self.Reset()
self.Extruder = Extruder(octolapseSettings)
self.G90InfluencesExtruder = g90InfluencesExtruder
if (self.Printer.z_hop is None):
self.Printer.z_hop = 0
self.Commands = Commands()
def Reset(self):
# todo: This reset function doesn't seem to reset everything.
self.Positions = []
self.SavedPosition = None
def UpdatePosition(self,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False,
calculateChanges=False):
numPositions = len(self.Positions)
if (numPositions == 0):
return
pos = self.Positions[0]
pos.UpdatePosition(self.BoundingBox, x, y, z, e, f, force)
if (calculateChanges and numPositions > 1):
previousPos = self.Positions[1]
pos.HasPositionChanged = not pos.IsPositionEqual(
previousPos, self.PrinterTolerance)
pos.HasStateChanged = not pos.IsStateEqual(previousPos,
self.PrinterTolerance)
def SavePosition(self,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False):
if (len(self.Positions) == 0):
return
self.SavedPosition = Pos(self.Positions[0])
def ToDict(self):
positionDict = None
if (len(self.Positions) > 0):
previousPos = self.Positions[0]
return previousPos.ToDict()
return None
def ToPositionDict(self):
positionDict = None
if (len(self.Positions) > 0):
previousPos = self.Positions[0]
return previousPos.ToPositionDict()
return None
def ToStateDict(self):
positionDict = None
if (len(self.Positions) > 0):
previousPos = self.Positions[0]
return previousPos.ToStateDict()
return None
def ZDelta(self, pos):
if (len(self.Positions) > 0):
previousPos = self.Positions[0]
# calculate ZDelta
if (pos.Height is not None):
if (previousPos.Height is None):
return pos.Height
else:
return pos.Height - previousPos.Height
return 0
def HasStateChanged(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].HasStateChanged
return None
def HasPositionChanged(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].HasPositionChanged
return None
def HasPositionError(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].HasPositionError
return None
def DistanceToZLift(self, index=0):
if (len(self.Positions) > index):
pos = self.Positions[index]
currentLift = utility.round_to(pos.Z - pos.Height,
self.PrinterTolerance)
if (currentLift < self.Printer.z_hop):
return self.Printer.z_hop - currentLift
return 0
return None
def PositionError(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].PositionError
return None
def X(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].X
return None
def Y(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].Y
return None
def Z(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].Z
return None
def E(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].E
return None
def F(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].F
return None
def IsZHop(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].IsZHop
return None
def IsLayerChange(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].IsLayerChange
return None
def Layer(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].Layer
return None
def Height(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].Height
return None
def IsRelative(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].IsRelative
return None
def IsExtruderRelative(self, index=0):
if (len(self.Positions) > index):
return self.Positions[index].IsExtruderRelative
return None
def HasReceivedHomeCommand(self, index=0):
if (len(self.Positions) > index):
return self.Positions[
index].HasReceivedHomeCommand and self.HasHomedAxis(index)
return False
def UndoUpdate(self):
if (len(self.Positions) > 0):
del self.Positions[0]
self.Extruder.UndoUpdate()
def Update(self, gcode):
command = self.Commands.GetCommand(gcode)
# a new position
pos = None
previousPos = None
numPositions = len(self.Positions)
if (numPositions > 0):
pos = Pos(self.OctoprintPrinterProfile, self.Positions[0])
if (numPositions > 1):
previousPos = Pos(self.OctoprintPrinterProfile,
self.Positions[1])
if (pos is None):
pos = Pos(self.OctoprintPrinterProfile)
if (previousPos is None):
previousPos = Pos(self.OctoprintPrinterProfile)
# reset the current position state (copied from the previous position, or a new position)
pos.ResetState()
# set the pos gcode command
pos.GCode = gcode
# apply the command to the position tracker
if (command is not None):
# I'm currently too lazy to keep this DRY
# TODO: Make DRY
if (command.Command in ["G0", "G1"]):
#Movement
if (command.Parse()):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived("Received {0}".format(
command.Name))
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
e = command.Parameters["E"].Value
f = command.Parameters["F"].Value
if (x is not None or y is not None or z is not None
or f is not None):
if (pos.HasPositionError and not pos.IsRelative):
pos.HasPositionError = False
pos.PositionError = ""
pos.UpdatePosition(self.BoundingBox,
x,
y,
z,
e=None,
f=f)
if (e is not None):
if (pos.IsExtruderRelative is not None):
if (pos.HasPositionError
and not pos.IsExtruderRelative):
pos.HasPositionError = False
pos.PositionError = ""
pos.UpdatePosition(self.BoundingBox,
x=None,
y=None,
z=None,
e=e,
f=None)
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to update the extruder position, no extruder coordinate system 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 (previousPos 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",
previousPos.X, previousPos.Y, previousPos.Z,
previousPos.E, pos.X, pos.Y, pos.Z, pos.E)
self.Settings.CurrentDebugProfile().LogPositionChange(
message)
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the gcode command: {0}".
format(gcode))
elif (command.Command == "G28"):
# Home
if (command.Parse()):
pos.HasReceivedHomeCommand = True
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
xHomed = False
yHomed = False
zHomed = False
if (x is not None):
xHomed = True
if (y is not None):
yHomed = True
if (z is not None):
zHomed = True
if (x is None and y is None and z is None):
xHomed = True
yHomed = True
zHomed = True
homeStrings = []
if (xHomed):
pos.XHomed = True
pos.X = self.Origin[
"X"] if not self.Printer.auto_detect_origin else None
if (pos.X is None):
homeStrings.append("Homing X to Unknown Origin.")
else:
homeStrings.append("Homing X to {0}.".format(
GetFormattedCoordinate(pos.X)))
zHomedString = ""
if (yHomed):
pos.YHomed = True
pos.Y = self.Origin[
"Y"] if not self.Printer.auto_detect_origin else None
if (pos.Y is None):
homeStrings.append("Homing Y to Unknown Origin.")
else:
homeStrings.append("Homing Y to {0}.".format(
GetFormattedCoordinate(pos.Y)))
xHomedString = ""
if (zHomed):
pos.ZHomed = True
pos.Z = self.Origin[
"Z"] if not self.Printer.auto_detect_origin else None
if (pos.Z is None):
homeStrings.append("Homing Z to Unknown Origin.")
else:
homeStrings.append("Homing Z to {0}.".format(
GetFormattedCoordinate(pos.Z)))
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived("Received G28 - ".format(
" ".join(homeStrings)))
pos.HasPositionError = False
pos.PositionError = None
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the Gcode:{0}".format(
gcode))
elif (command.Command == "G90"):
# change x,y,z to absolute
if (pos.IsRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Switching to absolute x,y,z coordinates."
)
pos.IsRelative = False
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"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):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Switching to absolute extruder coordinates"
)
pos.IsExtruderRelative = False
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Already using absolute extruder coordinates"
)
elif (command.Command == "G91"):
# change x,y,z to relative
if (not pos.IsRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Switching to relative x,y,z coordinates"
)
pos.IsRelative = True
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"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 (not pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Switching to relative extruder coordinates"
)
pos.IsExtruderRelative = True
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Already using relative extruder coordinates"
)
elif (command.Command == "M83"):
# Extruder - Set Relative
if (pos.IsExtruderRelative is None
or not pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received M83 - Switching Extruder to Relative Coordinates"
)
pos.IsExtruderRelative = True
elif (command.Command == "M82"):
# Extruder - Set Absolute
if (pos.IsExtruderRelative is None or pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received M82 - Switching Extruder to Absolute Coordinates"
)
pos.IsExtruderRelative = False
elif (command.Command == "G92"):
# Set Position (offset)
if (command.Parse()):
previousRelativeValue = pos.IsRelative
previousExtruderRelativeValue = pos.IsExtruderRelative
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
e = command.Parameters["E"].Value
resetAll = False
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 and pos.X is not None and pos.XHomed):
pos.XOffset = pos.X - utility.getfloat(x, 0)
if (y is not None and pos.Y is not None and pos.YHomed):
pos.YOffset = pos.Y - utility.getfloat(y, 0)
if (z is not None and pos.Z is not None and pos.ZHomed):
pos.ZOffset = pos.Z - utility.getfloat(z, 0)
if (e is not None and pos.E is not None):
pos.EOffset = pos.E - utility.getfloat(e, 0)
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G92 - Set Position. Command:{0}, XOffset:{1}, YOffset:{2}, ZOffset:{3}, EOffset:{4}"
.format(gcode, pos.XOffset, pos.YOffset, pos.ZOffset,
pos.EOffset))
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the Gcode:{0}".format(
gcode))
########################################
# Update the extruder monitor.
self.Extruder.Update(self.ERelative(pos))
########################################
# If we have a homed axis, detect changes.
########################################
hasExtruderChanged = self.Extruder.HasChanged()
pos.HasPositionChanged = not pos.IsPositionEqual(
previousPos, self.PrinterTolerance)
pos.HasStateChanged = not pos.IsStateEqual(previousPos,
self.PrinterTolerance)
if (self.HasHomedPosition()):
if (hasExtruderChanged or pos.HasPositionChanged):
# calculate LastExtrusionHeight and Height
if (self.Extruder.IsExtruding()):
pos.LastExtrusionHeight = pos.Z
if (pos.Height is None or
utility.round_to(pos.Z, self.PrinterTolerance)
> previousPos.Height):
pos.Height = utility.round_to(
pos.Z, self.PrinterTolerance)
self.Settings.CurrentDebugProfile(
).LogPositionHeightChange(
"Position - Reached New Height:{0}.".format(
pos.Height))
# calculate layer change
if (utility.round_to(self.ZDelta(pos),
self.PrinterTolerance) > 0
or pos.Layer == 0):
pos.IsLayerChange = True
pos.Layer += 1
self.Settings.CurrentDebugProfile(
).LogPositionLayerChange(
"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 = utility.round_to(
pos.Z - pos.LastExtrusionHeight,
self.PrinterTolerance)
if (lift >= self.Printer.z_hop):
lift = self.Printer.z_hop
isLifted = self.Printer.z_hop > 0.0 and lift >= self.Printer.z_hop and (
not self.Extruder.IsExtruding()
or self.Extruder.IsExtrudingStart())
if (isLifted):
pos.IsZHop = True
if (pos.IsZHop):
self.Settings.CurrentDebugProfile().LogPositionZHop(
"Position - Zhop:{0}".format(self.Printer.z_hop))
# Add the current position, remove positions if we have more than 5 from the end
self.Positions.insert(0, pos)
while (len(self.Positions) > 5):
del self.Positions[5]
def HasHomedPosition(self, index=0):
if (len(self.Positions) <= index):
return None
pos = self.Positions[index]
return (self.HasHomedAxis(index) and pos.X is not None
and pos.Y is not None and pos.Z is not None)
def HasHomedAxis(self, index=0):
if (len(self.Positions) <= index):
return None
pos = self.Positions[index]
return (pos.XHomed and pos.YHomed and pos.ZHomed)
def XRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.X - previousPos.X
def YRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.Y - previousPos.Y
def ZRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.Z - previousPos.Z
def ERelative(self, pos):
if (len(self.Positions) < 1):
return None
previousPos = self.Positions[0]
return pos.E - previousPos.E
def IsAtPosition(self, x, y, z, pos, tolerance, applyOffset):
if (applyOffset):
x = x + pos.XOffset
y = y + pos.YOffset
if (z is not None):
z = z + pos.ZOffset
if ((pos.X is None or utility.isclose(pos.X, x, abs_tol=tolerance)) and
(pos.Y is None or utility.isclose(pos.Y, y, abs_tol=tolerance))
and (z is None or pos.Z is None
or utility.isclose(pos.Z, z, abs_tol=tolerance))):
return True
return False
def IsAtPreviousPosition(self, x, y, z=None, applyOffset=True):
if (len(self.Positions) < 2):
return False
return self.IsAtPosition(
x, y, z, self.Positions[1],
self.Printer.printer_position_confirmation_tolerance, True)
def IsAtCurrentPosition(self, x, y, z=None, applyOffset=True):
if (len(self.Positions) < 1):
return False
return self.IsAtPosition(
x, y, z, self.Positions[0],
self.Printer.printer_position_confirmation_tolerance, True)
def IsAtSavedPosition(self, x, y, z=None, applyOffset=True):
if (self.SavedPosition is None):
return False
return self.IsAtPosition(
x, y, z, self.SavedPosition,
self.Printer.printer_position_confirmation_tolerance, True)
class Position(object):
def __init__(self, octolapseSettings, octoprintPrinterProfile,
g90InfluencesExtruder):
self.Settings = octolapseSettings
self.Printer = self.Settings.CurrentPrinter()
self.OctoprintPrinterProfile = octoprintPrinterProfile
self.PrinterTolerance = self.Printer.printer_position_confirmation_tolerance
self.Positions = []
self.Reset()
self.Extruder = Extruder(octolapseSettings)
self.G90InfluencesExtruder = g90InfluencesExtruder
if (self.Printer.z_hop is None):
self.Printer.z_hop = 0
self.Commands = Commands()
def Reset(self):
self.Positions = []
self.HasPositionError = False
self.PositionError = None
self.IsLayerChange = False
self.HasPositionChanged = False
self.Layer = 0
self.Height = 0
self.SavedPosition = None
def UpdatePosition(self,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False):
if (len(self.Positions) == 0):
return
pos = self.Positions[0]
pos.UpdatePosition(x, y, z, e, f, force)
def SavePosition(self,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False):
if (len(self.Positions) == 0):
return
self.SavedPosition = Pos(self.Positions[0])
def ZDelta(self, pos):
if (len(self.Positions) > 0):
previousPos = self.Positions[0]
# calculate ZDelta
if (pos.Height is not None):
if (previousPos.Height is None):
return pos.Height
else:
return pos.Height - previousPos.Height
return 0
def X(self):
if (len(self.Positions) > 0):
return self.Positions[0].X
return None
def Y(self):
if (len(self.Positions) > 0):
return self.Positions[0].Y
return None
def Z(self):
if (len(self.Positions) > 0):
return self.Positions[0].Z
return None
def E(self):
if (len(self.Positions) > 0):
return self.Positions[0].E
return None
def F(self):
if (len(self.Positions) > 0):
return self.Positions[0].F
return None
def IsZHop(self):
if (len(self.Positions) > 0):
return self.Positions[0].IsZHop
return None
def IsRelative(self):
if (len(self.Positions) > 0):
return self.Positions[0].IsRelative
return None
def IsExtruderRelative(self):
if (len(self.Positions) > 0):
return self.Positions[0].IsExtruderRelative
return None
def UndoUpdate(self):
if (len(self.Positions) > 0):
del self.Positions[0]
self.Extruder.UndoUpdate()
def Update(self, gcode):
# reset state variables
self.IsLayerChange = False
self.HasPositionChanged = False
command = self.Commands.GetCommand(gcode)
# a new position
pos = None
previousPos = None
numPositions = len(self.Positions)
if (numPositions > 0):
pos = Pos(self.OctoprintPrinterProfile, self.Positions[0])
if (numPositions > 1):
previousPos = Pos(self.OctoprintPrinterProfile,
self.Positions[1])
if (pos is None):
pos = Pos(self.OctoprintPrinterProfile)
if (previousPos is None):
previousPos = Pos(self.OctoprintPrinterProfile)
# Movement detected, set the previous values
# disect the gcode and use it to update our position
if (pos.IsZHopStart):
pos.IsZHop = True
elif (pos.IsZHopCompleting):
pos.IsZHop = False
pos.IsZHopCompleting = False
pos.IsZHopStart = False
# apply the command to the position tracker
if (command is not None):
if (command.Command in ["G0", "G1"]):
#Movement
if (command.Parse()):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived("Received {0}".format(
command.Name))
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
e = command.Parameters["E"].Value
f = command.Parameters["F"].Value
if (x is not None or y is not None or z is not None
or f is not None):
if (self.HasPositionError and not pos.IsRelative):
self.HasPositionError = False
self.PositionError = ""
pos.UpdatePosition(x, y, z, e=None, f=f)
if (e is not None):
if (pos.IsExtruderRelative is not None):
if (self.HasPositionError
and not pos.IsExtruderRelative):
self.HasPositionError = False
self.PositionError = ""
pos.UpdatePosition(x=None,
y=None,
z=None,
e=e,
f=None)
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to update the extruder position, no extruder coordinate system 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 (previousPos 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",
previousPos.X, previousPos.Y, previousPos.Z,
previousPos.E, pos.X, pos.Y, pos.Z, pos.E)
self.Settings.CurrentDebugProfile().LogPositionChange(
message)
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the gcode command: {0}".
format(gcode))
# If we've not yet homed the axis
#########################################################
elif (command.Command == "G28"):
# test homing of only X,Y or Z
if (command.Parse()):
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
if (x is not None):
pos.XHomed = True
if (y is not None):
pos.YHomed = True
if (z is not None):
pos.ZHomed = True
if (x is None and y is None and z is None):
pos.XHomed = True
pos.YHomed = True
pos.ZHomed = True
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G28 - Homing to {0}".format(
GetFormattedCoordinates(x, y, z, pos.E)))
self.HasPositionError = False
self.PositionError = None
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the Gcode:{0}".format(
gcode))
elif (command.Command == "G90"):
# change x,y,z to absolute
if (pos.IsRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Switching to absolute x,y,z coordinates."
)
pos.IsRelative = False
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"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):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Switching to absolute extruder coordinates"
)
pos.IsExtruderRelative = False
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G90 - Already using absolute extruder coordinates"
)
elif (command.Command == "G91"):
# change x,y,z to relative
if (not pos.IsRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Switching to relative x,y,z coordinates"
)
pos.IsRelative = True
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"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 (not pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Switching to relative extruder coordinates"
)
pos.IsExtruderRelative = True
else:
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G91 - Already using relative extruder coordinates"
)
elif (command.Command == "M83"):
if (pos.IsExtruderRelative is None
or not pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received M83 - Switching Extruder to Relative Coordinates"
)
pos.IsExtruderRelative = True
elif (command.Command == "M82"):
if (pos.IsExtruderRelative is None or pos.IsExtruderRelative):
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received M82 - Switching Extruder to Absolute Coordinates"
)
pos.IsExtruderRelative = False
elif (command.Command == "G92"):
if (command.Parse()):
previousRelativeValue = self.IsRelative
previousExtruderRelativeValue = self.IsExtruderRelative
x = command.Parameters["X"].Value
y = command.Parameters["Y"].Value
z = command.Parameters["Z"].Value
e = command.Parameters["E"].Value
resetAll = False
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 and pos.X is not None and pos.XHomed):
pos.XOffset = pos.X - utility.getfloat(x, 0)
if (y is not None and pos.Y is not None and pos.YHomed):
pos.YOffset = pos.Y - utility.getfloat(y, 0)
if (z is not None and pos.Z is not None and pos.ZHomed):
pos.ZOffset = pos.Z - utility.getfloat(z, 0)
if (e is not None and pos.E is not None):
pos.EOffset = pos.E - utility.getfloat(e, 0)
self.Settings.CurrentDebugProfile(
).LogPositionCommandReceived(
"Received G92 - Set Position. Command:{0}, XOffset:{1}, YOffset:{2}, ZOffset:{3}, EOffset:{4}"
.format(gcode, pos.XOffset, pos.YOffset, pos.ZOffset,
pos.EOffset))
else:
self.Settings.CurrentDebugProfile().LogError(
"Position - Unable to parse the Gcode:{0}".format(
gcode))
#########################################################
# Update the extruder monitor if there was movement
self.Extruder.Update(self.ERelative(pos))
if (self.HasHomedAxis()):
hasExtruderChanged = (utility.round_to(
self.ERelative(pos), self.PrinterTolerance) != 0)
hasXYZChanged = (
utility.round_to(pos.X, self.PrinterTolerance) !=
utility.round_to(previousPos.X, self.PrinterTolerance)
or utility.round_to(pos.Y, self.PrinterTolerance) !=
utility.round_to(previousPos.Y, self.PrinterTolerance)
or utility.round_to(pos.Z, self.PrinterTolerance) !=
utility.round_to(previousPos.Z, self.PrinterTolerance))
if (hasExtruderChanged or hasXYZChanged):
self.HasPositionChanged = True
# calculate LastExtrusionHeight and Height
if (self.Extruder.IsExtruding()
or self.Extruder.IsExtrudingStart()):
pos.LastExtrusionHeight = pos.Z
if (pos.Height is None or utility.round_to(
pos.Z, self.PrinterTolerance) > self.Height):
self.Height = utility.round_to(
pos.Z, self.PrinterTolerance)
pos.Height = self.Height
self.Settings.CurrentDebugProfile(
).LogPositionHeightChange(
"Position - Reached New Height:{0}.".format(
pos.Height))
# calculate layer change
if (utility.round_to(self.ZDelta(pos),
self.PrinterTolerance) > 0
or self.Layer == 0):
self.IsLayerChange = True
self.Layer += 1
self.Settings.CurrentDebugProfile(
).LogPositionLayerChange(
"Position - Layer:{0}.".format(self.Layer))
else:
self.IsLayerChange = False
# Calculate ZHop based on last extrusion height
if (pos.LastExtrusionHeight is not None):
# calculate lift, taking into account floating point rounding
lift = utility.round_to(
pos.Z - pos.LastExtrusionHeight,
self.PrinterTolerance)
if (lift >= self.Printer.z_hop):
lift = self.Printer.z_hop
isLifted = self.Printer.z_hop > 0.0 and lift >= self.Printer.z_hop and (
not self.Extruder.IsExtruding()
or self.Extruder.IsExtrudingStart())
if (isLifted):
if (not pos.IsZHop):
pos.IsZHopStart = True
else:
if (pos.IsZHop):
pos.IsZHopCompleting = True
if (pos.IsZHopStart):
self.Settings.CurrentDebugProfile().LogPositionZHop(
"Position - ZhopStart:{0}".format(
self.Printer.z_hop))
if (pos.IsZHop):
self.Settings.CurrentDebugProfile().LogPositionZHop(
"Position - Zhop:{0}".format(self.Printer.z_hop))
if (pos.IsZHopCompleting):
self.Settings.CurrentDebugProfile().LogPositionZHop(
"Position - IsZHopCompleting:{0}".format(
self.Printer.z_hop))
# Add the current position, remove positions if we have more than 5 from the end
self.Positions.insert(0, pos)
while (len(self.Positions) > 5):
del self.Positions[5]
def HasHomedAxis(self):
if (len(self.Positions) < 2):
return False
pos = self.Positions[0]
previousPos = self.Positions[1]
return (pos.XHomed and pos.YHomed and pos.ZHomed and pos.X is not None
and pos.Y is not None and pos.Z is not None
and previousPos.X is not None and previousPos.Y is not None
and previousPos.Z is not None)
def XRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.X - previousPos.X
def YRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.Y - previousPos.Y
def ZRelative(self):
if (len(self.Positions) < 2):
return None
pos = self.Positions[0]
prevoiusPos = self.Positions[1]
return pos.Z - previousPos.Z
def ERelative(self, pos):
if (len(self.Positions) < 1):
return None
previousPos = self.Positions[0]
return pos.E - previousPos.E
def IsAtPosition(self, x, y, z, pos, tolerance, applyOffset):
if (applyOffset):
x = x + pos.XOffset
y = y + pos.YOffset
if (z is not None):
z = z + pos.ZOffset
if ((pos.X is None or utility.isclose(pos.X, x, abs_tol=tolerance)) and
(pos.Y is None or utility.isclose(pos.Y, y, abs_tol=tolerance))
and (z is None or pos.Z is None
or utility.isclose(pos.Z, z, abs_tol=tolerance))):
return True
return False
def IsAtPreviousPosition(self, x, y, z=None, applyOffset=True):
if (len(self.Positions) < 2):
return False
return self.IsAtPosition(
x, y, z, self.Positions[1],
self.Printer.printer_position_confirmation_tolerance, True)
def IsAtCurrentPosition(self, x, y, z=None, applyOffset=True):
if (len(self.Positions) < 1):
return False
return self.IsAtPosition(
x, y, z, self.Positions[0],
self.Printer.printer_position_confirmation_tolerance, True)
def IsAtSavedPosition(self, x, y, z=None, applyOffset=True):
if (self.SavedPosition is None):
return False
return self.IsAtPosition(
x, y, z, self.SavedPosition,
self.Printer.printer_position_confirmation_tolerance, True)