Extras: override resonance commands to sync gcode position after swee…

…ping

configuration/klippy/ratos.py

@@ -33,6 +33,7 @@ def __init__(self, config):
 
 		self.load_settings()
 		self.register_commands()
+		self.register_command_overrides()
 		self.register_handler()
 
 	#####
@@ -75,6 +76,49 @@ def register_commands(self):
 		self.gcode.register_command('BEACON_APPLY_SCAN_COMPENSATION', self.cmd_BEACON_APPLY_SCAN_COMPENSATION, desc=(self.desc_BEACON_APPLY_SCAN_COMPENSATION))
 		self.gcode.register_command('TEST_PROCESS_GCODE_FILE', self.cmd_TEST_PROCESS_GCODE_FILE, desc=(self.desc_TEST_PROCESS_GCODE_FILE))
 		self.gcode.register_command('ALLOW_UNKNOWN_GCODE_GENERATOR', self.cmd_ALLOW_UNKNOWN_GCODE_GENERATOR, desc=(self.desc_ALLOW_UNKNOWN_GCODE_GENERATOR))
+		self.gcode.register_command('_SYNC_GCODE_POSITION', self.cmd_SYNC_GCODE_POSITION, desc=(self.desc_SYNC_GCODE_POSITION))
+
+	OverriddenCommands = {
+		'TEST_RESONANCES': None,
+		'SHAPER_CALIBRATE': None,
+	}
+
+	def register_command_overrides(self):
+		self.gcode.register_override('TEST_RESONANCES', self.override_TEST_RESONANCES, desc=(self.desc_TEST_RESONANCES))
+		self.gcode.register_override('SHAPER_CALIBRATE', self.override_SHAPER_CALIBRATE, desc=(self.desc_SHAPER_CALIBRATE))
+
+	def register_override(self, command, func, desc):
+		prev_cmd = self.gcode.register_command(command, None)
+		if prev_cmd is None:
+			raise self.printer.config_error("Existing command '%s' not found in RatOS override" % (command,))
+		if command not in self.OverriddenCommands:
+			raise self.printer.config_error("Command '%s' not found in RatOS override list" % (command,))
+		if self.OverriddenCommands[command] is not None:
+			raise self.printer.config_error("Command '%s' already overridden in RatOS" % (command,))
+		self.OverriddenCommands[command] = prev_cmd;
+		self.gcode.register_command(command, func, desc=(desc))
+
+	def get_prev_cmd(self, command):
+		if command not in self.OverriddenCommands or self.OverriddenCommands[command] is None:
+			raise self.printer.config_error("Previous function for command '%s' not found in RatOS override list" % (command,))
+		return self.OverriddenCommands[command]
+
+	desc_TEST_RESONANCES = ("Runs the resonance test for a specifed axis, positioning errors caused by sweeping are corrected by a RatOS override of this command.")
+	def override_TEST_RESONANCES(self, gcmd):
+		prev_cmd = self.get_prev_cmd('TEST_RESONANCES')
+		prev_cmd(gcmd)
+		self.cmd_SYNC_TOOLHEAD(gcmd)
+
+	desc_SHAPER_CALIBRATE = ("Runs the shaper calibration for a specifed axis, positioning errors caused by sweeping are corrected by a RatOS override of this command.")
+	def override_SHAPER_CALIBRATE(self, gcmd):
+		prev_cmd = self.get_prev_cmd('SHAPER_CALIBRATE')
+		prev_cmd(gcmd)
+		self.cmd_SYNC_TOOLHEAD(gcmd)
+
+	desc_SYNC_GCODE_POSITION = ("Syncs the toolhead position to the printer position, used internally to correct positioning errors caused by sweeping in resonance tests.")
+	def cmd_SYNC_GCODE_POSITION(self, gcmd):
+		toolhead = self.printer.lookup_object('toolhead')
+		toolhead.manual_move((None, None, None), 100)
 
 	desc_ALLOW_UNKNOWN_GCODE_GENERATOR = "Temporarily allow gcode from generators that cannot be identified by the postprocessor"
 	def cmd_ALLOW_UNKNOWN_GCODE_GENERATOR(self, gcmd):

configuration/klippy/resonance_generator.py

@@ -128,6 +128,9 @@ def _generate_resonances(self, gcmd, axes):
             test_seq = self.generator.gen_test()
             self.executor.run_test(test_seq, axis, gcmd)
 
+		# Sync the toolhead position to the printer position by using the _SYNC_GCODE_POSITION command in ratos.py.
+        self.gcode.run_script_from_command("_SYNC_GCODE_POSITION")
+
     def _get_max_calibration_freq(self):
         return 1.5 * self.generator.get_max_freq()