gcode: Position returned by M114 should be relative to last G92

It looks like OctoPrint is expecting the result from M114 to be
relative to the last G92 command.  Also, introduce GET_POSITION to
report the actual location that the printer is at.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/gcode.py

@@ -367,9 +367,9 @@ class GCodeParser:
         self.run_script(self.extruder.get_activate_gcode(True))
     all_handlers = [
         'G1', 'G4', 'G28', 'M18', 'M400',
-        'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206', 'M220', 'M221',
+        'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M206', 'M220', 'M221',
         'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
-        'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
+        'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION', 'PID_TUNE',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
     # G-Code movement commands
     cmd_G1_aliases = ['G0']
@@ -463,6 +463,12 @@ class GCodeParser:
             self.base_position[p] = self.last_position[p] - offset
         if not offsets:
             self.base_position = list(self.last_position)
+    cmd_M114_when_not_ready = True
+    def cmd_M114(self, params):
+        # Get Current Position
+        p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
+        p[3] /= self.extrude_factor
+        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
     def cmd_M206(self, params):
         # Set home offset
         offsets = { self.axis2pos[a]: self.get_float(a, params)
@@ -513,17 +519,6 @@ class GCodeParser:
     def cmd_M112(self, params):
         # Emergency Stop
         self.printer.invoke_shutdown("Shutdown due to M112 command")
-    cmd_M114_when_not_ready = True
-    def cmd_M114(self, params):
-        # Get Current Position
-        if self.toolhead is None:
-            self.cmd_default(params)
-            return
-        raw_pos = homing.query_position(self.toolhead)
-        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
-            self.last_position[0], self.last_position[1],
-            self.last_position[2], self.last_position[3],
-            " ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos])))
     cmd_M115_when_not_ready = True
     def cmd_M115(self, params):
         # Get Firmware Version and Capabilities
@@ -542,6 +537,38 @@ class GCodeParser:
         res = homing.query_endstops(self.toolhead)
         self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
                                for name, t in res]))
+    cmd_GET_POSITION_when_not_ready = True
+    def cmd_GET_POSITION(self, params):
+        if self.toolhead is None:
+            self.cmd_default(params)
+            return
+        kin = self.toolhead.get_kinematics()
+        steppers = kin.get_steppers()
+        mcu_pos = " ".join(["%s:%d" % (s.name, s.mcu_stepper.get_mcu_position())
+                            for s in steppers])
+        stepper_pos = " ".join(
+            ["%s:%.6f" % (s.name, s.mcu_stepper.get_commanded_position())
+             for s in steppers])
+        kinematic_pos = " ".join(["%s:%.6f"  % (a, v)
+                                  for a, v in zip("XYZE", kin.get_position())])
+        toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
+            "XYZE", self.toolhead.get_position())])
+        gcode_pos = " ".join(["%s:%.6f"  % (a, v)
+                              for a, v in zip("XYZE", self.last_position)])
+        origin_pos = " ".join(["%s:%.6f"  % (a, v)
+                               for a, v in zip("XYZE", self.base_position)])
+        homing_pos = " ".join(["%s:%.6f"  % (a, v)
+                               for a, v in zip("XYZE", self.homing_add)])
+        self.respond_info(
+            "mcu: %s\n"
+            "stepper: %s\n"
+            "kinematic: %s\n"
+            "toolhead: %s\n"
+            "gcode: %s\n"
+            "gcode origin: %s\n"
+            "gcode homing: %s" % (
+                mcu_pos, stepper_pos, kinematic_pos, toolhead_pos,
+                gcode_pos, origin_pos, homing_pos))
     cmd_PID_TUNE_help = "Run PID Tuning"
     cmd_PID_TUNE_aliases = ["M303"]
     def cmd_PID_TUNE(self, params):

klippy/homing.py

@@ -123,10 +123,6 @@ def query_endstops(toolhead):
             out.append((name, mcu_endstop.query_endstop_wait()))
     return out
 
-def query_position(toolhead):
-    steppers = toolhead.get_kinematics().get_steppers()
-    return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) for s in steppers]
-
 class EndstopError(Exception):
     pass