public ToolHead(ConfigWrapper config)
{
this.printer = config.get_printer();
this.reactor = this.printer.get_reactor();
this.all_mcus = (from mcus in this.printer.lookup_objects <Mcu>(module: "mcu") select mcus.modul).ToList();
this.mcu = this.all_mcus[0];
this.move_queue = new MoveQueue();
this.commanded_pos = Vector4d.Zero;
this.printer.register_event_handler("klippy:shutdown", _handle_shutdown);
// Velocity and acceleration control
this.max_velocity = config.getfloat("max_velocity", above: 0.0);
this.max_accel = config.getfloat("max_accel", above: 0.0);
this.requested_accel_to_decel = config.getfloat("max_accel_to_decel", this.max_accel * 0.5, above: 0.0);
this.max_accel_to_decel = this.requested_accel_to_decel;
this.square_corner_velocity = config.getfloat("square_corner_velocity", 5.0, minval: 0.0);
this.config_max_velocity = this.max_velocity;
this.config_max_accel = this.max_accel;
this.config_square_corner_velocity = this.square_corner_velocity;
this.junction_deviation = 0.0;
this._calc_junction_deviation();
// Print time tracking
this.buffer_time_low = config.getfloat("buffer_time_low", 1.0, above: 0.0);
this.buffer_time_high = config.getfloat("buffer_time_high", 2.0, above: this.buffer_time_low);
this.buffer_time_start = config.getfloat("buffer_time_start", 0.25, above: 0.0);
this.move_flush_time = config.getfloat("move_flush_time", 0.05, above: 0.0);
this.print_time = 0.0;
this.last_print_start_time = 0.0;
this.need_check_stall = -1.0;
this.print_stall = 0;
this.sync_print_time = true;
this.idle_flush_print_time = 0.0;
this.flush_timer = this.reactor.register_timer(this._flush_handler);
this.move_queue.set_flush_time(this.buffer_time_high);
this.printer.try_load_module(config, "idle_timeout");
this.printer.try_load_module(config, "statistics");
// Setup iterative solver
this.cmove = new move();
// Create kinematics class
this.extruder = new ExtruderDummy();
this.move_queue.set_extruder(this.extruder);
var kin_name = config.getEnum <KinematicType>("kinematics");
try
{
this.kin = KinematicFactory.load_kinematics(kin_name, this, config);
}
catch (ConfigException)
{
throw;
}
catch (PinsException)
{
throw;
}
catch (Exception ex)
{
var msg = $"Error loading kinematics '{kin_name}'";
logging.Error(msg);
throw new Exception(msg, ex);
}
var gcode = this.printer.lookup_object <GCodeParser>("gcode");
gcode.register_command("SET_VELOCITY_LIMIT", this.cmd_SET_VELOCITY_LIMIT, desc: cmd_SET_VELOCITY_LIMIT_help);
gcode.register_command("M204", this.cmd_M204);
}