toolhead: Export "extra axes" coordinates in status

Update the "position" status to include extra axes.  Export a new
"extra_axes" value that describes the class associated with each
component of the coordinate.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/manual_stepper.py

@@ -10,6 +10,7 @@ from . import force_move
 class ManualStepper:
     def __init__(self, config):
         self.printer = config.get_printer()
+        self.name = config.get_name()
         if config.get('endstop_pin', None) is not None:
             self.can_home = True
             self.rail = stepper.LookupRail(
@@ -36,11 +37,13 @@ class ManualStepper:
         self.instant_corner_v = 0.
         self.gaxis_limit_velocity = self.gaxis_limit_accel = 0.
         # Register commands
-        stepper_name = config.get_name().split()[1]
+        stepper_name = self.name.split()[1]
         gcode = self.printer.lookup_object('gcode')
         gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
                                    stepper_name, self.cmd_MANUAL_STEPPER,
                                    desc=self.cmd_MANUAL_STEPPER_help)
+    def get_name(self):
+        return self.name
     def sync_print_time(self):
         toolhead = self.printer.lookup_object('toolhead')
         print_time = toolhead.get_last_move_time()

klippy/toolhead.py

@@ -237,6 +237,8 @@ class ToolHead:
         self.Coord = gcode.Coord
         extruder = kinematics.extruder.DummyExtruder(self.printer)
         self.extra_axes = [extruder]
+        self.extra_axes_status = {}
+        self._build_extra_axes_status()
         kin_name = config.get('kinematics')
         try:
             mod = importlib.import_module('kinematics.' + kin_name)
@@ -425,16 +427,21 @@ class ToolHead:
             if not self.can_pause:
                 break
             eventtime = self.reactor.pause(eventtime + 0.100)
+    def _build_extra_axes_status(self):
+        self.extra_axes_status = {ea.get_name(): e_index + 3
+                                  for e_index, ea in enumerate(self.extra_axes)}
     def set_extruder(self, extruder, extrude_pos):
         # XXX - should use add_extra_axis
         self.extra_axes[0] = extruder
         self.commanded_pos[3] = extrude_pos
+        self._build_extra_axes_status()
     def get_extruder(self):
         return self.extra_axes[0]
     def add_extra_axis(self, ea, axis_pos):
         self._flush_lookahead()
         self.extra_axes.append(ea)
         self.commanded_pos.append(axis_pos)
+        self._build_extra_axes_status()
         self.printer.send_event("toolhead:update_extra_axes")
     def remove_extra_axis(self, ea):
         self._flush_lookahead()
@@ -443,6 +450,7 @@ class ToolHead:
         ea_index = self.extra_axes.index(ea) + 3
         self.commanded_pos.pop(ea_index)
         self.extra_axes.pop(ea_index - 3)
+        self._build_extra_axes_status()
         self.printer.send_event("toolhead:update_extra_axes")
     def get_extra_axes(self):
         return [None, None, None] + self.extra_axes
@@ -500,11 +508,12 @@ class ToolHead:
                      'stalls': self.print_stall,
                      'estimated_print_time': estimated_print_time,
                      'extruder': extruder.get_name(),
-                     'position': self.Coord(self.commanded_pos[:4]),
+                     'position': self.Coord(self.commanded_pos),
                      'max_velocity': self.max_velocity,
                      'max_accel': self.max_accel,
                      'minimum_cruise_ratio': self.min_cruise_ratio,
-                     'square_corner_velocity': self.square_corner_velocity})
+                     'square_corner_velocity': self.square_corner_velocity,
+                     'extra_axes': self.extra_axes_status})
         return res
     def _handle_shutdown(self):
         self.can_pause = False