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input_shaper: Track kinematics updates by dual_carriage

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-23 01:44:47 +02:00
committed by KevinOConnor
parent 14cbb8dd2d
commit 4d4b9684a5
5 changed files with 95 additions and 38 deletions
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41
klippy/extras/input_shaper.py
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@@ -69,6 +69,8 @@ class AxisInputShaper:
ffi_lib.input_shaper_set_shaper_params(
sk, self.axis.encode(), self.n, self.A, self.T)
return success
def is_enabled(self):
return self.n > 0
def disable_shaping(self):
if self.saved is None and self.n:
self.saved = (self.n, self.A, self.T)
@@ -89,6 +91,8 @@ class InputShaper:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect", self.connect)
self.printer.register_event_handler("dual_carriage:update_kinematics",
self._update_kinematics)
self.toolhead = None
self.shapers = [AxisInputShaper('x', config),
AxisInputShaper('y', config)]
@@ -101,23 +105,25 @@ class InputShaper:
desc=self.cmd_SET_INPUT_SHAPER_help)
def get_shapers(self):
return self.shapers
def init_for_steppers(self, steppers):
ffi_main, ffi_lib = chelper.get_ffi()
for s in steppers:
self._get_input_shaper_stepper_kinematics(s)
def connect(self):
self.toolhead = self.printer.lookup_object("toolhead")
dual_carriage = self.printer.lookup_object('dual_carriage', None)
if dual_carriage is not None:
for shaper in self.shapers:
if shaper.is_enabled():
raise printer.config_error(
'Input shaper parameters cannot be configured via'
' [input_shaper] section with dual_carriage(s) '
' enabled. Refer to Klipper documentation on how '
' to configure input shaper for dual_carriage(s).')
return
# Configure initial values
self._update_input_shaping(error=self.printer.config_error)
def _get_input_shaper_stepper_kinematics(self, stepper):
# Lookup stepper kinematics
sk = stepper.get_stepper_kinematics()
if sk in self.orig_stepper_kinematics:
# Already processed this stepper kinematics unsuccessfully
return None
if sk in self.input_shaper_stepper_kinematics:
return sk
self.orig_stepper_kinematics.append(sk)
ffi_main, ffi_lib = chelper.get_ffi()
is_sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
stepper.set_stepper_kinematics(is_sk)
@@ -125,8 +131,27 @@ class InputShaper:
if res < 0:
stepper.set_stepper_kinematics(sk)
return None
self.orig_stepper_kinematics.append(sk)
self.input_shaper_stepper_kinematics.append(is_sk)
return is_sk
def _update_kinematics(self):
if self.toolhead is None:
# Klipper initialization is not yet completed
return
ffi_main, ffi_lib = chelper.get_ffi()
kin = self.toolhead.get_kinematics()
for s in kin.get_steppers():
if s.get_trapq() is None:
continue
is_sk = self._get_input_shaper_stepper_kinematics(s)
if is_sk is None:
continue
old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
ffi_lib.input_shaper_update_sk(is_sk)
new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
if old_delay != new_delay:
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay)
def _update_input_shaping(self, error=None):
self.toolhead.flush_step_generation()
ffi_main, ffi_lib = chelper.get_ffi()