extruder: Support SYNC_STEPPER_TO_EXTRUDER on extruder objects

Refactor the extruder_stepper support so that it uses the
ExtruderStepper class defined in extruder.py.

Support the SYNC_STEPPER_TO_EXTRUDER command on steppers defined in
either extruder_stepper or extruder config sections.

Signed-off-by: Kevin O'Connor <[email protected]>

docs/G-Codes.md

@@ -182,6 +182,11 @@ The following standard commands are supported:
   result in excessive pressure between extruder and hot end. Do proper
   calibration steps with filament before use. If 'DISTANCE' value is
   not included command will return current step distance.
+- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
+  command will cause the given extruder STEPPER (as specified in an
+  [extruder](Config_Reference#extruder) or
+  [extruder stepper](Config_Reference#extruder_stepper) config
+  section) to become synchronized to the given EXTRUDER.
 - `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
   disable only the given stepper. This is a diagnostic and debugging
   tool and must be used with care. Disabling an axis motor does not
@@ -344,16 +349,6 @@ enabled:
   future G-Code movement commands may run in parallel with the stepper
   movement.
 
-### Extruder stepper Commands
-
-The following command is available when an
-[extruder_stepper config section](Config_Reference.md#extruder_stepper)
-is enabled:
-- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
-  [EXTRUDER=<extruder config_name>]`: This command will cause the given
-  STEPPER to become synchronized to the given EXTRUDER, overriding
-  the extruder defined in the "extruder_stepper" config section.
-
 ### Probe
 
 The following commands are available when a

klippy/extras/extruder_stepper.py

@@ -4,36 +4,17 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-import stepper
+from kinematics import extruder
 
-class ExtruderStepper:
+class PrinterExtruderStepper:
     def __init__(self, config):
         self.printer = config.get_printer()
-        stepper_name = config.get_name().split()[1]
+        self.extruder_stepper = extruder.ExtruderStepper(config)
         self.extruder_name = config.get('extruder', 'extruder')
-        self.stepper = stepper.PrinterStepper(config)
-        self.stepper.setup_itersolve('extruder_stepper_alloc')
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
-        gcode = self.printer.lookup_object('gcode')
-        gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
-                                   stepper_name,
-                                   self.cmd_SYNC_STEPPER_TO_EXTRUDER,
-                                   desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
     def handle_connect(self):
-        extruder = self.printer.lookup_object(self.extruder_name)
-        extruder.sync_stepper(self.stepper)
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.register_step_generator(self.stepper.generate_steps)
-    cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
-    def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
-        ename = gcmd.get('EXTRUDER')
-        extruder = self.printer.lookup_object(ename, None)
-        if extruder is None:
-            raise gcmd.error("'%s' is not a valid extruder." % (ename,))
-        extruder.sync_stepper(self.stepper)
-        self.extruder_name = ename
-        gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
+        self.extruder_stepper.sync_to_extruder(self.extruder_name)
 
 def load_config_prefix(config):
-    return ExtruderStepper(config)
+    return PrinterExtruderStepper(config)

klippy/kinematics/extruder.py

@@ -9,17 +9,17 @@
 class ExtruderStepper:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.name = config.get_name()
+        self.name = config.get_name().split()[-1]
         self.pressure_advance = self.pressure_advance_smooth_time = 0.
         # Setup stepper
         self.stepper = stepper.PrinterStepper(config)
         ffi_main, ffi_lib = chelper.get_ffi()
         self.sk_extruder = ffi_main.gc(ffi_lib.extruder_stepper_alloc(),
                                        ffi_lib.free)
         self.stepper.set_stepper_kinematics(self.sk_extruder)
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.register_step_generator(self.stepper.generate_steps)
         # Register commands
+        self.printer.register_event_handler("klippy:connect",
+                                            self._handle_connect)
         gcode = self.printer.lookup_object('gcode')
         if self.name == 'extruder':
             gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", None,
@@ -31,12 +31,27 @@ def __init__(self, config):
         gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
                                    self.name, self.cmd_SET_E_STEP_DISTANCE,
                                    desc=self.cmd_SET_E_STEP_DISTANCE_help)
+        gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
+                                   self.name, self.cmd_SYNC_STEPPER_TO_EXTRUDER,
+                                   desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
+    def _handle_connect(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.register_step_generator(self.stepper.generate_steps)
     def get_status(self, eventtime):
         return {'pressure_advance': self.pressure_advance,
                 'smooth_time': self.pressure_advance_smooth_time}
     def find_past_position(self, print_time):
         mcu_pos = self.stepper.get_past_mcu_position(print_time)
         return self.stepper.mcu_to_commanded_position(mcu_pos)
+    def sync_to_extruder(self, extruder_name):
+        extruder = self.printer.lookup_object(extruder_name, None)
+        if extruder is None or not isinstance(extruder, PrinterExtruder):
+            raise self.printer.command_error("'%s' is not a valid extruder."
+                                             % (extruder_name,))
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.flush_step_generation()
+        self.stepper.set_position([extruder.last_position, 0., 0.])
+        self.stepper.set_trapq(extruder.get_trapq())
     def _set_pressure_advance(self, pressure_advance, smooth_time):
         old_smooth_time = self.pressure_advance_smooth_time
         if not self.pressure_advance:
@@ -81,6 +96,11 @@ def cmd_SET_E_STEP_DISTANCE(self, gcmd):
         self.stepper.set_step_dist(dist)
         gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
                           % (self.name, dist))
+    cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
+    def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
+        ename = gcmd.get('EXTRUDER')
+        self.sync_to_extruder(ename)
+        gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
 
 # Tracking for hotend heater, extrusion motion queue, and extruder stepper
 class PrinterExtruder:
@@ -153,11 +173,6 @@ def get_heater(self):
         return self.heater
     def get_trapq(self):
         return self.trapq
-    def sync_stepper(self, stepper):
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.flush_step_generation()
-        stepper.set_position([self.last_position, 0., 0.])
-        stepper.set_trapq(self.trapq)
     def stats(self, eventtime):
         return self.heater.stats(eventtime)
     def check_move(self, move):