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cartographer.py
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cartographer.py
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# Cartographer 3D Script v2.3 w/ Temperature Compensation
# To buy affordable bed scanners, check out https://cartographer3d.com
#
# Based on the outstanding work from the Beacon3D Team, with modifications made by the Cartographer and IDM team.
#
# Copyright (C) 2020-2023 Matt Baker <[email protected]>
# Copyright (C) 2020-2023 Lasse Dalegaard <[email protected]>
# Copyright (C) 2023 Beacon <beacon3d.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import threading
import multiprocessing
import traceback
import logging
import chelper
import pins
import math
import time
import queue
import json
import struct
import numpy as np
import copy
from numpy.polynomial import Polynomial
from . import manual_probe
from . import probe
from . import bed_mesh
from . import thermistor
from . import adc_temperature
from mcu import MCU, MCU_trsync
from clocksync import SecondarySync
STREAM_BUFFER_LIMIT_DEFAULT = 100
STREAM_TIMEOUT = 2.0
class CartographerProbe:
def __init__(self, config):
self.printer = config.get_printer()
self.reactor = self.printer.get_reactor()
self.name = config.get_name()
self.speed = config.getfloat("speed", 5.0, above=0.0)
self.lift_speed = config.getfloat("lift_speed", self.speed, above=0.0)
self.backlash_comp = config.getfloat("backlash_comp", 0.5)
self.x_offset = config.getfloat("x_offset", 0.0)
self.y_offset = config.getfloat("y_offset", 0.0)
self.trigger_distance = config.getfloat("trigger_distance", 2.0)
self.trigger_dive_threshold = config.getfloat("trigger_dive_threshold", 1.0)
self.trigger_hysteresis = config.getfloat("trigger_hysteresis", 0.006)
self.z_settling_time = config.getint("z_settling_time", 5, minval=0)
# If using paper for calibration, this would be .1mm
self.cal_nozzle_z = config.getfloat("cal_nozzle_z", 0.1)
self.cal_floor = config.getfloat("cal_floor", 0.2)
self.cal_ceil = config.getfloat("cal_ceil", 5.0)
self.cal_speed = config.getfloat("cal_speed", 1.0)
self.cal_move_speed = config.getfloat("cal_move_speed", 10.0)
# Load models
self.model = None
self.models = {}
self.model_temp_builder = CartographerTempModelBuilder.load(config)
self.model_temp = None
self.fmin = None
self.default_model_name = config.get("default_model_name", "default")
self.model_manager = ModelManager(self)
# Temperature sensor integration
self.last_temp = 0
self.measured_min = 99999999.0
self.measured_max = 0.0
self.last_sample = None
self.hardware_failure = None
self.mesh_helper = CartographerMeshHelper.create(self, config)
self._stream_en = 0
self._stream_timeout_timer = self.reactor.register_timer(self._stream_timeout)
self._stream_callbacks = {}
self._stream_latency_requests = {}
self._stream_buffer = []
self._stream_buffer_limit = STREAM_BUFFER_LIMIT_DEFAULT
self._stream_buffer_limit_new = self._stream_buffer_limit
self._stream_samples_queue = queue.Queue()
self._stream_flush_event = threading.Event()
self._log_stream = None
self._data_filter = AlphaBetaFilter(
config.getfloat("filter_alpha", 0.5),
config.getfloat("filter_beta", 0.000001),
)
self.trapq = None
self._last_trapq_move = None
self.mod_axis_twist_comp = None
mainsync = self.printer.lookup_object("mcu")._clocksync
self._mcu = MCU(config, SecondarySync(self.reactor, mainsync))
self.printer.add_object("mcu " + self.name, self._mcu)
self.cmd_queue = self._mcu.alloc_command_queue()
self.mcu_probe = CartographerEndstopWrapper(self)
# Register z_virtual_endstop
self.printer.lookup_object("pins").register_chip("probe", self)
# Register event handlers
self.printer.register_event_handler("klippy:connect",
self._handle_connect)
self.printer.register_event_handler("klippy:mcu_identify",
self._handle_mcu_identify)
self._mcu.register_config_callback(self._build_config)
self._mcu.register_response(self._handle_cartographer_data, "cartographer_data")
# Register webhooks
webhooks = self.printer.lookup_object("webhooks")
self._api_dump_helper = APIDumpHelper(self)
webhooks.register_endpoint("cartographer/status", self._handle_req_status)
webhooks.register_endpoint("cartographer/dump", self._handle_req_dump)
# Register gcode commands
self.gcode = self.printer.lookup_object("gcode")
self.gcode.register_command("CARTOGRAPHER_STREAM", self.cmd_CARTOGRAPHER_STREAM,
desc=self.cmd_CARTOGRAPHER_STREAM_help)
self.gcode.register_command("CARTOGRAPHER_QUERY", self.cmd_CARTOGRAPHER_QUERY,
desc=self.cmd_CARTOGRAPHER_QUERY_help)
self.gcode.register_command("CARTOGRAPHER_CALIBRATE",
self.cmd_CARTOGRAPHER_CALIBRATE,
desc=self.cmd_CARTOGRAPHER_CALIBRATE_help)
self.gcode.register_command("CARTOGRAPHER_ESTIMATE_BACKLASH",
self.cmd_CARTOGRAPHER_ESTIMATE_BACKLASH,
desc=self.cmd_CARTOGRAPHER_ESTIMATE_BACKLASH_help)
self.gcode.register_command("probe", self.cmd_PROBE,
desc=self.cmd_PROBE_help)
self.gcode.register_command("PROBE_ACCURACY", self.cmd_PROBE_ACCURACY,
desc=self.cmd_PROBE_ACCURACY_help)
self.gcode.register_command("Z_OFFSET_APPLY_PROBE",
self.cmd_Z_OFFSET_APPLY_PROBE,
desc=self.cmd_Z_OFFSET_APPLY_PROBE_help)
# Event handlers
def _handle_connect(self):
self.phoming = self.printer.lookup_object("homing")
self.mod_axis_twist_comp = self.printer.lookup_object(
"axis_twist_compensation", None
)
# Ensure streaming mode is stopped
self.cartographer_stream_cmd.send([0])
self.model_temp = self.model_temp_builder.build_with_base(self)
if self.model_temp:
self.fmin = self.model_temp.fmin
self.model = self.models.get(self.default_model_name, None)
if self.model:
self._apply_threshold()
def _handle_mcu_identify(self):
constants = self._mcu.get_constants()
if self._mcu._mcu_freq < 20000000:
self.sensor_freq = self._mcu._mcu_freq
elif self._mcu._mcu_freq < 100000000:
self.sensor_freq = self._mcu._mcu_freq/2
else:
self.sensor_freq = self._mcu._mcu_freq/6
self.inv_adc_max = 1.0 / constants.get("ADC_MAX")
self.temp_smooth_count = constants.get("CARTOGRAPHER_ADC_SMOOTH_COUNT")
self.thermistor = thermistor.Thermistor(10000.0, 0.0)
self.thermistor.setup_coefficients_beta(25., 47000.0, 4041.0)
self.toolhead = self.printer.lookup_object("toolhead")
self.trapq = self.toolhead.get_trapq()
def _build_config(self):
self.cartographer_stream_cmd = self._mcu.lookup_command(
"cartographer_stream en=%u", cq=self.cmd_queue)
self.cartographer_set_threshold = self._mcu.lookup_command(
"cartographer_set_threshold trigger=%u untrigger=%u", cq=self.cmd_queue)
self.cartographer_home_cmd = self._mcu.lookup_command(
"cartographer_home trsync_oid=%c trigger_reason=%c trigger_invert=%c",
cq=self.cmd_queue)
self.cartographer_stop_home = self._mcu.lookup_command(
"cartographer_stop_home", cq=self.cmd_queue)
self.cartographer_base_read_cmd = self._mcu.lookup_query_command(
"cartographer_base_read len=%c offset=%hu",
"cartographer_base_data bytes=%*s offset=%hu",
cq=self.cmd_queue)
def stats(self, eventtime):
return False, "%s: coil_temp=%.1f refs=%s" % (
self.name,
self.last_temp,
self._stream_en,
)
# Virtual endstop
def setup_pin(self, pin_type, pin_params):
if pin_type != "endstop" or pin_params["pin"] != "z_virtual_endstop":
raise pins.error("Probe virtual endstop only useful as endstop pin")
if pin_params["invert"] or pin_params["pullup"]:
raise pins.error("Can not pullup/invert probe virtual endstop")
return self.mcu_probe
# Probe interface
def multi_probe_begin(self):
self._start_streaming()
def multi_probe_end(self):
self._stop_streaming()
def get_offsets(self):
return self.x_offset, self.y_offset, self.trigger_distance
def get_lift_speed(self, gcmd=None):
if gcmd is not None:
return gcmd.get_float("LIFT_SPEED", self.lift_speed, above=0.0)
return self.lift_speed
def run_probe(self, gcmd):
if self.model is None:
raise self.printer.command_error("No cartographer model loaded")
speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.0)
allow_faulty = gcmd.get_int("ALLOW_FAULTY_COORDINATE", 0) != 0
lift_speed = self.get_lift_speed(gcmd)
toolhead = self.printer.lookup_object("toolhead")
curtime = self.reactor.monotonic()
if "z" not in toolhead.get_status(curtime)["homed_axes"]:
raise self.printer.command_error("Must home before probe")
self._start_streaming()
try:
return self._probe(speed, allow_faulty=allow_faulty)
finally:
self._stop_streaming()
def _move_to_probing_height(self, speed):
target = self.trigger_distance
top = target + self.backlash_comp
cur_z = self.toolhead.get_position()[2]
if cur_z < top:
self.toolhead.manual_move([None, None, top], speed)
self.toolhead.manual_move([None, None, target], speed)
self.toolhead.wait_moves()
def _probing_move_to_probing_height(self, speed):
curtime = self.reactor.monotonic()
status = self.toolhead.get_kinematics().get_status(curtime)
pos = self.toolhead.get_position()
pos[2] = status["axis_minimum"][2]
try:
self.phoming.probing_move(self.mcu_probe, pos, speed)
self._sample_printtime_sync(self.z_settling_time)
except self.printer.command_error as e:
reason = str(e)
if "Timeout during probing move" in reason:
reason += probe.HINT_TIMEOUT
raise self.printer.command_error(reason)
def _probe(self, speed, num_samples=10, allow_faulty=False):
target = self.trigger_distance
tdt = self.trigger_dive_threshold
(dist, samples) = self._sample(5, num_samples)
x, y = samples[0]["pos"][0:2]
if self._is_faulty_coordinate(x, y, True):
msg = "Probing within a faulty area"
if not allow_faulty:
raise self.printer.command_error(msg)
else:
self.gcode.respond_raw("!! " + msg + "\n")
if dist > target + tdt:
# If we are above the dive threshold right now, we'll need to
# do probing move and then re-measure
self._probing_move_to_probing_height(speed)
(dist, samples) = self._sample(self.z_settling_time, num_samples)
elif math.isinf(dist) and dist < 0:
# We were below the valid range of the model
msg = "Attempted to probe with cartographer below calibrated model range"
raise self.printer.command_error(msg)
elif self.toolhead.get_position()[2] < target - tdt:
# We are below the probing target height, we'll move to the
# correct height and take a new sample.
self._move_to_probing_height(speed)
(dist, samples) = self._sample(self.z_settling_time, num_samples)
pos = samples[0]["pos"]
self.gcode.respond_info("probe at %.3f,%.3f,%.3f is z=%.6f"
% (pos[0], pos[1], pos[2], dist))
return [pos[0], pos[1], pos[2] + target - dist]
# Calibration routines
def _start_calibration(self, gcmd):
allow_faulty = gcmd.get_int("ALLOW_FAULTY_COORDINATE", 0) != 0
if gcmd.get("SKIP_MANUAL_PROBE", None) is not None:
kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
kin_pos = kin.calc_position(kin_spos)
if self._is_faulty_coordinate(kin_pos[0], kin_pos[1]):
msg = "Calibrating within a faulty area"
if not allow_faulty:
raise gcmd.error(msg)
else:
gcmd.respond_raw("!! " + msg + "\n")
self._calibrate(gcmd, kin_pos, False)
else:
curtime = self.printer.get_reactor().monotonic()
kin_status = self.toolhead.get_status(curtime)
if "xy" not in kin_status["homed_axes"]:
raise self.printer.command_error("Must home X and Y "
"before calibration")
kin_pos = self.toolhead.get_position()
if self._is_faulty_coordinate(kin_pos[0], kin_pos[1]):
msg = "Calibrating within a faulty area"
if not allow_faulty:
raise gcmd.error(msg)
else:
gcmd.respond_raw("!! " + msg + "\n")
forced_z = False
if "z" not in kin_status["homed_axes"]:
self.toolhead.get_last_move_time()
pos = self.toolhead.get_position()
pos[2] = (
kin_status["axis_maximum"][2]
- 2.0
- gcmd.get_float("CEIL", self.cal_ceil)
)
self.toolhead.set_position(pos, homing_axes=[2])
forced_z = True
cb = lambda kin_pos: self._calibrate(gcmd, kin_pos, forced_z)
manual_probe.ManualProbeHelper(self.printer, gcmd, cb)
def _calibrate(self, gcmd, kin_pos, forced_z):
if kin_pos is None:
if forced_z:
kin = self.toolhead.get_kinematics()
if hasattr(kin, "note_z_not_homed"):
kin.note_z_not_homed()
return
gcmd.respond_info("cartographer calibration starting")
cal_nozzle_z = gcmd.get_float("NOZZLE_Z", self.cal_nozzle_z)
cal_floor = gcmd.get_float("FLOOR", self.cal_floor)
cal_ceil = gcmd.get_float("CEIL", self.cal_ceil)
cal_min_z = kin_pos[2] - cal_nozzle_z + cal_floor
cal_max_z = kin_pos[2] - cal_nozzle_z + cal_ceil
cal_speed = gcmd.get_float("SPEED", self.cal_speed)
move_speed = gcmd.get_float("MOVE_SPEED", self.cal_move_speed)
toolhead = self.toolhead
curtime = self.reactor.monotonic()
toolhead.wait_moves()
pos = toolhead.get_position()
# Move over to probe coordinate and pull out backlash
curpos = self.toolhead.get_position()
curpos[2] = cal_max_z + self.backlash_comp
toolhead.manual_move(curpos, move_speed) # Up
curpos[0] -= self.x_offset
curpos[1] -= self.y_offset
toolhead.manual_move(curpos, move_speed) # Over
curpos[2] = cal_max_z
toolhead.manual_move(curpos, move_speed) # Down
toolhead.wait_moves()
samples = []
def cb(sample):
samples.append(sample)
try:
self._start_streaming()
self._sample_printtime_sync(50)
with self.streaming_session(cb) as ss:
self._sample_printtime_sync(50)
toolhead.dwell(0.250)
curpos[2] = cal_min_z
toolhead.manual_move(curpos, cal_speed)
toolhead.dwell(0.250)
self._sample_printtime_sync(50)
finally:
self._stop_streaming()
# Fit the sampled data
z_offset = [s["pos"][2]-cal_min_z+cal_floor
for s in samples]
freq = [s["freq"] for s in samples]
temp = [s["temp"] for s in samples]
inv_freq = [1/f for f in freq]
poly = Polynomial.fit(inv_freq, z_offset, 9)
temp_median = median(temp)
self.model = CartographerModel("default",
self, poly, temp_median,
min(z_offset), max(z_offset))
self.models[self.model.name] = self.model
self.model.save(self)
self._apply_threshold()
self.toolhead.get_last_move_time()
pos = self.toolhead.get_position()
pos[2] = cal_floor
self.toolhead.set_position(pos)
# Dump calibration curve
fn = "/tmp/cartographer-calibrate-"+time.strftime("%Y%m%d_%H%M%S")+".csv"
f = open(fn, "w")
f.write("freq,z,temp\n")
for i in range(len(freq)):
f.write("%.5f,%.5f,%.3f\n" % (freq[i], z_offset[i], temp[i]))
f.close()
gcmd.respond_info("cartographer calibrated at %.3f,%.3f from "
"%.3f to %.3f, speed %.2f mm/s, temp %.2fC"
% (pos[0], pos[1],
cal_min_z, cal_max_z, cal_speed, temp_median))
# Internal
def _update_thresholds(self, moving_up=False):
self.trigger_freq = self.dist_to_freq(self.trigger_distance, self.last_temp)
self.untrigger_freq = self.trigger_freq * (1-self.trigger_hysteresis)
def _apply_threshold(self, moving_up=False):
self._update_thresholds()
trigger_c = int(self.freq_to_count(self.trigger_freq))
untrigger_c = int(self.freq_to_count(self.untrigger_freq))
self.cartographer_set_threshold.send([trigger_c, untrigger_c])
def _register_model(self, name, model):
if name in self.models:
raise self.printer.config_error("Multiple cartographer models with same"
"name '%s'" % (name,))
self.models[name] = model
def _is_faulty_coordinate(self, x, y, add_offsets=False):
if not self.mesh_helper:
return False
return self.mesh_helper._is_faulty_coordinate(x, y, add_offsets)
# Streaming mode
def _check_hardware(self, sample):
if not self.hardware_failure:
msg = None
if sample["data"] == 0xFFFFFFF:
msg = "coil is shorted or not connected"
elif self.fmin is not None and sample["freq"] > 1.35 * self.fmin:
msg = "coil expected max frequency exceeded"
if msg:
msg = "cartographer hardware issue: " + msg
self.hardware_failure = msg
logging.error(msg)
if self._stream_en:
self.printer.invoke_shutdown(msg)
else:
self.gcode.respond_raw("!! " + msg + "\n")
elif self._stream_en:
self.printer.invoke_shutdown(self.hardware_failure)
def _enrich_sample_time(self, sample):
clock = sample["clock"] = self._mcu.clock32_to_clock64(sample["clock"])
sample["time"] = self._mcu.clock_to_print_time(clock)
def _enrich_sample_temp(self, sample):
temp_adc = sample["temp"] / self.temp_smooth_count * self.inv_adc_max
sample["temp"] = self.thermistor.calc_temp(temp_adc)
def _enrich_sample_freq(self, sample):
sample["data_smooth"] = self._data_filter.value()
sample["freq"] = self.count_to_freq(sample["data_smooth"])
self._check_hardware(sample)
def _enrich_sample(self, sample):
sample["dist"] = self.freq_to_dist(sample["freq"], sample["temp"])
pos, vel = self._get_trapq_position(sample["time"])
if pos is None:
return
if sample["dist"] is not None and self.mod_axis_twist_comp:
sample["dist"] -= self.mod_axis_twist_comp.get_z_compensation_value(pos)
sample["pos"] = pos
sample["vel"] = vel
def _start_streaming(self):
if self._stream_en == 0:
self.cartographer_stream_cmd.send([1])
curtime = self.reactor.monotonic()
self.reactor.update_timer(self._stream_timeout_timer,
curtime + STREAM_TIMEOUT)
self._stream_en += 1
self._data_filter.reset()
self._stream_flush()
def _stop_streaming(self):
self._stream_en -= 1
if self._stream_en == 0:
self.reactor.update_timer(self._stream_timeout_timer,
self.reactor.NEVER)
self.cartographer_stream_cmd.send([0])
self._stream_flush()
def _stream_timeout(self, eventtime):
if not self._stream_en:
return self.reactor.NEVER
msg = "Cartographer sensor not receiving data"
logging.error(msg)
self.printer.invoke_shutdown(msg)
return self.reactor.NEVER
def request_stream_latency(self, latency):
next_key = 0
if self._stream_latency_requests:
next_key = max(self._stream_latency_requests.keys()) + 1
new_limit = STREAM_BUFFER_LIMIT_DEFAULT
self._stream_latency_requests[next_key] = latency
min_requested = min(self._stream_latency_requests.values())
if min_requested < new_limit:
new_limit = min_requested
if new_limit < 1:
new_limit = 1
self._stream_buffer_limit_new = new_limit
return next_key
def drop_stream_latency_request(self, key):
self._stream_latency_requests.pop(key, None)
new_limit = STREAM_BUFFER_LIMIT_DEFAULT
if self._stream_latency_requests:
min_requested = min(self._stream_latency_requests.values())
if min_requested < new_limit:
new_limit = min_requested
if new_limit < 1:
new_limit = 1
self._stream_buffer_limit_new = new_limit
def streaming_session(self, callback, completion_callback=None, latency=None):
return StreamingHelper(self, callback, completion_callback, latency)
def _stream_flush(self):
self._stream_flush_event.clear()
while True:
try:
samples = self._stream_samples_queue.get_nowait()
updated_timer = False
for sample in samples:
if not updated_timer:
curtime = self.reactor.monotonic()
self.reactor.update_timer(self._stream_timeout_timer,
curtime + STREAM_TIMEOUT)
updated_timer = True
self._enrich_sample_temp(sample)
temp = sample["temp"]
if self.model_temp is not None and not (-40 < temp < 180):
msg = ("cartographer temperature sensor faulty(read %.2f C),"
" disabling temperaure compensation" % (temp,))
logging.error(msg)
self.gcode.respond_raw("!! " + msg + "\n")
self.model_temp = None
self.last_temp = temp
if temp:
self.measured_min = min(self.measured_min, temp)
self.measured_max = max(self.measured_max, temp)
self._enrich_sample_time(sample)
self._data_filter.update(sample["time"], sample["data"])
self._enrich_sample_freq(sample)
if len(self._stream_callbacks) > 0:
self._enrich_sample(sample)
for cb in list(self._stream_callbacks.values()):
cb(sample)
except queue.Empty:
return
def _stream_flush_schedule(self):
force = self._stream_en == 0 # When streaming is disabled, let all through
if self._stream_buffer_limit_new != self._stream_buffer_limit:
force = True
self._stream_buffer_limit = self._stream_buffer_limit_new
if not force and len(self._stream_buffer) < self._stream_buffer_limit:
return
self._stream_samples_queue.put_nowait(self._stream_buffer)
self._stream_buffer = []
if self._stream_flush_event.is_set():
return
self._stream_flush_event.set()
self.reactor.register_async_callback(lambda e: self._stream_flush())
def _handle_cartographer_data(self, params):
if self.trapq is None:
return
self._stream_buffer.append(params.copy())
self._stream_flush_schedule()
def _get_trapq_position(self, print_time):
move = None
if self._last_trapq_move:
last = self._last_trapq_move[0]
last_end = last.print_time + last.move_t
if last.print_time <= print_time < last_end:
move = last
if move is None:
ffi_main, ffi_lib = chelper.get_ffi()
data = ffi_main.new("struct pull_move[1]")
count = ffi_lib.trapq_extract_old(self.trapq, data, 1, 0.0, print_time)
if not count:
return None, None
self._last_trapq_move = data
move = data[0]
move_time = max(0.0, min(move.move_t, print_time - move.print_time))
dist = (move.start_v + .5 * move.accel * move_time) * move_time
pos = (move.start_x + move.x_r * dist, move.start_y + move.y_r * dist,
move.start_z + move.z_r * dist)
velocity = move.start_v + move.accel * move_time
return pos, velocity
def _sample_printtime_sync(self, skip=0, count=1):
toolhead = self.printer.lookup_object("toolhead")
move_time = toolhead.get_last_move_time()
settle_clock = self._mcu.print_time_to_clock(move_time)
samples = []
total = skip + count
def cb(sample):
if sample["clock"] >= settle_clock:
samples.append(sample)
if len(samples) >= total:
raise StopStreaming
with self.streaming_session(cb, latency=skip+count) as ss:
ss.wait()
samples = samples[skip:]
if count == 1:
return samples[0]
else:
return samples
def _sample(self, skip, count):
samples = self._sample_printtime_sync(skip, count)
return (median([s["dist"] for s in samples]), samples)
def _sample_async(self, count=1):
samples = []
def cb(sample):
samples.append(sample)
if len(samples) >= count:
raise StopStreaming
with self.streaming_session(cb, latency=count) as ss:
ss.wait()
if count == 1:
return samples[0]
else:
return samples
def count_to_freq(self, count):
return count*self.sensor_freq/(2**28)
def freq_to_count(self, freq):
return freq*(2**28)/self.sensor_freq
def dist_to_freq(self, dist, temp):
if self.model is None:
return None
return self.model.dist_to_freq(dist, temp)
def freq_to_dist(self, freq, temp):
if self.model is None:
return None
return self.model.freq_to_dist(freq, temp)
def get_status(self, eventtime):
model = None
if self.model is not None:
model = self.model.name
return {
"last_sample": self.last_sample,
"model": model,
}
# Webhook handlers
def _handle_req_status(self, web_request):
temp = None
sample = self._sample_async()
out = {
"freq": sample["freq"],
"dist": sample["dist"],
}
temp = sample["temp"]
if temp is not None:
out["temp"] = temp
web_request.send(out)
def _handle_req_dump(self, web_request):
self._api_dump_helper.add_client(web_request)
# GCode command handlers
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, gcmd):
pos = self.run_probe(gcmd)
gcmd.respond_info("Result is z=%.6f" % (pos[2],))
cmd_CARTOGRAPHER_CALIBRATE_help = "Calibrate cartographer response curve"
def cmd_CARTOGRAPHER_CALIBRATE(self,gcmd):
self._start_calibration(gcmd)
cmd_CARTOGRAPHER_ESTIMATE_BACKLASH_help = "Estimate Z axis backlash"
def cmd_CARTOGRAPHER_ESTIMATE_BACKLASH(self, gcmd):
# Get to correct Z height
overrun = gcmd.get_float("OVERRUN", 1.0)
speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.0)
cur_z = self.toolhead.get_position()[2]
self.toolhead.manual_move([None, None, cur_z+overrun], speed)
self.run_probe(gcmd)
lift_speed = self.get_lift_speed(gcmd)
target = gcmd.get_float("Z", self.trigger_distance)
num_samples = gcmd.get_int("SAMPLES", 20)
wait = self.z_settling_time
samples_up = []
samples_down = []
next_dir = -1
try:
self._start_streaming()
(cur_dist, _samples) = self._sample(wait, 10)
pos = self.toolhead.get_position()
missing = target - cur_dist
target = pos[2] + missing
gcmd.respond_info("Target kinematic Z is %.3f" % (target,))
if target - overrun < 0:
raise gcmd.error("Target minus overrun must exceed 0mm")
while len(samples_up) + len(samples_down) < num_samples:
liftpos = [None, None, target + overrun * next_dir]
self.toolhead.manual_move(liftpos, lift_speed)
liftpos = [None, None, target]
self.toolhead.manual_move(liftpos, lift_speed)
self.toolhead.wait_moves()
(dist, _samples) = self._sample(wait, 10)
{-1: samples_up, 1: samples_down}[next_dir].append(dist)
next_dir = next_dir * -1
finally:
self._stop_streaming()
res_up = median(samples_up)
res_down = median(samples_down)
gcmd.respond_info("Median distance moving up %.5f, down %.5f, "
"delta %.5f over %d samples" %
(res_up, res_down, res_down - res_up,
num_samples))
cmd_CARTOGRAPHER_QUERY_help = "Take a sample from the sensor"
def cmd_CARTOGRAPHER_QUERY(self, gcmd):
sample = self._sample_async()
last_value = sample["freq"]
dist = sample["dist"]
temp = sample["temp"]
self.last_sample = {
"time": sample["time"],
"value": last_value,
"temp": temp,
"dist": dist,
}
if dist is None:
gcmd.respond_info("Last reading: %.2fHz, %.2fC, no model" %
(last_value, temp,))
else:
gcmd.respond_info("Last reading: %.2fHz, %.2fC, %.5fmm" %
(last_value, temp, dist))
cmd_CARTOGRAPHER_STREAM_help = "Enable cartographer Streaming"
def cmd_CARTOGRAPHER_STREAM(self, gcmd):
if self._log_stream is not None:
self._log_stream.stop()
self._log_stream = None
gcmd.respond_info("cartographer Streaming disabled")
else:
f = None
completion_cb = None
fn = gcmd.get("FILENAME")
f = open(fn, "w")
def close_file():
f.close()
completion_cb = close_file
f.write("time,data,data_smooth,freq,dist,temp,pos_x,pos_y,pos_z,vel\n")
def cb(sample):
pos = sample.get("pos", None)
obj = "%.4f,%d,%.2f,%.5f,%.5f,%.2f,%s,%s,%s,%s\n" % (
sample["time"],
sample["data"],
sample["data_smooth"],
sample["freq"],
sample["dist"],
sample["temp"],
"%.3f" % (pos[0],) if pos is not None else "",
"%.3f" % (pos[1],) if pos is not None else "",
"%.3f" % (pos[2],) if pos is not None else "",
"%.3f" % (sample["vel"],) if "vel" in sample else ""
)
f.write(obj)
self._log_stream = self.streaming_session(cb, completion_cb)
gcmd.respond_info("cartographer Streaming enabled")
cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
def cmd_PROBE_ACCURACY(self, gcmd):
speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.0)
lift_speed = self.get_lift_speed(gcmd)
sample_count = gcmd.get_int("SAMPLES", 10, minval=1)
sample_retract_dist = gcmd.get_float("SAMPLE_RETRACT_DIST", 0)
allow_faulty = gcmd.get_int("ALLOW_FAULTY_COORDINATE", 0) != 0
pos = self.toolhead.get_position()
gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f"
" (samples=%d retract=%.3f"
" speed=%.1f lift_speed=%.1f)\n"
% (pos[0], pos[1], pos[2],
sample_count, sample_retract_dist,
speed, lift_speed))
start_height = self.trigger_distance + sample_retract_dist
liftpos = [None, None, start_height]
self.toolhead.manual_move(liftpos, lift_speed)
self.multi_probe_begin()
positions = []
while len(positions) < sample_count:
pos = self._probe(speed, allow_faulty=allow_faulty)
positions.append(pos)
self.toolhead.manual_move(liftpos, lift_speed)
self.multi_probe_end()
zs = [p[2] for p in positions]
max_value = max(zs)
min_value = min(zs)
range_value = max_value - min_value
avg_value = sum(zs) / len(positions)
median_ = median(zs)
deviation_sum = 0
for i in range(len(zs)):
deviation_sum += pow(zs[2] - avg_value, 2.)
sigma = (deviation_sum / len(zs)) ** 0.5
gcmd.respond_info(
"probe accuracy results: maximum %.6f, minimum %.6f, range %.6f, "
"average %.6f, median %.6f, standard deviation %.6f" % (
max_value, min_value, range_value, avg_value, median_, sigma))
cmd_Z_OFFSET_APPLY_PROBE_help = "Adjust the probe's z_offset"
def cmd_Z_OFFSET_APPLY_PROBE(self, gcmd):
gcode_move = self.printer.lookup_object("gcode_move")
offset = gcode_move.get_status()["homing_origin"].z
if offset == 0:
self.gcode.respond_info("Nothing to do: Z Offset is 0")
return
if not self.model:
raise self.gcode.error("You must calibrate your model first, "
"use CARTOGRAPHER_CALIBRATE.")
# We use the model code to save the new offset, but we can't actually
# apply that offset yet because the gcode_offset is still in effect.
# If the user continues to do stuff after this, the newly set model
# offset would compound with the gcode offset. To ensure this doesn't
# happen, we revert to the old model offset afterwards.
# Really, the user should just be calling `SAVE_CONFIG` now.
old_offset = self.model.offset
self.model.offset += offset
self.model.save(self, False)
gcmd.respond_info(f"Cartographer model offset has been updated to {self.model.offset}.\n"
"You must run the SAVE_CONFIG command now to update the\n"
"printer config file and restart the printer.")
self.model.offset = old_offset
class CartographerModel:
@classmethod
def load(cls, name, config, cartographer):
coef = config.getfloatlist("model_coef")
temp = config.getfloat("model_temp")
domain = config.getfloatlist("model_domain", count=2)
[min_z, max_z] = config.getfloatlist("model_range", count=2)
offset = config.getfloat("model_offset", 0.0)
poly = Polynomial(coef, domain)
return CartographerModel(name, cartographer, poly, temp, min_z, max_z, offset)
def __init__(self, name, cartographer, poly, temp, min_z, max_z, offset=0):
self.name = name
self.cartographer = cartographer
self.poly = poly
self.min_z = min_z
self.max_z = max_z
self.temp = temp
self.offset = offset
def save(self, cartographer, show_message=True):
configfile = cartographer.printer.lookup_object("configfile")
section = "cartographer model " + self.name
configfile.set(section, "model_coef",
",\n ".join(map(str, self.poly.coef)))
configfile.set(section, "model_domain",
",".join(map(str, self.poly.domain)))
configfile.set(section, "model_range",
"%f,%f" % (self.min_z, self.max_z))
configfile.set(section, "model_temp",
"%f" % (self.temp))
configfile.set(section, "model_offset", "%.5f" % (self.offset,))
if show_message:
cartographer.gcode.respond_info("cartographer calibration for model '%s' has "
"been updated\nfor the current session. The SAVE_CONFIG "
"command will\nupdate the printer config file and restart "
"the printer." % (self.name,))
def freq_to_dist_raw(self, freq):
[begin, end] = self.poly.domain
invfreq = 1/freq
if invfreq > end:
return float("inf")
elif invfreq < begin:
return float("-inf")
else:
return float(self.poly(invfreq) - self.offset)
def freq_to_dist(self, freq, temp):
if self.temp is not None and \
self.cartographer.model_temp is not None:
freq = self.cartographer.model_temp.compensate(
freq, temp, self.temp)
return self.freq_to_dist_raw(freq)
def dist_to_freq_raw(self, dist, max_e=0.00000001):
if dist < self.min_z or dist > self.max_z:
msg = ("Attempted to map out-of-range distance %f, valid range "
"[%.3f, %.3f]" % (dist, self.min_z, self.max_z))
raise self.cartographer.printer.command_error(msg)
dist += self.offset
[begin, end] = self.poly.domain
for _ in range(0, 50):
f = (end + begin) / 2
v = self.poly(f)
if abs(v-dist) < max_e:
return float(1.0 /f)
elif v < dist:
begin = f
else:
end = f
raise self.cartographer.printer.command_error(
"cartographer model convergence error")
def dist_to_freq(self, dist, temp, max_e=0.00000001):
freq = self.dist_to_freq_raw(dist, max_e)
if self.temp is not None and \
self.cartographer.model_temp is not None:
freq = self.cartographer.model_temp.compensate(
freq, self.temp, temp)
return freq
class CartographerTempModelBuilder:
_DEFAULTS = {"a_a": None,
"a_b": None,
"b_a": None,
"b_b": None,
"fmin" : None,
"fmin_temp" : None}
@classmethod
def load(cls, config):
return CartographerTempModelBuilder(config)
def __init__(self, config):
self.parameters = CartographerTempModelBuilder._DEFAULTS.copy()
for key in self.parameters.keys():
param = config.getfloat("tc_" + key, None)
if param is not None:
self.parameters[key] = param
def build(self):
if self.parameters["fmin"] is None or \
self.parameters["fmin_temp"] is None: