Printer Model: Proforge 4
MCU / Printerboard: Octopus MAX EZ + BTT Pi
motion_report.py ??
klippy.log
Describe your issue:
A loading kinematic error poped, i am working on adding additional two rotational axis on the original proforge 4 tool changer 3D printer. According to the log, guess error can occurs in the motion_report.py, which lcaused by loss of two parameters for b and e motor. However, after i checked the script, it looks nothing wrong, so i guess i could be blind on some point. My great thanks if anyone can lend me your kindness hand to double check anything wrong in the script, that could help me a lot. 
and great thanks again. I will attach the klippy.log and motion_report.py below.
motion_report
# Diagnostic tool for reporting stepper and kinematic positions
#
# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import chelper
from . import bulk_sensor
# Extract stepper queue_step messages
class DumpStepper:
def __init__(self, printer, mcu_stepper):
self.printer = printer
self.mcu_stepper = mcu_stepper
self.last_batch_clock = 0
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('interval', 'count', 'add')}
self.batch_bulk.add_mux_endpoint("motion_report/dump_stepper", "name",
mcu_stepper.get_name(), api_resp)
def get_step_queue(self, start_clock, end_clock):
mcu_stepper = self.mcu_stepper
res = []
while 1:
data, count = mcu_stepper.dump_steps(128, start_clock, end_clock)
if not count:
break
res.append((data, count))
if count < len(data):
break
end_clock = data[count-1].first_clock
res.reverse()
return ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], res)
def log_steps(self, data):
if not data:
return
out = []
out.append("Dumping stepper '%s' (%s) %d queue_step:"
% (self.mcu_stepper.get_name(),
self.mcu_stepper.get_mcu().get_name(), len(data)))
for i, s in enumerate(data):
out.append("queue_step %d: t=%d p=%d i=%d c=%d a=%d"
% (i, s.first_clock, s.start_position, s.interval,
s.step_count, s.add))
logging.info('\n'.join(out))
def _process_batch(self, eventtime):
data, cdata = self.get_step_queue(self.last_batch_clock, 1<<63)
if not data:
return {}
clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
first = data[0]
first_clock = first.first_clock
first_time = clock_to_print_time(first_clock)
self.last_batch_clock = last_clock = data[-1].last_clock
last_time = clock_to_print_time(last_clock)
mcu_pos = first.start_position
start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
step_dist = self.mcu_stepper.get_step_dist()
d = [(s.interval, s.step_count, s.add) for s in data]
return {"data": d, "start_position": start_position,
"start_mcu_position": mcu_pos, "step_distance": step_dist,
"first_clock": first_clock, "first_step_time": first_time,
"last_clock": last_clock, "last_step_time": last_time}
NEVER_TIME = 9999999999999999.
# Extract trapezoidal motion queue (trapq)
class DumpTrapQ:
def __init__(self, printer, name, trapq):
self.printer = printer
self.name = name
self.trapq = trapq
self.last_batch_msg = (0., 0.)
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('time', 'duration', 'start_velocity',
'acceleration', 'start_position', 'direction')}
self.batch_bulk.add_mux_endpoint("motion_report/dump_trapq",
"name", name, api_resp)
def extract_trapq(self, start_time, end_time):
ffi_main, ffi_lib = chelper.get_ffi()
res = []
while 1:
data = ffi_main.new('struct pull_move[128]')
count = ffi_lib.trapq_extract_old(self.trapq, data, len(data),
start_time, end_time)
if not count:
break
res.append((data, count))
if count < len(data):
break
end_time = data[count-1].print_time
res.reverse()
return ([d[i] for d, cnt in res for i in range(cnt-1, -1, -1)], res)
def log_trapq(self, data):
if not data:
return
out = ["Dumping trapq '%s' %d moves:" % (self.name, len(data))]
for i, m in enumerate(data):
out.append("move %d: pt=%.6f mt=%.6f sv=%.6f a=%.6f"
" sp=(%.6f,%.6f,%.6f) ar=(%.6f,%.6f,%.6f)"
% (i, m.print_time, m.move_t, m.start_v, m.accel,
m.start_x, m.start_y, m.start_z, m.start_a, m.start_b, m.x_r, m.y_r, m.z_r, m.a_r, m.b_r))
logging.info('\n'.join(out))
def get_trapq_position(self, print_time):
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., print_time)
if not count:
return None, None
move = data[0]
move_time = max(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, move.start_a + move.a_r * dist,
move.start_b + move.b_r * dist)
velocity = move.start_v + move.accel * move_time
return pos, velocity
def _process_batch(self, eventtime):
qtime = self.last_batch_msg[0] + min(self.last_batch_msg[1], 0.100)
data, cdata = self.extract_trapq(qtime, NEVER_TIME)
d = [(m.print_time, m.move_t, m.start_v, m.accel,
(m.start_x, m.start_y, m.start_z, m.start_a, m.start_b), (m.x_r, m.y_r, m.z_r, m.a_r, m.b_r))
for m in data]
if d and d[0] == self.last_batch_msg:
d.pop(0)
if not d:
return {}
self.last_batch_msg = d[-1]
return {"data": d}
STATUS_REFRESH_TIME = 0.250
class PrinterMotionReport:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = {}
self.trapqs = {}
# get_status information
self.next_status_time = 0.
gcode = self.printer.lookup_object('gcode')
self.last_status = {
'live_position': gcode.Coord(0., 0., 0., 0., 0., 0.),
'live_velocity': 0., 'live_extruder_velocity': 0.,
'steppers': [], 'trapq': [],
}
# Register handlers
self.printer.register_event_handler("klippy:connect", self._connect)
self.printer.register_event_handler("klippy:shutdown", self._shutdown)
def register_stepper(self, config, mcu_stepper):
ds = DumpStepper(self.printer, mcu_stepper)
self.steppers[mcu_stepper.get_name()] = ds
def _connect(self):
# Lookup toolhead trapq
toolhead = self.printer.lookup_object("toolhead")
trapq = toolhead.get_trapq()
self.trapqs['toolhead'] = DumpTrapQ(self.printer, 'toolhead', trapq)
# Lookup extruder trapqs
for i in range(99):
ename = "extruder%d" % (i,)
if ename == "extruder0":
ename = "extruder"
extruder = self.printer.lookup_object(ename, None)
if extruder is None:
break
etrapq = extruder.get_trapq()
self.trapqs[ename] = DumpTrapQ(self.printer, ename, etrapq)
# Populate 'trapq' and 'steppers' in get_status result
self.last_status['steppers'] = list(sorted(self.steppers.keys()))
self.last_status['trapq'] = list(sorted(self.trapqs.keys()))
# Shutdown handling
def _dump_shutdown(self, eventtime):
# Log stepper queue_steps on mcu that started shutdown (if any)
shutdown_time = NEVER_TIME
for dstepper in self.steppers.values():
mcu = dstepper.mcu_stepper.get_mcu()
sc = mcu.get_shutdown_clock()
if not sc:
continue
shutdown_time = min(shutdown_time, mcu.clock_to_print_time(sc))
clock_100ms = mcu.seconds_to_clock(0.100)
start_clock = max(0, sc - clock_100ms)
end_clock = sc + clock_100ms
data, cdata = dstepper.get_step_queue(start_clock, end_clock)
dstepper.log_steps(data)
if shutdown_time >= NEVER_TIME:
return
# Log trapqs around time of shutdown
for dtrapq in self.trapqs.values():
data, cdata = dtrapq.extract_trapq(shutdown_time - .100,
shutdown_time + .100)
dtrapq.log_trapq(data)
# Log estimated toolhead position at time of shutdown
dtrapq = self.trapqs.get('toolhead')
if dtrapq is None:
return
pos, velocity = dtrapq.get_trapq_position(shutdown_time)
if pos is not None:
logging.info("Requested toolhead position at shutdown time %.6f: %s"
, shutdown_time, pos)
def _shutdown(self):
self.printer.get_reactor().register_callback(self._dump_shutdown)
# Status reporting
def get_status(self, eventtime):
if eventtime < self.next_status_time or not self.trapqs:
return self.last_status
self.next_status_time = eventtime + STATUS_REFRESH_TIME
xyzpos = (0., 0., 0., 0., 0.)
epos = (0.,)
xyzvelocity = evelocity = 0.
# Calculate current requested toolhead position
mcu = self.printer.lookup_object('mcu')
print_time = mcu.estimated_print_time(eventtime)
pos, velocity = self.trapqs['toolhead'].get_trapq_position(print_time)
if pos is not None:
xyzpos = pos[:5]
xyzvelocity = velocity
# Calculate requested position of currently active extruder
toolhead = self.printer.lookup_object('toolhead')
ehandler = self.trapqs.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
# Report status
self.last_status = dict(self.last_status)
self.last_status['live_position'] = toolhead.Coord(*(xyzpos + epos))
self.last_status['live_velocity'] = xyzvelocity
self.last_status['live_extruder_velocity'] = evelocity
return self.last_status
def load_config(config):
return PrinterMotionReport(config)
klippy.log
Error loading kinematics 'corexyrotab'
Traceback (most recent call last):
File "/home/biqu/klipper/klippy/toolhead.py", line 275, in __init__
self.kin = mod.load_kinematics(self, config)
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 105, in load_kinematics
return CoreXYKinematics(toolhead, config)
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 12, in __init__
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 12, in <listcomp>
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
File "/home/biqu/klipper/klippy/stepper.py", line 426, in LookupMultiRail
rail = PrinterRail(config, need_position_minmax,
File "/home/biqu/klipper/klippy/stepper.py", line 307, in __init__
self.add_extra_stepper(config)
File "/home/biqu/klipper/klippy/stepper.py", line 377, in add_extra_stepper
stepper = PrinterStepper(config, self.stepper_units_in_radians)
File "/home/biqu/klipper/klippy/stepper.py", line 255, in PrinterStepper
m = printer.load_object(config, mname)
File "/home/biqu/klipper/klippy/klippy.py", line 112, in load_object
self.objects[section] = init_func(config.getsection(section))
File "/home/biqu/klipper/klippy/extras/motion_report.py", line 233, in load_config
def load_config(config):
File "/home/biqu/klipper/klippy/extras/motion_report.py", line 142, in __init__
self.last_status = {
TypeError: <lambda>() missing 2 required positional arguments: 'b' and 'e'
Config error
Traceback (most recent call last):
File "/home/biqu/klipper/klippy/toolhead.py", line 275, in __init__
self.kin = mod.load_kinematics(self, config)
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 105, in load_kinematics
return CoreXYKinematics(toolhead, config)
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 12, in __init__
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
File "/home/biqu/klipper/klippy/kinematics/corexyrotab.py", line 12, in <listcomp>
self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
File "/home/biqu/klipper/klippy/stepper.py", line 426, in LookupMultiRail
rail = PrinterRail(config, need_position_minmax,
File "/home/biqu/klipper/klippy/stepper.py", line 307, in __init__
self.add_extra_stepper(config)
File "/home/biqu/klipper/klippy/stepper.py", line 377, in add_extra_stepper
stepper = PrinterStepper(config, self.stepper_units_in_radians)
File "/home/biqu/klipper/klippy/stepper.py", line 255, in PrinterStepper
m = printer.load_object(config, mname)
File "/home/biqu/klipper/klippy/klippy.py", line 112, in load_object
self.objects[section] = init_func(config.getsection(section))
File "/home/biqu/klipper/klippy/extras/motion_report.py", line 233, in load_config
def load_config(config):
File "/home/biqu/klipper/klippy/extras/motion_report.py", line 142, in __init__
self.last_status = {
TypeError: <lambda>() missing 2 required positional arguments: 'b' and 'e'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/biqu/klipper/klippy/klippy.py", line 130, in _connect
self._read_config()
File "/home/biqu/klipper/klippy/klippy.py", line 125, in _read_config
m.add_printer_objects(config)
File "/home/biqu/klipper/klippy/toolhead.py", line 680, in add_printer_objects
config.get_printer().add_object('toolhead', ToolHead(config))
File "/home/biqu/klipper/klippy/toolhead.py", line 283, in __init__
raise config.error(msg)
configparser.Error: Error loading kinematics 'corexyrotab'
webhooks client 281473064559184: New connection
webhooks client 281473064559184: Client info {'program': 'Moonraker', 'version': 'v0.9.3-48-g354cc11'}
