Add absolute jog mode to printer API

docs/api/printer.rst

@@ -208,9 +208,14 @@ Issue a print head command
    jog
      Jogs the print head (relatively) by a defined amount in one or more axes. Additional parameters are:
 
-     * ``x``: Optional. Amount to jog print head on x axis, must be a valid number corresponding to the distance to travel in mm.
-     * ``y``: Optional. Amount to jog print head on y axis, must be a valid number corresponding to the distance to travel in mm.
-     * ``z``: Optional. Amount to jog print head on z axis, must be a valid number corresponding to the distance to travel in mm.
+     * ``x``: Optional. Amount/coordinate to jog print head on x axis, must be a valid number corresponding to the distance to travel in mm.
+     * ``y``: Optional. Amount/coordinate to jog print head on y axis, must be a valid number corresponding to the distance to travel in mm.
+     * ``z``: Optional. Amount/coordinate to jog print head on z axis, must be a valid number corresponding to the distance to travel in mm.
+     * ``absolute``: Optional. Boolean value specifying whether to move relative to current position (provided
+       axes values are relative amounts) or to absolute position (provided axes values are coordinates)
+     * ``speed``: Optiona. Speed at which to move. If not provided, minimum speed for all selected axes from printer
+       profile will be used. If provided but ``false``, no speed parameter will be appended to the command. Otherwise
+       interpreted as an integer signifying the speed in mm/s, to append to the command.
 
    home
      Homes the print head in all of the given axes. Additional parameters are:

src/octoprint/printer/__init__.py

@@ -142,13 +142,17 @@ class PrinterInterface(object):
 		"""
 		raise NotImplementedError()
 
-	def jog(self, axis, amount):
+	def jog(self, axes, relative=True, speed=None, *args, **kwargs):
 		"""
 		Jogs the specified printer ``axis`` by the specified ``amount`` in mm.
 
 		Arguments:
-		    axis (str): The axis to jog, will be converted to lower case, one of "x", "y", "z" or "e"
-		    amount (int, float): The amount by which to jog in mm
+		    axes (dict): Axes and distances to jog, keys are axes ("x", "y", "z"), values are distances in mm
+		    relative (bool): Whether to interpret the distance values as relative (true, default) or absolute (false)
+		        coordinates
+		    speed (int, bool or None): Speed at which to jog (F parameter). If set to ``False`` no speed will be set
+		        specifically. If set to ``None`` (or left out) the minimum of all involved axes speeds from the printer
+		        profile will be used.
 		"""
 		raise NotImplementedError()
 

src/octoprint/printer/standard.py

@@ -243,19 +243,42 @@ class Printer(PrinterInterface, comm.MachineComPrintCallback):
 		if not result:
 			raise UnknownScript(name)
 
-	def jog(self, axis, amount):
-		if not isinstance(axis, (str, unicode)):
-			raise ValueError("axis must be a string: {axis}".format(axis=axis))
+	def jog(self, axes, relative=True, speed=None, *args, **kwargs):
+		if isinstance(axes, basestring):
+			# legacy parameter format, there should be an amount as first anonymous positional arguments too
+			axis = axes
 
-		axis = axis.lower()
-		if not axis in PrinterInterface.valid_axes:
-			raise ValueError("axis must be any of {axes}: {axis}".format(axes=", ".join(PrinterInterface.valid_axes), axis=axis))
-		if not isinstance(amount, (int, long, float)):
-			raise ValueError("amount must be a valid number: {amount}".format(amount=amount))
+			if not len(args) >= 1:
+				raise ValueError("amount not set")
+			amount = args[0]
+			if not isinstance(amount, (int, long, float)):
+				raise ValueError("amount must be a valid number: {amount}".format(amount=amount))
 
-		printer_profile = self._printerProfileManager.get_current_or_default()
-		movement_speed = printer_profile["axes"][axis]["speed"]
-		self.commands(["G91", "G1 %s%.4f F%d" % (axis.upper(), amount, movement_speed), "G90"])
+			axes = dict()
+			axes[axis] = amount
+
+		if not axes:
+			raise ValueError("At least one axis to jog must be provided")
+
+		for axis in axes:
+			if not axis in PrinterInterface.valid_axes:
+				raise ValueError("Invalid axis {}, valid axes are {}".format(axis, ", ".join(PrinterInterface.valid_axes)))
+
+		command = "G1 {}".format(" ".join(["{}{}".format(axis.upper(), amount) for axis, amount in axes.items()]))
+
+		if speed is None:
+			printer_profile = self._printerProfileManager.get_current_or_default()
+			speed = min([printer_profile["axes"][axis]["speed"] for axis in axes])
+
+		if speed and not isinstance(speed, bool):
+			command += " F{}".format(speed)
+
+		if relative:
+			commands = ["G91", command, "G90"]
+		else:
+			commands = ["G90", command]
+
+		self.commands(commands)
 
 	def home(self, axes):
 		if not isinstance(axes, (list, tuple)):

src/octoprint/server/api/printer.py

@@ -244,9 +244,11 @@ def printerPrintheadCommand():
 					return make_response("Not a number for axis %s: %r" % (axis, value), 400)
 				validated_values[axis] = value
 
+		absolute = "absolute" in data and data["absolute"] in valid_boolean_trues
+		speed = data.get("speed", None)
+
 		# execute the jog commands
-		for axis, value in validated_values.iteritems():
-			printer.jog(axis, value)
+		printer.jog(validated_values, relative=not absolute, speed=speed)
 
 	##~~ home command
 	elif command == "home":

src/octoprint/static/js/app/client/printer.js

@@ -91,13 +91,16 @@
             return OctoPrint.get(sdUrl, opts);
         },
 
-        jog: function (amounts, opts) {
-            amounts = amounts || {};
+        jog: function (params, opts) {
+            params = params || {};
 
-            var payload = {};
-            if (amounts.x) payload.x = amounts.x;
-            if (amounts.y) payload.y = amounts.y;
-            if (amounts.z) payload.z = amounts.z;
+            var absolute = params.absolute || false;
+
+            var payload = {absolute: absolute};
+            if (params.x) payload.x = params.x;
+            if (params.y) payload.y = params.y;
+            if (params.z) payload.z = params.z;
+            if (params.speed !== undefined) payload.speed = params.speed;
 
             return issuePrintheadCommand("jog", payload, opts);
         },