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motion_report: Support reporting live_position of extra axes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-10-10 20:20:18 -04:00
parent 24a1116c7c
commit c3bf7b109e
1 changed files with 17 additions and 12 deletions
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29
klippy/extras/motion_report.py
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@@ -220,27 +220,32 @@ class PrinterMotionReport:
if eventtime < self.next_status_time or not self.dtrapqs:
return self.last_status
self.next_status_time = eventtime + STATUS_REFRESH_TIME
xyzpos = (0., 0., 0.)
epos = (0.,)
xyzvelocity = evelocity = 0.
# Calculate current requested toolhead position
toolhead = self.printer.lookup_object('toolhead')
extra_axes = toolhead.get_extra_axes()
live_pos = [0.] * len(extra_axes)
mcu = self.printer.lookup_object('mcu')
print_time = mcu.estimated_print_time(eventtime)
pos, velocity = self.dtrapqs['toolhead'].get_trapq_position(print_time)
if pos is not None:
xyzpos = pos[:3]
live_pos[:3] = pos[:3]
xyzvelocity = velocity
# Calculate requested position of currently active extruder
toolhead = self.printer.lookup_object('toolhead')
ehandler = self.dtrapqs.get(toolhead.get_extruder().get_name())
if ehandler is not None:
pos, velocity = ehandler.get_trapq_position(print_time)
if pos is not None:
epos = (pos[0],)
evelocity = velocity
# Calculate requested position of extra axes
for ea_index, ea in enumerate(extra_axes):
if ea is None:
continue
eaname = ea.get_name()
ehandler = self.dtrapqs.get(eaname)
if ehandler is not None:
pos, velocity = ehandler.get_trapq_position(print_time)
if pos is not None:
live_pos[ea_index] = pos[0]
if ea_index == 4:
evelocity = velocity
# Report status
self.last_status = dict(self.last_status)
self.last_status['live_position'] = toolhead.Coord(xyzpos + epos)
self.last_status['live_position'] = toolhead.Coord(live_pos)
self.last_status['live_velocity'] = xyzvelocity
self.last_status['live_extruder_velocity'] = evelocity
return self.last_status