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Merge remote-tracking branch 'upstream/master' into dev

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Desuuuu 2020-08-25 22:41:54 +02:00
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31
.github/workflows/stale-issue-bot.yaml vendored Normal file
View File

@ -0,0 +1,31 @@
# Enable the github stale issue bot tracker
name: "Close stale issues"
on:
schedule:
- cron: "0 0 * * *"
jobs:
stale:
runs-on: ubuntu-latest
steps:
- uses: actions/stale@v3
with:
repo-token: ${{ secrets.GITHUB_TOKEN }}
stale-issue-message: |
Hello,
It looks like there hasn't been any recent updates on this
Klipper github issue. If you created this issue and no
longer consider it open, then please login to github and
close the issue. Otherwise, if there is no further activity
on this thread then it will be automatically closed in a few
days.
Best regards,
~ Your friendly GitIssueBot
PS: I'm just an automated script, not a human being.
exempt-issue-labels: 'enhancement,bug'
days-before-stale: 21
days-before-close: 7

97
config/printer-tevo-tarantula-pro-2020.cfg Normal file
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@ -0,0 +1,97 @@
# Support for the green Tevo Tarantula Pro. To use this config, the firmware
# should be compiled for the AVR atmega2560.
# Note that this config file is for the "old green" Tarantula pro, with a
# MKS Gen_l 8-bit board.
# It _will not_ work out of the box for the "new orange" Tarantula pro with a
# MKS Sgen_l 32-bit board.
# See the example.cfg file for a description of available parameters.
[stepper_x]
step_pin: ar54
dir_pin: !ar55
enable_pin: !ar38
step_distance: 0.012583
endstop_pin: ^!ar3
position_endstop: -2
position_max: 220
position_min: -2
homing_speed: 25.0
[stepper_y]
step_pin: ar60
dir_pin: ar61
enable_pin: !ar56
step_distance: 0.01256
endstop_pin: ^!ar14
position_endstop: 0
position_max: 220
homing_speed: 25.0
[stepper_z]
step_pin: ar46
dir_pin: ar48
enable_pin: !ar62
step_distance: 0.002492
endstop_pin: ^!ar18
position_endstop: 0
position_max: 200
# Enable for dual-z addon
#[stepper_z1]
#step_pin: ar36
#dir_pin: ar34
#enable_pin: !ar30
#step_distance: 0.002492
[extruder]
step_pin: ar26
dir_pin: ar28
enable_pin: !ar24
step_distance: 0.002470
nozzle_diameter: 0.400
filament_diameter: 1.75
heater_pin: ar10
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog13
control: pid
pid_Kp: 22.5
pid_Ki: 1.78
pid_Kd: 74.16
min_temp: 0
max_temp: 220
[heater_bed]
heater_pin: ar8
sensor_type: EPCOS 100K B57560G104F
sensor_pin: analog14
control: watermark
min_temp: 0
max_temp: 110
[fan]
pin: ar9
[mcu]
serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
pin_map: arduino
[printer]
kinematics: cartesian
max_velocity: 400
max_accel: 3000
max_z_velocity: 50
max_z_accel: 100
[heater_fan nozzle_fan]
pin: ar7
[display]
lcd_type: uc1701
cs_pin: ar25
a0_pin: ar27
encoder_pins: ^!ar31, ^!ar33
click_pin: ^!ar35
kill_pin: !ar41
menu_reverse_navigation: true

19
docs/Code_Overview.md
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@ -125,12 +125,13 @@ of a typical move command. The [kinematics](Kinematics.md) document
provides further information on the mechanics of moves.
* Processing for a move command starts in gcode.py. The goal of
gcode.py is to translate G-code into internal calls. Changes in
origin (eg, G92), changes in relative vs absolute positions (eg,
G90), and unit changes (eg, F6000=100mm/s) are handled here. The
code path for a move is: `_process_data() -> _process_commands() ->
cmd_G1()`. Ultimately the ToolHead class is invoked to execute the
actual request: `cmd_G1() -> ToolHead.move()`
gcode.py is to translate G-code into internal calls. A G1 command
will invoke cmd_G1() in klippy/extras/gcode_move.py. The
gcode_move.py code handles changes in origin (eg, G92), changes in
relative vs absolute positions (eg, G90), and unit changes (eg,
F6000=100mm/s). The code path for a move is: `_process_data() ->
_process_commands() -> cmd_G1()`. Ultimately the ToolHead class is
invoked to execute the actual request: `cmd_G1() -> ToolHead.move()`
* The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
the timing of printing actions. The main codepath for a move is:
@ -473,9 +474,9 @@ system specified in the config file. This may differ from the
bed_tilt, skew_correction) is in effect. This may differ from the
actual coordinates specified in the last `G1` command if the g-code
origin has been changed (eg, `G92`, `SET_GCODE_OFFSET`, `M221`). The
`M114` command (`gcode.get_status()['gcode_position']`) will report
the last g-code position relative to the current g-code coordinate
system.
`M114` command (`gcode_move.get_status()['gcode_position']`) will
report the last g-code position relative to the current g-code
coordinate system.
The "gcode base" is the location of the g-code origin in cartesian
coordinates relative to the coordinate system specified in the config

87
docs/Command_Templates.md
View File

@ -119,34 +119,42 @@ other macros, as the called macro is evaluated when it is invoked
By convention, the name immediately following `printer` is the name of
a config section. So, for example, `printer.fan` refers to the fan
object created by the `[fan]` config section. There are some
exceptions to this rule - notably the `gcode` and `toolhead` objects.
If the config section contains spaces in it, then one can access it
via the `[ ]` accessor - for example:
exceptions to this rule - notably the `gcode_move` and `toolhead`
objects. If the config section contains spaces in it, then one can
access it via the `[ ]` accessor - for example:
`printer["generic_heater my_chamber_heater"].temperature`.
Some printer objects allow one to alter the state of the printer. By
convention, these objects use an `action_` prefix. For example,
`printer.gcode.action_emergency_stop()` would cause the printer to go
into a shutdown state. These actions are taken at the time that the
macro is evaluated, which may be a significant amount of time before
the generated commands are executed.
The following are common printer attributes:
- `printer.fan.speed`: The fan speed as a float between 0.0 and 1.0.
- `printer.gcode.action_respond_info(msg)`: Write the given `msg` to
the /tmp/printer pseudo-terminal. Each line of `msg` will be sent
with a "// " prefix.
- `printer.gcode.action_respond_error(msg)`: Write the given `msg` to
the /tmp/printer pseudo-terminal. The first line of `msg` will be
sent with a "!! " prefix and subsequent lines will have a "// "
prefix.
- `printer.gcode.action_emergency_stop(msg)`: Transition the printer
to a shutdown state. The `msg` parameter is optional, it may be
useful to describe the reason for the shutdown.
- `printer.gcode.gcode_position`: The current position of the toolhead
relative to the current G-Code origin. It is possible to access the
x, y, z, and e components of this position (eg,
`printer.gcode.gcode_position.x`).
- `printer.gcode_move.gcode_position`: The current position of the
toolhead relative to the current G-Code origin. That is, positions
that one might directly send to a `G1` command. It is possible to
access the x, y, z, and e components of this position (eg,
`printer.gcode_move.gcode_position.x`).
- `printer.gcode_move.position`: The last commanded position of the
toolhead using the coordinate system specified in the config
file. It is possible to access the x, y, z, and e components of this
position (eg, `printer.gcode_move.position.x`).
- `printer.gcode_move.homing_origin`: The origin of the gcode
coordinate system (relative to the coordinate system specified in
the config file) to use after a `G28` command. The
`SET_GCODE_OFFSET` command can alter this position. It is possible
to access the x, y, and z components of this position (eg,
`printer.gcode_move.homing_origin.x`).
- `printer.gcode_move.speed`: The last speed set in a `G1` command (in
mm/s).
- `printer.gcode_move.speed_factor`: The "speed factor override" as
set by an `M220` command. This is a floating point value such
that 1.0 means no override and, for example, 2.0 would double
requested speed.
- `printer.gcode_move.extrude_factor`: The "extrude factor override"
as set by an `M221` command. This is a floating point value such
that 1.0 means no override and, for example, 2.0 would double
requested extrusions.
- `printer.gcode_move.absolute_coordinates`: This returns True if in
`G90` absolute coordinate mode or False if in `G91` relative mode.
- `printer.gcode_move.absolute_extrude`: This returns True if in `M82`
absolute extrude mode or False if in `M83` relative mode.
- `printer["gcode_macro <macro_name>"].<variable>`: The current value
of a gcode_macro variable.
- `printer.<heater>.temperature`: The last reported temperature (in
@ -155,6 +163,12 @@ The following are common printer attributes:
<config_name>`.
- `printer.<heater>.target`: The current target temperature (in
Celsius as a float) for the given heater.
- `printer.idle_timeout.state`: The current state of the printer as
tracked by the idle_timeout module. It is one of the following
strings: "Idle", "Printing", "Ready".
- `printer.idle_timeout.printing_time`: The amount of time (in
seconds) the printer has been in the "Printing" state (as tracked by
the idle_timeout module).
- `printer.pause_resume.is_paused`: Returns true if a PAUSE command
has been executed without a corresponding RESUME.
- `printer.toolhead.position`: The last commanded position of the
@ -194,6 +208,26 @@ attributes may be available (via `get_status()` methods defined in the
software). However, undocumented attributes may change without notice
in future Klipper releases.
### Actions
There are some commands available that can alter the state of the
printer. For example, `{ action_emergency_stop() }` would cause the
printer to go into a shutdown state. Note that these actions are taken
at the time that the macro is evaluated, which may be a significant
amount of time before the generated g-code commands are executed.
Available "action" commands:
- `action_respond_info(msg)`: Write the given `msg` to the
/tmp/printer pseudo-terminal. Each line of `msg` will be sent with a
"// " prefix.
- `action_raise_error(msg)`: Abort the current macro (and any calling
macros) and write the given `msg` to the /tmp/printer
pseudo-terminal. The first line of `msg` will be sent with a "!! "
prefix and subsequent lines will have a "// " prefix.
- `action_emergency_stop(msg)`: Transition the printer to a shutdown
state. The `msg` parameter is optional, it may be useful to describe
the reason for the shutdown.
### Variables
The SET_GCODE_VARIABLE command may be useful for saving state between
@ -267,11 +301,8 @@ the gcode option:
[delayed_gcode report_temp]
initial_duration: 2.
gcode:
{printer.gcode.action_respond_info(
"Extruder Temp: %.1f" %
(printer.extruder0.temperature))}
{action_respond_info("Extruder Temp: %.1f" % (printer.extruder0.temperature))}
UPDATE_DELAYED_GCODE ID=report_temp DURATION=2
```
The above delayed_gcode will send "// Extruder Temp: [ex0_temp]" to

11
docs/Config_Changes.md
View File

@ -6,6 +6,17 @@ All dates in this document are approximate.
# Changes
20200816: The gcode macro `printer.gcode` object has been renamed to
`printer.gcode_move`. Several undocumented variables in
`printer.toolhead` and `printer.gcode` have been removed. See
docs/Command_Templates.md for a list of available template variables.
20200816: The gcode macro "action_" system has changed. Replace any
calls to `printer.gcode.action_emergency_stop()` with
`action_emergency_stop()`, `printer.gcode.action_respond_info()` with
`action_respond_info()`, and `printer.gcode.action_respond_error()`
with `action_raise_error()`.
20200809: The menu system has been rewritten. If the menu has been
customized then it will be necessary to update to the new
configuration. See config/example-menu.cfg for configuration details

29
docs/HallFilamentWidthSensor.md
View File

@ -92,26 +92,17 @@ Sensor generates two analog output based on calculated filament width. Sum of ou
**hall_filament_width_sensor.is_active** Sensor on or off
## Template for menu variables
[menu __filament_width_current]
type: item
name: "Dia:{0:4.2f} mm"
parameter: hall_filament_width_sensor.Diameter
[menu __main __filament __width_current]
type: command
enable: {'hall_filament_width_sensor' in printer}
name: Dia: {'%.2F' % printer.hall_filament_width_sensor.Diameter}
index: 0
[menu __filament_raw_width_current]
type: item
name: "RAW:{0:4.0f}"
parameter: hall_filament_width_sensor.Raw
[menu __filament]
type: list
name: Filament
items:
__temp __hotend0_current, __temp __hotend0_target
.__unload
.__load
.__feed
__filament_width_current
__filament_raw_width_current
[menu __main __filament __raw_width_current]
type: command
enable: {'hall_filament_width_sensor' in printer}
name: Raw: {'%4.0F' % printer.hall_filament_width_sensor.Raw}
index: 1
## Calibration procedure
Insert first calibration rod (1.5 mm size) get first raw sensor value

39
klippy/extras/adc_temperature.py
View File

@ -261,38 +261,33 @@ AD8497 = [
(1360, 6.671), (1380, 6.754)
]
PT100 = [
(0, 0.00), (1, 1.11), (10, 1.15), (20, 1.20), (30, 1.24), (40, 1.28),
(50, 1.32), (60, 1.36), (70, 1.40), (80, 1.44), (90, 1.48), (100, 1.52),
(110, 1.56), (120, 1.61), (130, 1.65), (140, 1.68), (150, 1.72),
(160, 1.76), (170, 1.80), (180, 1.84), (190, 1.88), (200, 1.92),
(210, 1.96), (220, 2.00), (230, 2.04), (240, 2.07), (250, 2.11),
(260, 2.15), (270, 2.18), (280, 2.22), (290, 2.26), (300, 2.29),
(310, 2.33), (320, 2.37), (330, 2.41), (340, 2.44), (350, 2.48),
(360, 2.51), (370, 2.55), (380, 2.58), (390, 2.62), (400, 2.66),
(500, 3.00), (600, 3.33), (700, 3.63), (800, 3.93), (900, 4.21),
(1000, 4.48), (1100, 4.73)
def calc_pt100(base=100.):
# Calc PT100/PT1000 temperature/resistance pairs using formula
A, B = (3.9083e-3, -5.775e-7)
return [(float(t), base * (1. + A*t + B*t*t)) for t in range(0, 500, 10)]
def calc_ina826_pt100():
# Standard circuit is 4400ohm pullup with 10x gain to 5V
return [(t, 10. * 5. * r / (4400. + r)) for t, r in calc_pt100()]
DefaultVoltageSensors = [
("AD595", AD595), ("AD597", AD597), ("AD8494", AD8494), ("AD8495", AD8495),
("AD8496", AD8496), ("AD8497", AD8497),
("PT100 INA826", calc_ina826_pt100())
]
PT1000 = [
(0., 1000.), (100., 1385.1), (200., 1758.6), (300., 2120.5),
(400., 2470.9), (500., 2809.8),
DefaultResistanceSensors = [
("PT1000", calc_pt100(1000.))
]
def load_config(config):
# Register default sensors
pheaters = config.get_printer().load_object(config, "heaters")
for sensor_type, params in [("AD595", AD595),
("AD597", AD597),
("AD8494", AD8494),
("AD8495", AD8495),
("AD8496", AD8496),
("AD8497", AD8497),
("PT100 INA826", PT100)]:
for sensor_type, params in DefaultVoltageSensors:
func = (lambda config, params=params:
PrinterADCtoTemperature(config, LinearVoltage(config, params)))
pheaters.add_sensor_factory(sensor_type, func)
for sensor_type, params in [("PT1000", PT1000)]:
for sensor_type, params in DefaultResistanceSensors:
func = (lambda config, params=params:
PrinterADCtoTemperature(config,
LinearResistance(config, params)))

7
klippy/extras/bed_mesh.py
View File

@ -87,7 +87,9 @@ class BedMesh:
self.gcode.register_command(
'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
desc=self.cmd_BED_MESH_CLEAR_help)
self.gcode.set_move_transform(self)
# Register transform
gcode_move = self.printer.load_object(config, 'gcode_move')
gcode_move.set_move_transform(self)
def handle_ready(self):
self.toolhead = self.printer.lookup_object('toolhead')
self.bmc.print_generated_points(logging.info)
@ -126,7 +128,8 @@ class BedMesh:
self.z_mesh = mesh
self.splitter.initialize(mesh)
# cache the current position before a transform takes place
self.gcode.reset_last_position()
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
def get_z_factor(self, z_pos):
if z_pos >= self.fade_end:
return 0.

8
klippy/extras/bed_screws.py
View File

@ -46,13 +46,7 @@ class BedScrews:
self.cmd_BED_SCREWS_ADJUST,
desc=self.cmd_BED_SCREWS_ADJUST_help)
def move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
toolhead.move(curpos, speed)
self.gcode.reset_last_position()
self.printer.lookup_object('toolhead').manual_move(coord, speed)
def move_to_screw(self, state, screw):
# Move up, over, and then down
self.move((None, None, self.horizontal_move_z), self.lift_speed)

7
klippy/extras/bed_tilt.py
View File

@ -19,8 +19,8 @@ class BedTilt:
BedTiltCalibrate(config, self)
self.toolhead = None
# Register move transform with g-code class
gcode = self.printer.lookup_object('gcode')
gcode.set_move_transform(self)
gcode_move = self.printer.load_object(config, 'gcode_move')
gcode_move.set_move_transform(self)
def handle_connect(self):
self.toolhead = self.printer.lookup_object('toolhead')
def get_position(self):
@ -34,6 +34,8 @@ class BedTilt:
self.x_adjust = x_adjust
self.y_adjust = y_adjust
self.z_adjust = z_adjust
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
configfile = self.printer.lookup_object('configfile')
configfile.set('bed_tilt', 'x_adjust', "%.6f" % (x_adjust,))
configfile.set('bed_tilt', 'y_adjust', "%.6f" % (y_adjust,))
@ -80,7 +82,6 @@ class BedTiltCalibrate:
z_adjust = (new_params['z_adjust'] - z_offset
- x_adjust * offsets[0] - y_adjust * offsets[1])
self.bedtilt.update_adjust(x_adjust, y_adjust, z_adjust)
self.gcode.reset_last_position()
# Log and report results
logging.info("Calculated bed_tilt parameters: %s", new_params)
for pos in positions:

4
klippy/extras/display/display.cfg
View File

@ -83,7 +83,7 @@ text: { render("_heater_temperature", param_heater_name="heater_bed") }
position: 1, 10
text:
~feedrate~
{ "{:>4.0%}".format(printer.gcode.speed_factor) }
{ "{:>4.0%}".format(printer.gcode_move.speed_factor) }
[display_data _default_16x4 print_progress]
position: 2, 0
@ -164,7 +164,7 @@ text:
position: 2, 0
text:
~feedrate~
{ "{:^4.0%}".format(printer.gcode.speed_factor) }
{ "{:^4.0%}".format(printer.gcode_move.speed_factor) }
[display_data _default_20x4 print_progress]
position: 2, 8

30
klippy/extras/display/display.py
View File

@ -8,6 +8,11 @@
import logging, os, ast
from . import hd44780, st7920, uc1701, menu
# Normal time between each screen redraw
REDRAW_TIME = 0.500
# Minimum time between screen redraws
REDRAW_MIN_TIME = 0.100
LCD_chips = {
'st7920': st7920.ST7920, 'hd44780': hd44780.HD44780,
'uc1701': uc1701.UC1701, 'ssd1306': uc1701.SSD1306, 'sh1106': uc1701.SH1106,
@ -66,9 +71,8 @@ class DisplayGroup:
template = gcode_macro.load_template(c, 'text')
self.data_items.append((row, col, template))
def show(self, display, templates, eventtime):
swrap = self.data_items[0][2].create_status_wrapper(eventtime)
context = { 'printer': swrap,
'draw_progress_bar': display.draw_progress_bar }
context = self.data_items[0][2].create_template_context(eventtime)
context['draw_progress_bar'] = display.draw_progress_bar
def render(name, **kwargs):
return templates[name].render(context, **kwargs)
context['render'] = render
@ -100,9 +104,12 @@ class PrinterLCD:
self.show_data_group = self.display_data_groups.get(dgroup)
if self.show_data_group is None:
raise config.error("Unknown display_data group '%s'" % (dgroup,))
# Screen updating
self.printer.register_event_handler("klippy:ready", self.handle_ready)
self.screen_update_timer = self.reactor.register_timer(
self.screen_update_event)
self.redraw_request_pending = False
self.redraw_time = 0.
# Register g-code commands
gcode = self.printer.lookup_object("gcode")
gcode.register_mux_command('SET_DISPLAY_GROUP', 'DISPLAY', name,
@ -111,6 +118,8 @@ class PrinterLCD:
if name == 'display':
gcode.register_mux_command('SET_DISPLAY_GROUP', 'DISPLAY', None,
self.cmd_SET_DISPLAY_GROUP)
def get_dimensions(self):
return self.lcd_chip.get_dimensions()
# Configurable display
def _parse_glyph(self, config, glyph_name, data, width, height):
glyph_data = []
@ -184,19 +193,28 @@ class PrinterLCD:
self.reactor.update_timer(self.screen_update_timer, self.reactor.NOW)
# Screen updating
def screen_update_event(self, eventtime):
if self.redraw_request_pending:
self.redraw_request_pending = False
self.redraw_time = eventtime + REDRAW_MIN_TIME
self.lcd_chip.clear()
# update menu component
if self.menu is not None:
ret = self.menu.screen_update_event(eventtime)
if ret:
return ret
self.lcd_chip.flush()
return eventtime + REDRAW_TIME
# Update normal display
self.lcd_chip.clear()
try:
self.show_data_group.show(self, self.display_templates, eventtime)
except:
logging.exception("Error during display screen update")
self.lcd_chip.flush()
return eventtime + .500
return eventtime + REDRAW_TIME
def request_redraw(self):
if self.redraw_request_pending:
return
self.redraw_request_pending = True
self.reactor.update_timer(self.screen_update_timer, self.redraw_time)
def draw_text(self, row, col, mixed_text, eventtime):
pos = col
for i, text in enumerate(mixed_text.split('~')):

37
klippy/extras/display/menu.cfg
View File

@ -96,7 +96,7 @@ name: Tune
[menu __main __tune __speed]
type: input
name: Speed: {'%3d' % (menu.input*100)}%
input: {printer.gcode.speed_factor}
input: {printer.gcode_move.speed_factor}
input_min: 0
input_max: 2
input_step: 0.01
@ -107,7 +107,7 @@ gcode:
[menu __main __tune __flow]
type: input
name: Flow: {'%3d' % (menu.input*100)}%
input: {printer.gcode.extrude_factor}
input: {printer.gcode_move.extrude_factor}
input_min: 0
input_max: 2
input_step: 0.01
@ -118,7 +118,7 @@ gcode:
[menu __main __tune __offsetz]
type: input
name: Offset Z:{'%05.3f' % menu.input}
input: {printer.gcode.homing_zpos}
input: {printer.gcode_move.homing_origin.z}
input_min: -5
input_max: 5
input_step: 0.005
@ -137,21 +137,21 @@ type: command
enable: {printer.idle_timeout.state == "Printing"}
name: Pause printing
gcode:
{printer.gcode.action_respond_info('action:pause')}
{action_respond_info('action:pause')}
[menu __main __octoprint __resume]
type: command
enable: {not printer.idle_timeout.state == "Printing"}
name: Resume printing
gcode:
{printer.gcode.action_respond_info('action:resume')}
{action_respond_info('action:resume')}
[menu __main __octoprint __abort]
type: command
enable: {printer.idle_timeout.state == "Printing"}
name: Abort printing
gcode:
{printer.gcode.action_respond_info('action:cancel')}
{action_respond_info('action:cancel')}
### menu virtual sdcard ###
[menu __main __sdcard]
@ -260,7 +260,7 @@ name: Move 10mm
[menu __main __control __move_10mm __axis_x]
type: input
name: Move X:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.x}
input: {printer.gcode_move.gcode_position.x}
input_min: 0
input_max: 200
input_step: 10.0
@ -273,7 +273,7 @@ gcode:
[menu __main __control __move_10mm __axis_y]
type: input
name: Move Y:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.y}
input: {printer.gcode_move.gcode_position.y}
input_min: 0
input_max: 200
input_step: 10.0
@ -287,7 +287,7 @@ gcode:
type: input
enable: {not printer.idle_timeout.state == "Printing"}
name: Move Z:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.z}
input: {printer.gcode_move.gcode_position.z}
input_min: 0
input_max: 200
input_step: 10.0
@ -320,7 +320,7 @@ name: Move 1mm
[menu __main __control __move_1mm __axis_x]
type: input
name: Move X:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.x}
input: {printer.gcode_move.gcode_position.x}
input_min: 0
input_max: 200
input_step: 1.0
@ -333,7 +333,7 @@ gcode:
[menu __main __control __move_1mm __axis_y]
type: input
name: Move Y:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.y}
input: {printer.gcode_move.gcode_position.y}
input_min: 0
input_max: 200
input_step: 1.0
@ -347,7 +347,7 @@ gcode:
type: input
enable: {not printer.idle_timeout.state == "Printing"}
name: Move Z:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.z}
input: {printer.gcode_move.gcode_position.z}
input_min: 0
input_max: 200
input_step: 1.0
@ -380,7 +380,7 @@ name: Move 0.1mm
[menu __main __control __move_01mm __axis_x]
type: input
name: Move X:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.x}
input: {printer.gcode_move.gcode_position.x}
input_min: 0
input_max: 200
input_step: 0.1
@ -393,7 +393,7 @@ gcode:
[menu __main __control __move_01mm __axis_y]
type: input
name: Move Y:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.y}
input: {printer.gcode_move.gcode_position.y}
input_min: 0
input_max: 200
input_step: 0.1
@ -407,7 +407,7 @@ gcode:
type: input
enable: {not printer.idle_timeout.state == "Printing"}
name: Move Z:{'%05.1f' % menu.input}
input: {printer.gcode.gcode_position.z}
input: {printer.gcode_move.gcode_position.z}
input_min: 0
input_max: 200
input_step: 0.1
@ -677,7 +677,7 @@ gcode:
[menu __main __setup __calib __delta_calib_man __move_z]
type: input
name: Move Z: {'%03.2f' % menu.input}
input: {printer.gcode.gcode_position.z}
input: {printer.gcode_move.gcode_position.z}
input_step: 1
realtime: True
gcode:
@ -720,8 +720,9 @@ name: Dump parameters
gcode:
{% for name1 in printer %}
{% for name2 in printer[name1] %}
{ printer.gcode.action_respond_info("printer['%s'].%s = %s" % (name1, name2, printer[name1][name2])) }
{ action_respond_info("printer['%s'].%s = %s"
% (name1, name2, printer[name1][name2])) }
{% else %}
{ printer.gcode.action_respond_info("printer['%s'] = %s" % (name1, printer[name1])) }
{ action_respond_info("printer['%s'] = %s" % (name1, printer[name1])) }
{% endfor %}
{% endfor %}

50
klippy/extras/display/menu.py
View File

@ -7,7 +7,6 @@
import os, logging
from string import Template
from . import menu_keys
from .. import gcode_macro
class sentinel:
@ -328,7 +327,6 @@ class MenuContainer(MenuElement):
item.add_parents(self._parents)
item.add_parents(self)
item.assert_recursive_relation()
item.populate()
if index is None:
self._allitems.append((item, name))
else:
@ -346,7 +344,6 @@ class MenuContainer(MenuElement):
self._populate()
# send populate event
self.send_event('populate', self)
self.update_items()
def update_items(self):
_a = [(item, name) for item, name in self._allitems
@ -553,7 +550,12 @@ class MenuInput(MenuCommand):
class MenuList(MenuContainer):
def __init__(self, manager, config):
super(MenuList, self).__init__(manager, config)
self._show_title = True
# create back item
self._itemBack = self.manager.menuitem_from({
'type': 'command',
'name': '..',
'gcode': '{menu.back()}'
})
def _names_aslist(self):
return self.manager.lookup_children(self.get_ns())
@ -561,15 +563,7 @@ class MenuList(MenuContainer):
def _populate(self):
super(MenuList, self)._populate()
# add back as first item
name = '..'
if self._show_title:
name += ' %s' % str(self._name())
item = self.manager.menuitem_from({
'type': 'command',
'name': self.manager.asliteral(name),
'gcode': '{menu.back()}'
})
self.insert_item(item, 0)
self.insert_item(self._itemBack, 0)
def render_container(self, eventtime):
rows = []
@ -621,8 +615,7 @@ menu_items = {
}
MENU_UPDATE_DELAY = .100
TIMER_DELAY = .100
TIMER_DELAY = 1.0
class MenuManager:
@ -632,7 +625,6 @@ class MenuManager:
self.menustack = []
self.children = {}
self.top_row = 0
self.timeout_idx = 0
self.display = display
self.printer = config.get_printer()
self.pconfig = self.printer.lookup_object('configfile')
@ -641,10 +633,9 @@ class MenuManager:
self.context = {}
self.root = None
self._root = config.get('menu_root', '__main')
self.cols, self.rows = self.display.lcd_chip.get_dimensions()
self.cols, self.rows = self.display.get_dimensions()
self.timeout = config.getint('menu_timeout', 0)
self.timer = 0
self.eventtime = 0
# reverse container navigation
self._reverse_navigation = config.getboolean(
'menu_reverse_navigation', False)
@ -670,9 +661,6 @@ class MenuManager:
reactor.register_timer(self.timer_event, reactor.NOW)
def timer_event(self, eventtime):
self.eventtime = eventtime
self.timeout_idx = (self.timeout_idx + 1) % 10 # 0.1*10 = 1s
if self.timeout_idx == 0:
self.timeout_check(eventtime)
return eventtime + TIMER_DELAY
@ -702,7 +690,6 @@ class MenuManager:
self.update_context(eventtime)
if isinstance(self.root, MenuContainer):
self.root.init_selection()
self.root.populate()
self.stack_push(self.root)
self.running = True
return
@ -710,8 +697,6 @@ class MenuManager:
logging.error("Invalid root, menu stopped!")
self.running = False
self.running = False
def get_status(self, eventtime):
return {
'timeout': self.timeout,
@ -736,18 +721,17 @@ class MenuManager:
def update_context(self, eventtime):
# menu default jinja2 context
self.context = {
'printer': gcode_macro.GetStatusWrapper(self.printer, eventtime),
'menu': {
self.context = self.gcode_macro.create_template_context(eventtime)
self.context['menu'] = {
'eventtime': eventtime,
'back': self._action_back,
'exit': self._action_exit
}
}
def stack_push(self, container):
if not isinstance(container, MenuContainer):
raise error("Wrong type, expected MenuContainer")
container.populate()
top = self.stack_peek()
if top is not None:
if isinstance(top, MenuList):
@ -815,14 +799,11 @@ class MenuManager:
def screen_update_event(self, eventtime):
# screen update
if self.is_running():
self.display.lcd_chip.clear()
if not self.is_running():
return False
for y, line in enumerate(self.render(eventtime)):
self.display.draw_text(y, 0, line, eventtime)
self.display.lcd_chip.flush()
return eventtime + MENU_UPDATE_DELAY
else:
return 0
return True
def up(self, fast_rate=False):
container = self.stack_peek()
@ -1005,6 +986,7 @@ class MenuManager:
self.down(True)
elif key == 'back':
self.back()
self.display.request_redraw()
# Collection of manager class helper methods

2
klippy/extras/force_move.py
View File

@ -132,8 +132,6 @@ class ForceMove:
z = gcmd.get_float('Z', curpos[2])
logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
gcode = self.printer.lookup_object('gcode')
gcode.reset_last_position()
def load_config(config):
return ForceMove(config)

7
klippy/extras/gcode_arcs.py
View File

@ -17,14 +17,15 @@ class ArcSupport:
self.printer = config.get_printer()
self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0)
self.gcode_move = self.printer.load_object(config, 'gcode_move')
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("G2", self.cmd_G2)
self.gcode.register_command("G3", self.cmd_G2)
def cmd_G2(self, gcmd):
gcodestatus = self.gcode.get_status()
gcodestatus = self.gcode_move.get_status()
if not gcodestatus['absolute_coordinates']:
raise self.gcode.error("G2/G3 does not support relative move mode")
raise gcmd.error("G2/G3 does not support relative move mode")
currentPos = gcodestatus['gcode_position']
# Parse parameters
@ -60,7 +61,7 @@ class ArcSupport:
if asF is not None:
g1_params['F'] = asF
g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
self.gcode.cmd_G1(g1_gcmd)
self.gcode_move.cmd_G1(g1_gcmd)
# function planArc() originates from marlin plan_arc()
# https://github.com/MarlinFirmware/Marlin

23
klippy/extras/gcode_macro.py
View File

@ -45,6 +45,8 @@ class TemplateWrapper:
self.printer = printer
self.name = name
self.gcode = self.printer.lookup_object('gcode')
gcode_macro = self.printer.lookup_object('gcode_macro')
self.create_template_context = gcode_macro.create_template_context
try:
self.template = env.from_string(script)
except Exception as e:
@ -52,11 +54,9 @@ class TemplateWrapper:
name, traceback.format_exception_only(type(e), e)[-1])
logging.exception(msg)
raise printer.config_error(msg)
def create_status_wrapper(self, eventtime=None):
return GetStatusWrapper(self.printer, eventtime)
def render(self, context=None):
if context is None:
context = {'printer': self.create_status_wrapper()}
context = self.create_template_context()
try:
return str(self.template.render(context))
except Exception as e:
@ -79,6 +79,21 @@ class PrinterGCodeMacro:
else:
script = config.get(option, default)
return TemplateWrapper(self.printer, self.env, name, script)
def _action_emergency_stop(self, msg="action_emergency_stop"):
self.printer.invoke_shutdown("Shutdown due to %s" % (msg,))
return ""
def _action_respond_info(self, msg):
self.printer.lookup_object('gcode').respond_info(msg)
return ""
def _action_raise_error(self, msg):
raise self.printer.command_error(msg)
def create_template_context(self, eventtime=None):
return {
'printer': GetStatusWrapper(self.printer, eventtime),
'action_emergency_stop': self._action_emergency_stop,
'action_respond_info': self._action_respond_info,
'action_raise_error': self._action_raise_error,
}
def load_config(config):
return PrinterGCodeMacro(config)
@ -159,7 +174,7 @@ class GCodeMacro:
kwparams = dict(self.kwparams)
kwparams.update(params)
kwparams.update(self.variables)
kwparams['printer'] = self.template.create_status_wrapper()
kwparams.update(self.template.create_template_context())
kwparams['params'] = params
self.in_script = True
try:

280
klippy/extras/gcode_move.py Normal file
View File

@ -0,0 +1,280 @@
# G-Code G1 movement commands (and associated coordinate manipulation)
#
# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import homing
class GCodeMove:
def __init__(self, config):
self.printer = printer = config.get_printer()
printer.register_event_handler("klippy:ready", self._handle_ready)
printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
printer.register_event_handler("toolhead:set_position",
self.reset_last_position)
printer.register_event_handler("toolhead:manual_move",
self.reset_last_position)
printer.register_event_handler("gcode:command_error",
self.reset_last_position)
printer.register_event_handler("extruder:activate_extruder",
self._handle_activate_extruder)
self.is_printer_ready = False
# Register g-code commands
gcode = printer.lookup_object('gcode')
handlers = [
'G1', 'G28', 'G20', 'G21',
'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
]
for cmd in handlers:
func = getattr(self, 'cmd_' + cmd)
desc = getattr(self, 'cmd_' + cmd + '_help', None)
gcode.register_command(cmd, func, False, desc)
gcode.register_command('G0', self.cmd_G1)
gcode.register_command('M114', self.cmd_M114, True)
gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
# G-Code coordinate manipulation
self.absolute_coord = self.absolute_extrude = True
self.base_position = [0.0, 0.0, 0.0, 0.0]
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_position = [0.0, 0.0, 0.0, 0.0]
self.speed = 25.
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
# G-Code state
self.saved_states = {}
self.move_transform = self.move_with_transform = None
self.position_with_transform = (lambda: [0., 0., 0., 0.])
def _handle_ready(self):
self.is_printer_ready = True
if self.move_transform is None:
toolhead = self.printer.lookup_object('toolhead')
self.move_with_transform = toolhead.move
self.position_with_transform = toolhead.get_position
def _handle_shutdown(self):
if not self.is_printer_ready:
return
self.is_printer_ready = False
logging.info("gcode state: absolute_coord=%s absolute_extrude=%s"
" base_position=%s last_position=%s homing_position=%s"
" speed_factor=%s extrude_factor=%s speed=%s",
self.absolute_coord, self.absolute_extrude,
self.base_position, self.last_position,
self.homing_position, self.speed_factor,
self.extrude_factor, self.speed)
def _handle_activate_extruder(self):
self.reset_last_position()
self.extrude_factor = 1.
self.base_position[3] = self.last_position[3]
def set_move_transform(self, transform, force=False):
if self.move_transform is not None and not force:
raise self.printer.config_error(
"G-Code move transform already specified")
old_transform = self.move_transform
if old_transform is None:
old_transform = self.printer.lookup_object('toolhead', None)
self.move_transform = transform
self.move_with_transform = transform.move
self.position_with_transform = transform.get_position
return old_transform
def _get_gcode_position(self):
p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
p[3] /= self.extrude_factor
return p
def _get_gcode_speed(self):
return self.speed / self.speed_factor
def _get_gcode_speed_override(self):
return self.speed_factor * 60.
def get_status(self, eventtime=None):
move_position = self._get_gcode_position()
return {
'speed_factor': self._get_gcode_speed_override(),
'speed': self._get_gcode_speed(),
'extrude_factor': self.extrude_factor,
'absolute_coordinates': self.absolute_coord,
'absolute_extrude': self.absolute_extrude,
'homing_origin': homing.Coord(*self.homing_position),
'position': homing.Coord(*self.last_position),
'gcode_position': homing.Coord(*move_position),
}
def reset_last_position(self):
if self.is_printer_ready:
self.last_position = self.position_with_transform()
# G-Code movement commands
def cmd_G1(self, gcmd):
# Move
params = gcmd.get_command_parameters()
try:
for pos, axis in enumerate('XYZ'):
if axis in params:
v = float(params[axis])
if not self.absolute_coord:
# value relative to position of last move
self.last_position[pos] += v
else:
# value relative to base coordinate position
self.last_position[pos] = v + self.base_position[pos]
if 'E' in params:
v = float(params['E']) * self.extrude_factor
if not self.absolute_coord or not self.absolute_extrude:
# value relative to position of last move
self.last_position[3] += v
else:
# value relative to base coordinate position
self.last_position[3] = v + self.base_position[3]
if 'F' in params:
gcode_speed = float(params['F'])
if gcode_speed <= 0.:
raise gcmd.error("Invalid speed in '%s'"
% (gcmd.get_commandline(),))
self.speed = gcode_speed * self.speed_factor
except ValueError as e:
raise gcmd.error("Unable to parse move '%s'"
% (gcmd.get_commandline(),))
self.move_with_transform(self.last_position, self.speed)
def cmd_G28(self, gcmd):
# Move to origin
axes = []
for pos, axis in enumerate('XYZ'):
if gcmd.get(axis, None) is not None:
axes.append(pos)
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.printer)
homing_state.home_axes(axes)
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
# G-Code coordinate manipulation
def cmd_G20(self, gcmd):
# Set units to inches
raise gcmd.error('Machine does not support G20 (inches) command')
def cmd_G21(self, gcmd):
# Set units to millimeters
pass
def cmd_M82(self, gcmd):
# Use absolute distances for extrusion
self.absolute_extrude = True
def cmd_M83(self, gcmd):
# Use relative distances for extrusion
self.absolute_extrude = False
def cmd_G90(self, gcmd):
# Use absolute coordinates
self.absolute_coord = True
def cmd_G91(self, gcmd):
# Use relative coordinates
self.absolute_coord = False
def cmd_G92(self, gcmd):
# Set position
offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
for i, offset in enumerate(offsets):
if offset is not None:
if i == 3:
offset *= self.extrude_factor
self.base_position[i] = self.last_position[i] - offset
if offsets == [None, None, None, None]:
self.base_position = list(self.last_position)
def cmd_M114(self, gcmd):
# Get Current Position
p = self._get_gcode_position()
gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
def cmd_M220(self, gcmd):
# Set speed factor override percentage
value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
self.speed = self._get_gcode_speed() * value
self.speed_factor = value
def cmd_M221(self, gcmd):
# Set extrude factor override percentage
new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
last_e_pos = self.last_position[3]
e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
self.base_position[3] = last_e_pos - e_value * new_extrude_factor
self.extrude_factor = new_extrude_factor
cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
def cmd_SET_GCODE_OFFSET(self, gcmd):
move_delta = [0., 0., 0., 0.]
for pos, axis in enumerate('XYZE'):
offset = gcmd.get_float(axis, None)
if offset is None:
offset = gcmd.get_float(axis + '_ADJUST', None)
if offset is None:
continue
offset += self.homing_position[pos]
delta = offset - self.homing_position[pos]
move_delta[pos] = delta
self.base_position[pos] += delta
self.homing_position[pos] = offset
# Move the toolhead the given offset if requested
if gcmd.get_int('MOVE', 0):
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
for pos, delta in enumerate(move_delta):
self.last_position[pos] += delta
self.move_with_transform(self.last_position, speed)
cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
def cmd_SAVE_GCODE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
self.saved_states[state_name] = {
'absolute_coord': self.absolute_coord,
'absolute_extrude': self.absolute_extrude,
'base_position': list(self.base_position),
'last_position': list(self.last_position),
'homing_position': list(self.homing_position),
'speed': self.speed, 'speed_factor': self.speed_factor,
'extrude_factor': self.extrude_factor,
}
cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
def cmd_RESTORE_GCODE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
state = self.saved_states.get(state_name)
if state is None:
raise gcmd.error("Unknown g-code state: %s" % (state_name,))
# Restore state
self.absolute_coord = state['absolute_coord']
self.absolute_extrude = state['absolute_extrude']
self.base_position = list(state['base_position'])
self.homing_position = list(state['homing_position'])
self.speed = state['speed']
self.speed_factor = state['speed_factor']
self.extrude_factor = state['extrude_factor']
# Restore the relative E position
e_diff = self.last_position[3] - state['last_position'][3]
self.base_position[3] += e_diff
# Move the toolhead back if requested
if gcmd.get_int('MOVE', 0):
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
self.last_position[:3] = state['last_position'][:3]
self.move_with_transform(self.last_position, speed)
def cmd_GET_POSITION(self, gcmd):
toolhead = self.printer.lookup_object('toolhead', None)
if toolhead is None:
raise gcmd.error("Printer not ready")
kin = toolhead.get_kinematics()
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
for s in steppers:
s.set_tag_position(s.get_commanded_position())
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
for s in steppers])
kin_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", kin.calc_tag_position())])
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
"XYZE", toolhead.get_position())])
gcode_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZE", self.last_position)])
base_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("XYZ", self.homing_position)])
gcmd.respond_info("mcu: %s\n"
"stepper: %s\n"
"kinematic: %s\n"
"toolhead: %s\n"
"gcode: %s\n"
"gcode base: %s\n"
"gcode homing: %s"
% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
gcode_pos, base_pos, homing_pos))
def load_config(config):
return GCodeMove(config)

21
klippy/extras/hall_filament_width_sensor.py
View File

@ -40,6 +40,8 @@ class HallFilamentWidthSensor:
self.filament_array = []
self.lastFilamentWidthReading = 0
self.lastFilamentWidthReading2 = 0
self.firstExtruderUpdatePosition = 0
self.filament_width = self.nominal_filament_dia
# printer objects
self.toolhead = self.ppins = self.mcu_adc = None
self.printer.register_event_handler("klippy:ready", self.handle_ready)
@ -112,6 +114,8 @@ class HallFilamentWidthSensor:
# add first item to array
self.filament_array.append([self.measurement_delay + last_epos,
self.diameter])
self.firstExtruderUpdatePosition = (self.measurement_delay
+ last_epos)
def extrude_factor_update_event(self, eventtime):
# Update extrude factor
@ -130,15 +134,18 @@ class HallFilamentWidthSensor:
if pending_position <= last_epos:
# Get first item in filament_array queue
item = self.filament_array.pop(0)
filament_width = item[1]
elif self.use_current_dia_while_delay:
filament_width = self.diameter
self.filament_width = item[1]
else:
filament_width = self.nominal_filament_dia
if ((filament_width <= self.max_diameter)
and (filament_width >= self.min_diameter)):
if ((self.use_current_dia_while_delay)
and (self.firstExtruderUpdatePosition
== pending_position)):
self.filament_width = self.diameter
elif self.firstExtruderUpdatePosition == pending_position:
self.filament_width = self.nominal_filament_dia
if ((self.filament_width <= self.max_diameter)
and (self.filament_width >= self.min_diameter)):
percentage = round(self.nominal_filament_dia**2
/ filament_width**2 * 100)
/ self.filament_width**2 * 100)
self.gcode.run_script("M221 S" + str(percentage))
else:
self.gcode.run_script("M221 S100")

12
klippy/extras/homing_override.py
View File

@ -13,6 +13,7 @@ class HomingOverride:
gcode_macro = self.printer.load_object(config, 'gcode_macro')
self.template = gcode_macro.load_template(config, 'gcode')
self.in_script = False
self.printer.load_object(config, 'gcode_move')
self.gcode = self.printer.lookup_object('gcode')
self.prev_G28 = self.gcode.register_command("G28", None)
self.gcode.register_command("G28", self.cmd_G28)
@ -32,14 +33,14 @@ class HomingOverride:
if no_axis:
override = True
else:
# check if we home an axsis which needs the override
# check if we home an axis which needs the override
override = False
for axis in self.axes:
if gcmd.get(axis, None) is not None:
override = True
if not override:
self.gcode.cmd_G28(gcmd)
self.prev_G28(gcmd)
return
# Calculate forced position (if configured)
@ -51,13 +52,12 @@ class HomingOverride:
pos[axis] = loc
homing_axes.append(axis)
toolhead.set_position(pos, homing_axes=homing_axes)
self.gcode.reset_last_position()
# Perform homing
kwparams = { 'printer': self.template.create_status_wrapper() }
kwparams['params'] = gcmd.get_command_parameters()
context = self.template.create_template_context()
context['params'] = gcmd.get_command_parameters()
try:
self.in_script = True
self.template.run_gcode_from_command(kwparams)
self.template.run_gcode_from_command(context)
finally:
self.in_script = False

9
klippy/extras/manual_probe.py
View File

@ -93,11 +93,10 @@ class ManualProbeHelper:
def move_z(self, z_pos):
curpos = self.toolhead.get_position()
try:
if curpos[2] - z_pos < Z_BOB_MINIMUM:
curpos[2] = z_pos + Z_BOB_MINIMUM
self.toolhead.move(curpos, self.speed)
curpos[2] = z_pos
self.toolhead.move(curpos, self.speed)
z_bob_pos = z_pos + Z_BOB_MINIMUM
if curpos[2] < z_bob_pos:
self.toolhead.manual_move([None, None, z_bob_pos], self.speed)
self.toolhead.manual_move([None, None, z_pos], self.speed)
except homing.CommandError as e:
self.finalize(False)
raise

31
klippy/extras/pause_resume.py
View File

@ -19,27 +19,20 @@ class PauseResume:
self.gcode.register_command("CLEAR_PAUSE", self.cmd_CLEAR_PAUSE)
self.gcode.register_command("CANCEL_PRINT", self.cmd_CANCEL_PRINT)
webhooks = self.printer.lookup_object('webhooks')
webhooks.register_endpoint(
"pause_resume/cancel", self._handle_web_request)
webhooks.register_endpoint(
"pause_resume/pause", self._handle_web_request)
webhooks.register_endpoint(
"pause_resume/resume", self._handle_web_request)
webhooks.register_endpoint("pause_resume/cancel",
self._handle_cancel_request)
webhooks.register_endpoint("pause_resume/pause",
self._handle_pause_request)
webhooks.register_endpoint("pause_resume/resume",
self._handle_resume_request)
def handle_ready(self):
self.v_sd = self.printer.lookup_object('virtual_sdcard', None)
def _handle_web_request(self, web_request):
if web_request.get_method() != 'POST':
raise web_request.error("Invalid Request Method")
path = web_request.get_path()
if path == "pause_resume/cancel":
script = "CANCEL_PRINT"
elif path == "pause_resume/pause":
script = "PAUSE"
elif path == "pause_resume/resume":
script = "RESUME"
else:
raise web_request.error("Invalid Path")
self.gcode.run_script(script)
def _handle_cancel_request(self, web_request):
self.gcode.run_script("CANCEL_PRINT")
def _handle_pause_request(self, web_request):
self.gcode.run_script("PAUSE")
def _handle_resume_request(self, web_request):
self.gcode.run_script("RESUME")
def get_status(self, eventtime):
return {
'is_paused': self.is_paused

10
klippy/extras/print_stats.py
View File

@ -7,12 +7,12 @@
class PrintStats:
def __init__(self, config):
printer = config.get_printer()
self.gcode = printer.lookup_object('gcode')
self.gcode_move = printer.load_object(config, 'gcode_move')
self.reactor = printer.get_reactor()
self.reset()
def _update_filament_usage(self, eventtime):
gc_status = self.gcode.get_status(eventtime)
cur_epos = gc_status['last_epos']
gc_status = self.gcode_move.get_status(eventtime)
cur_epos = gc_status['position'].e
self.filament_used += (cur_epos - self.last_epos) \
/ gc_status['extrude_factor']
self.last_epos = cur_epos
@ -29,8 +29,8 @@ class PrintStats:
self.prev_pause_duration += pause_duration
self.last_pause_time = None
# Reset last e-position
gc_status = self.gcode.get_status(curtime)
self.last_epos = gc_status['last_epos']
gc_status = self.gcode_move.get_status(curtime)
self.last_epos = gc_status['position'].e
self.state = "printing"
self.error_message = ""
def note_pause(self):

23
klippy/extras/probe.py
View File

@ -123,16 +123,9 @@ class PrinterProbe:
pos = toolhead.get_position()
self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f"
% (pos[0], pos[1], pos[2]))
self.gcode.reset_last_position()
return pos[:3]
def _move(self, coord, speed):
toolhead = self.printer.lookup_object('toolhead')
curpos = toolhead.get_position()
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
toolhead.move(curpos, speed)
self.gcode.reset_last_position()
self.printer.lookup_object('toolhead').manual_move(coord, speed)
def _calc_mean(self, positions):
count = float(len(positions))
return [sum([pos[i] for pos in positions]) / count
@ -355,24 +348,20 @@ class ProbePointsHelper:
if not self.results:
# Use full speed to first probe position
speed = self.speed
curpos = toolhead.get_position()
curpos[2] = self.horizontal_move_z
toolhead.move(curpos, speed)
toolhead.manual_move([None, None, self.horizontal_move_z], speed)
# Check if done probing
if len(self.results) >= len(self.probe_points):
self.gcode.reset_last_position()
toolhead.get_last_move_time()
res = self.finalize_callback(self.probe_offsets, self.results)
if res != "retry":
return True
self.results = []
# Move to next XY probe point
curpos[:2] = self.probe_points[len(self.results)]
nextpos = list(self.probe_points[len(self.results)])
if self.use_offsets:
curpos[0] -= self.probe_offsets[0]
curpos[1] -= self.probe_offsets[1]
toolhead.move(curpos, self.speed)
self.gcode.reset_last_position()
nextpos[0] -= self.probe_offsets[0]
nextpos[1] -= self.probe_offsets[1]
toolhead.manual_move(nextpos, self.speed)
return False
def start_probe(self, gcmd):
manual_probe.verify_no_manual_probe(self.printer)

2
klippy/extras/query_endstops.py
View File

@ -22,8 +22,6 @@ class QueryEndstops:
def get_status(self, eventtime):
return {'last_query': {name: value for name, value in self.last_state}}
def _handle_web_request(self, web_request):
if web_request.get_method() != 'GET':
raise web_request.error("Invalid Request Method")
gc_mutex = self.printer.lookup_object('gcode').get_mutex()
toolhead = self.printer.lookup_object('toolhead')
with gc_mutex:

42
klippy/extras/safe_z_home.py
View File

@ -20,6 +20,7 @@ class SafeZHoming:
self.max_z = config.getsection('stepper_z').getfloat('position_max')
self.speed = config.getfloat('speed', 50.0, above=0.)
self.move_to_previous = config.getboolean('move_to_previous', False)
self.printer.load_object(config, 'gcode_move')
self.gcode = self.printer.lookup_object('gcode')
self.prev_G28 = self.gcode.register_command("G28", None)
self.gcode.register_command("G28", self.cmd_G28)
@ -30,23 +31,23 @@ class SafeZHoming:
def cmd_G28(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Perform Z Hop if necessary
if self.z_hop != 0.0:
pos = toolhead.get_position()
# Check if Z axis is homed or has a known position
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
if 'z' in kin_status['homed_axes']:
# Check if the zhop would exceed the printer limits
pos = toolhead.get_position()
if pos[2] + self.z_hop > self.max_z:
gcmd.respond_info(
"No zhop performed, target Z out of bounds: " +
str(pos[2] + self.z_hop))
elif pos[2] < self.z_hop:
self._perform_z_hop(pos)
self._perform_z_hop()
else:
self._perform_z_hop(pos)
self._perform_z_hop()
if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
toolhead.get_kinematics().note_z_not_homed()
@ -66,46 +67,33 @@ class SafeZHoming:
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", new_params)
self.prev_G28(g28_gcmd)
# Update the currently homed axes
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
# Home Z axis if necessary
if need_z:
pos = toolhead.get_position()
prev_x = pos[0]
prev_y = pos[1]
pos[0] = self.home_x_pos
pos[1] = self.home_y_pos
# Throw an error if X or Y are not homed
curtime = self.printer.get_reactor().monotonic()
kin_status = toolhead.get_kinematics().get_status(curtime)
if ('x' not in kin_status['homed_axes'] or
'y' not in kin_status['homed_axes']):
raise gcmd.error("Must home X and Y axes first")
# Move to safe XY homing position
toolhead.move(pos, self.speed)
self.gcode.reset_last_position()
prevpos = toolhead.get_position()
toolhead.manual_move([self.home_x_pos, self.home_y_pos], self.speed)
# Home Z
g28_gcmd = self.gcode.create_gcode_command("G28", "G28", {'Z': '0'})
self.prev_G28(g28_gcmd)
# Perform Z Hop again for pressure-based probes
pos = toolhead.get_position()
if self.z_hop:
pos[2] = self.z_hop
toolhead.move(pos, self.z_hop_speed)
toolhead.manual_move([None, None, self.z_hop], self.z_hop_speed)
# Move XY back to previous positions
if self.move_to_previous:
pos[0] = prev_x
pos[1] = prev_y
toolhead.move(pos, self.speed)
self.gcode.reset_last_position()
toolhead.manual_move(prevpos[:2], self.speed)
def _perform_z_hop(self, pos):
def _perform_z_hop(self):
toolhead = self.printer.lookup_object('toolhead')
# Perform the Z-Hop
pos = toolhead.get_position()
toolhead.set_position(pos, homing_axes=[2])
pos[2] = pos[2] + self.z_hop
toolhead.move(pos, self.z_hop_speed)
self.gcode.reset_last_position()
toolhead.manual_move([None, None, pos[2]+self.z_hop], self.z_hop_speed)
def load_config(config):
return SafeZHoming(config)

21
klippy/extras/skew_correction.py
View File

@ -40,8 +40,8 @@ class PrinterSkew:
gcode.register_command('SKEW_PROFILE', self.cmd_SKEW_PROFILE,
desc=self.cmd_SKEW_PROFILE_help)
def _handle_ready(self):
gcode = self.printer.lookup_object('gcode')
self.next_transform = gcode.set_move_transform(self, force=True)
gcode_move = self.printer.lookup_object('gcode_move')
self.next_transform = gcode_move.set_move_transform(self, force=True)
def _load_storage(self, config):
stored_profs = config.get_prefix_sections(self.name)
# Remove primary skew_correction section, as it is not a stored profile
@ -69,6 +69,12 @@ class PrinterSkew:
def move(self, newpos, speed):
corrected_pos = self.calc_skew(newpos)
self.next_transform.move(corrected_pos, speed)
def _update_skew(self, xy_factor, xz_factor, yz_factor):
self.xy_factor = xy_factor
self.xz_factor = xz_factor
self.yz_factor = yz_factor
gcode_move = self.printer.lookup_object('gcode_move')
gcode_move.reset_last_position()
cmd_GET_CURRENT_SKEW_help = "Report current printer skew"
def cmd_GET_CURRENT_SKEW(self, gcmd):
out = "Current Printer Skew:"
@ -90,9 +96,7 @@ class PrinterSkew:
cmd_SET_SKEW_help = "Set skew based on lengths of measured object"
def cmd_SET_SKEW(self, gcmd):
if gcmd.get_int("CLEAR", 0):
self.xy_factor = 0.
self.xz_factor = 0.
self.yz_factor = 0.
self._update_skew(0., 0., 0.)
return
planes = ["XY", "XZ", "YZ"]
for plane in planes:
@ -113,14 +117,13 @@ class PrinterSkew:
def cmd_SKEW_PROFILE(self, gcmd):
if gcmd.get('LOAD', None) is not None:
name = gcmd.get('LOAD')
if name not in self.skew_profiles:
prof = self.skew_profiles.get(name)
if prof is None:
gcmd.respond_info(
"skew_correction: Load failed, unknown profile [%s]"
% (name))
return
self.xy_factor = self.skew_profiles[name]['xy_skew']
self.xz_factor = self.skew_profiles[name]['xz_skew']
self.yz_factor = self.skew_profiles[name]['yz_skew']
self._update_skew(prof['xy_skew'], prof['xz_skew'], prof['yz_skew'])
elif gcmd.get('SAVE', None) is not None:
name = gcmd.get('SAVE')
configfile = self.printer.lookup_object('configfile')

17
klippy/extras/tuning_tower.py
View File

@ -13,7 +13,9 @@ class TuningTower:
self.normal_transform = None
self.last_position = [0., 0., 0., 0.]
self.last_z = self.start = self.factor = self.band = 0.
self.last_command_value = None
self.command_fmt = ""
self.gcode_move = self.printer.load_object(config, "gcode_move")
# Register command
self.gcode = self.printer.lookup_object("gcode")
self.gcode.register_command("TUNING_TOWER", self.cmd_TUNING_TOWER,
@ -33,9 +35,10 @@ class TuningTower:
self.command_fmt = "%s %s%%.9f" % (command, parameter)
else:
self.command_fmt = "%s %s=%%.9f" % (command, parameter)
self.normal_transform = self.gcode.set_move_transform(self, force=True)
nt = self.gcode_move.set_move_transform(self, force=True)
self.normal_transform = nt
self.last_z = -99999999.9
self.gcode.reset_last_position()
self.last_command_value = None
self.get_position()
gcmd.respond_info("Starting tuning test (start=%.6f factor=%.6f)"
% (self.start, self.factor))
@ -58,11 +61,11 @@ class TuningTower:
self.end_test()
else:
# Process update
z_offset = self.gcode.get_status()['base_zpos']
oldval = self.calc_value(self.last_z - z_offset)
newval = self.calc_value(z - z_offset)
gcode_z = self.gcode_move.get_status()['gcode_position'].z
newval = self.calc_value(gcode_z)
self.last_z = z
if newval != oldval:
if newval != self.last_command_value:
self.last_command_value = newval
self.gcode.run_script_from_command(self.command_fmt
% (newval,))
# Forward move to actual handler
@ -70,7 +73,7 @@ class TuningTower:
normal_transform.move(newpos, speed)
def end_test(self):
self.gcode.respond_info("Ending tuning test mode")
self.gcode.set_move_transform(self.normal_transform, force=True)
self.gcode_move.set_move_transform(self.normal_transform, force=True)
self.normal_transform = None
def load_config(config):

4
klippy/extras/virtual_sdcard.py
View File

@ -24,7 +24,6 @@ class VirtualSD:
self.work_timer = None
# Register commands
self.gcode = printer.lookup_object('gcode')
self.gcode.register_command('M21', None)
for cmd in ['M20', 'M21', 'M23', 'M24', 'M25', 'M26', 'M27']:
self.gcode.register_command(cmd, getattr(self, 'cmd_' + cmd))
for cmd in ['M28', 'M29', 'M30']:
@ -35,9 +34,6 @@ class VirtualSD:
self.gcode.register_command(
"SDCARD_PRINT_FILE", self.cmd_SDCARD_PRINT_FILE,
desc=self.cmd_SDCARD_PRINT_FILE_help)
# Register sd path
webhooks = printer.lookup_object('webhooks')
webhooks.register_static_path("sd_path", self.sdcard_dirname)
def handle_shutdown(self):
if self.work_timer is not None:
self.must_pause_work = True

1
klippy/extras/z_tilt.py
View File

@ -65,7 +65,6 @@ class ZAdjustHelper:
last_stepper.set_trapq(toolhead.get_trapq())
curpos[2] += first_stepper_offset
toolhead.set_position(curpos)
gcode.reset_last_position()
class RetryHelper:
def __init__(self, config, error_msg_extra = ""):

359
klippy/gcode.py
View File

@ -66,8 +66,8 @@ class GCodeCommand:
return self.get(name, default, parser=float, minval=minval,
maxval=maxval, above=above, below=below)
# Parse and handle G-Code commands
class GCodeParser:
# Parse and dispatch G-Code commands
class GCodeDispatch:
error = homing.CommandError
def __init__(self, printer):
self.printer = printer
@ -76,18 +76,6 @@ class GCodeParser:
printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
printer.register_event_handler("klippy:disconnect",
self._handle_disconnect)
printer.register_event_handler("extruder:activate_extruder",
self._handle_activate_extruder)
# Register webhooks
webhooks = self.printer.lookup_object('webhooks')
webhooks.register_endpoint(
"gcode/help", self._handle_remote_help)
webhooks.register_endpoint(
"gcode/script", self._handle_remote_script)
webhooks.register_endpoint(
"gcode/restart", self._handle_remote_restart)
webhooks.register_endpoint(
"gcode/firmware_restart", self._handle_remote_restart)
# Command handling
self.is_printer_ready = False
self.mutex = printer.get_reactor().mutex()
@ -96,26 +84,13 @@ class GCodeParser:
self.ready_gcode_handlers = {}
self.mux_commands = {}
self.gcode_help = {}
for cmd in self.all_handlers:
# Register commands needed before config file is loaded
handlers = ['M110', 'M112', 'M115',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
for cmd in handlers:
func = getattr(self, 'cmd_' + cmd)
wnr = getattr(self, 'cmd_' + cmd + '_when_not_ready', False)
desc = getattr(self, 'cmd_' + cmd + '_help', None)
self.register_command(cmd, func, wnr, desc)
for a in getattr(self, 'cmd_' + cmd + '_aliases', []):
self.register_command(a, func, wnr)
# G-Code coordinate manipulation
self.absolute_coord = self.absolute_extrude = True
self.base_position = [0.0, 0.0, 0.0, 0.0]
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_position = [0.0, 0.0, 0.0, 0.0]
self.speed = 25.
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
# G-Code state
self.saved_states = {}
self.move_transform = self.move_with_transform = None
self.position_with_transform = (lambda: [0., 0., 0., 0.])
self.toolhead = None
self.register_command(cmd, func, True, desc)
def is_traditional_gcode(self, cmd):
# A "traditional" g-code command is a letter and followed by a number
try:
@ -158,71 +133,10 @@ class GCodeParser:
"mux command %s %s %s already registered (%s)" % (
cmd, key, value, prev_values))
prev_values[value] = func
def get_command_help(self):
return dict(self.gcode_help)
def register_output_handler(self, cb):
self.output_callbacks.append(cb)
def set_move_transform(self, transform, force=False):
if self.move_transform is not None and not force:
raise self.printer.config_error(
"G-Code move transform already specified")
old_transform = self.move_transform
if old_transform is None:
old_transform = self.toolhead
self.move_transform = transform
self.move_with_transform = transform.move
self.position_with_transform = transform.get_position
return old_transform
def _action_emergency_stop(self, msg="action_emergency_stop"):
self.printer.invoke_shutdown("Shutdown due to %s" % (msg,))
return ""
def _action_respond_info(self, msg):
self.respond_info(msg)
return ""
def _action_respond_error(self, msg):
self._respond_error(msg)
return ""
def _get_gcode_position(self):
p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
p[3] /= self.extrude_factor
return p
def _get_gcode_speed(self):
return self.speed / self.speed_factor
def _get_gcode_speed_override(self):
return self.speed_factor * 60.
def get_status(self, eventtime=None):
move_position = self._get_gcode_position()
return {
'speed_factor': self._get_gcode_speed_override(),
'speed': self._get_gcode_speed(),
'extrude_factor': self.extrude_factor,
'absolute_coordinates': self.absolute_coord,
'absolute_extrude': self.absolute_extrude,
'move_xpos': move_position[0],
'move_ypos': move_position[1],
'move_zpos': move_position[2],
'move_epos': move_position[3],
'last_xpos': self.last_position[0],
'last_ypos': self.last_position[1],
'last_zpos': self.last_position[2],
'last_epos': self.last_position[3],
'base_xpos': self.base_position[0],
'base_ypos': self.base_position[1],
'base_zpos': self.base_position[2],
'base_epos': self.base_position[3],
'homing_xpos': self.homing_position[0],
'homing_ypos': self.homing_position[1],
'homing_zpos': self.homing_position[2],
'gcode_position': homing.Coord(*move_position),
'action_respond_info': self._action_respond_info,
'action_respond_error': self._action_respond_error,
'action_emergency_stop': self._action_emergency_stop,
}
def dump_state(self):
return ("gcode state: absolute_coord=%s absolute_extrude=%s"
" base_position=%s last_position=%s homing_position=%s"
" speed_factor=%s extrude_factor=%s speed=%s"
% (self.absolute_coord, self.absolute_extrude,
self.base_position, self.last_position, self.homing_position,
self.speed_factor, self.extrude_factor, self.speed))
def _handle_shutdown(self):
if not self.is_printer_ready:
return
@ -234,18 +148,7 @@ class GCodeParser:
def _handle_ready(self):
self.is_printer_ready = True
self.gcode_handlers = self.ready_gcode_handlers
self.toolhead = self.printer.lookup_object('toolhead')
if self.move_transform is None:
self.move_with_transform = self.toolhead.move
self.position_with_transform = self.toolhead.get_position
self._respond_state("Ready")
def _handle_activate_extruder(self):
self.reset_last_position()
self.extrude_factor = 1.
self.base_position[3] = self.last_position[3]
def reset_last_position(self):
if self.is_printer_ready:
self.last_position = self.position_with_transform()
# Parse input into commands
args_r = re.compile('([A-Z_]+|[A-Z*/])')
def _process_commands(self, commands, need_ack=True):
@ -274,7 +177,6 @@ class GCodeParser:
handler(gcmd)
except self.error as e:
self._respond_error(str(e))
self.reset_last_position()
self.printer.send_event("gcode:command_error")
if not need_ack:
raise
@ -342,6 +244,9 @@ class GCodeParser:
# Don't warn about temperature requests when not ready
gcmd.ack("T:0")
return
if cmd == 'M21':
# Don't warn about sd card init when not ready
return
if not self.is_printer_ready:
raise gcmd.error(self.printer.get_state_message()[0])
return
@ -372,233 +277,36 @@ class GCodeParser:
raise gcmd.error("The value '%s' is not valid for %s"
% (key_param, key))
values[key_param](gcmd)
all_handlers = [
'G1', 'G4', 'G28', 'M400',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
'M112', 'M115', 'IGNORE', 'GET_POSITION',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
# G-Code movement commands
cmd_G1_aliases = ['G0']
def cmd_G1(self, gcmd):
# Move
params = gcmd._params
try:
for pos, axis in enumerate('XYZ'):
if axis in params:
v = float(params[axis])
if not self.absolute_coord:
# value relative to position of last move
self.last_position[pos] += v
else:
# value relative to base coordinate position
self.last_position[pos] = v + self.base_position[pos]
if 'E' in params:
v = float(params['E']) * self.extrude_factor
if not self.absolute_coord or not self.absolute_extrude:
# value relative to position of last move
self.last_position[3] += v
else:
# value relative to base coordinate position
self.last_position[3] = v + self.base_position[3]
if 'F' in params:
gcode_speed = float(params['F'])
if gcode_speed <= 0.:
raise gcmd.error("Invalid speed in '%s'"
% (gcmd.get_commandline(),))
self.speed = gcode_speed * self.speed_factor
except ValueError as e:
raise gcmd.error("Unable to parse move '%s'"
% (gcmd.get_commandline(),))
self.move_with_transform(self.last_position, self.speed)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.toolhead.dwell(delay)
def cmd_G28(self, gcmd):
# Move to origin
axes = []
for pos, axis in enumerate('XYZ'):
if gcmd.get(axis, None) is not None:
axes.append(pos)
if not axes:
axes = [0, 1, 2]
homing_state = homing.Homing(self.printer)
if self.is_fileinput:
homing_state.set_no_verify_retract()
homing_state.home_axes(axes)
for axis in homing_state.get_axes():
self.base_position[axis] = self.homing_position[axis]
self.reset_last_position()
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.toolhead.wait_moves()
# G-Code coordinate manipulation
def cmd_G20(self, gcmd):
# Set units to inches
raise gcmd.error('Machine does not support G20 (inches) command')
def cmd_M82(self, gcmd):
# Use absolute distances for extrusion
self.absolute_extrude = True
def cmd_M83(self, gcmd):
# Use relative distances for extrusion
self.absolute_extrude = False
def cmd_G90(self, gcmd):
# Use absolute coordinates
self.absolute_coord = True
def cmd_G91(self, gcmd):
# Use relative coordinates
self.absolute_coord = False
def cmd_G92(self, gcmd):
# Set position
offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ]
for i, offset in enumerate(offsets):
if offset is not None:
if i == 3:
offset *= self.extrude_factor
self.base_position[i] = self.last_position[i] - offset
if offsets == [None, None, None, None]:
self.base_position = list(self.last_position)
cmd_M114_when_not_ready = True
def cmd_M114(self, gcmd):
# Get Current Position
p = self._get_gcode_position()
gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
def cmd_M220(self, gcmd):
# Set speed factor override percentage
value = gcmd.get_float('S', 100., above=0.) / (60. * 100.)
self.speed = self._get_gcode_speed() * value
self.speed_factor = value
def cmd_M221(self, gcmd):
# Set extrude factor override percentage
new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100.
last_e_pos = self.last_position[3]
e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
self.base_position[3] = last_e_pos - e_value * new_extrude_factor
self.extrude_factor = new_extrude_factor
cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
def cmd_SET_GCODE_OFFSET(self, gcmd):
move_delta = [0., 0., 0., 0.]
for pos, axis in enumerate('XYZE'):
offset = gcmd.get_float(axis, None)
if offset is None:
offset = gcmd.get_float(axis + '_ADJUST', None)
if offset is None:
continue
offset += self.homing_position[pos]
delta = offset - self.homing_position[pos]
move_delta[pos] = delta
self.base_position[pos] += delta
self.homing_position[pos] = offset
# Move the toolhead the given offset if requested
if gcmd.get_int('MOVE', 0):
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
for pos, delta in enumerate(move_delta):
self.last_position[pos] += delta
self.move_with_transform(self.last_position, speed)
cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
def cmd_SAVE_GCODE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
self.saved_states[state_name] = {
'absolute_coord': self.absolute_coord,
'absolute_extrude': self.absolute_extrude,
'base_position': list(self.base_position),
'last_position': list(self.last_position),
'homing_position': list(self.homing_position),
'speed': self.speed, 'speed_factor': self.speed_factor,
'extrude_factor': self.extrude_factor,
}
cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
def cmd_RESTORE_GCODE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
state = self.saved_states.get(state_name)
if state is None:
raise gcmd.error("Unknown g-code state: %s" % (state_name,))
# Restore state
self.absolute_coord = state['absolute_coord']
self.absolute_extrude = state['absolute_extrude']
self.base_position = list(state['base_position'])
self.homing_position = list(state['homing_position'])
self.speed = state['speed']
self.speed_factor = state['speed_factor']
self.extrude_factor = state['extrude_factor']
# Restore the relative E position
e_diff = self.last_position[3] - state['last_position'][3]
self.base_position[3] += e_diff
# Move the toolhead back if requested
if gcmd.get_int('MOVE', 0):
speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
self.last_position[:3] = state['last_position'][:3]
self.move_with_transform(self.last_position, speed)
# G-Code miscellaneous commands
cmd_M112_when_not_ready = True
# Low-level G-Code commands that are needed before the config file is loaded
def cmd_M110(self, gcmd):
# Set Current Line Number
pass
def cmd_M112(self, gcmd):
# Emergency Stop
self.printer.invoke_shutdown("Shutdown due to M112 command")
cmd_M115_when_not_ready = True
def cmd_M115(self, gcmd):
# Get Firmware Version and Capabilities
software_version = self.printer.get_start_args().get('software_version')
kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
gcmd.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
cmd_IGNORE_when_not_ready = True
cmd_IGNORE_aliases = ["G21", "M110", "M21"]
def cmd_IGNORE(self, gcmd):
# Commands that are just silently accepted
pass
cmd_GET_POSITION_when_not_ready = True
def cmd_GET_POSITION(self, gcmd):
if self.toolhead is None:
self.cmd_default(gcmd)
return
kin = self.toolhead.get_kinematics()
steppers = kin.get_steppers()
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
for s in steppers])
for s in steppers:
s.set_tag_position(s.get_commanded_position())
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
for s in steppers])
kin_pos = " ".join(["%s:%.6f" % (a, v)
for a, v in zip("XYZ", kin.calc_tag_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)])
base_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("XYZ", self.homing_position)])
gcmd.respond_info("mcu: %s\n"
"stepper: %s\n"
"kinematic: %s\n"
"toolhead: %s\n"
"gcode: %s\n"
"gcode base: %s\n"
"gcode homing: %s"
% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
gcode_pos, base_pos, homing_pos))
def request_restart(self, result):
if self.is_printer_ready:
print_time = self.toolhead.get_last_move_time()
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if result == 'exit':
logging.info("Exiting (print time %.3fs)" % (print_time,))
self.printer.send_event("gcode:request_restart", print_time)
self.toolhead.dwell(0.500)
self.toolhead.wait_moves()
toolhead.dwell(0.500)
toolhead.wait_moves()
self.printer.request_exit(result)
cmd_RESTART_when_not_ready = True
cmd_RESTART_help = "Reload config file and restart host software"
def cmd_RESTART(self, gcmd):
self.request_restart('restart')
cmd_FIRMWARE_RESTART_when_not_ready = True
cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
def cmd_FIRMWARE_RESTART(self, gcmd):
self.request_restart('firmware_restart')
cmd_ECHO_when_not_ready = True
def cmd_ECHO(self, gcmd):
gcmd.respond_info(gcmd.get_commandline(), log=False)
cmd_STATUS_when_not_ready = True
cmd_STATUS_help = "Report the printer status"
def cmd_STATUS(self, gcmd):
if self.is_printer_ready:
@ -607,7 +315,6 @@ class GCodeParser:
msg = self.printer.get_state_message()[0]
msg = msg.rstrip() + "\nKlipper state: Not ready"
raise gcmd.error(msg)
cmd_HELP_when_not_ready = True
def cmd_HELP(self, gcmd):
cmdhelp = []
if not self.is_printer_ready:
@ -617,24 +324,6 @@ class GCodeParser:
if cmd in self.gcode_help:
cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
gcmd.respond_info("\n".join(cmdhelp), log=False)
# Webhooks
def _handle_remote_help(self, web_request):
if web_request.get_method() != 'GET':
raise web_request.error("Invalid Request Method")
web_request.send(dict(self.gcode_help))
def _handle_remote_restart(self, web_request):
if web_request.get_method() != 'POST':
raise web_request.error("Invalid Request Method")
path = web_request.get_path()
if path == "gcode/restart":
self.run_script('restart')
elif path == "gcode/firmware_restart":
self.run_script('firmware_restart')
def _handle_remote_script(self, web_request):
if web_request.get_method() != 'POST':
raise web_request.error("Invalid Request Method")
script = web_request.get('script')
self.run_script(script)
# Support reading gcode from a pseudo-tty interface
class GCodeIO:
@ -666,11 +355,9 @@ class GCodeIO:
self._process_data)
def _dump_debug(self):
out = []
out.append("Dumping gcode input %d blocks" % (
len(self.input_log),))
out.append("Dumping gcode input %d blocks" % (len(self.input_log),))
for eventtime, data in self.input_log:
out.append("Read %f: %s" % (eventtime, repr(data)))
out.append(self.gcode.dump_state())
logging.info("\n".join(out))
def _handle_shutdown(self):
if not self.is_printer_ready:
@ -708,7 +395,7 @@ class GCodeIO:
# Check for M112 out-of-order
for line in lines:
if self.m112_r.match(line) is not None:
self.cmd_M112(None)
self.gcode.cmd_M112(None)
if self.is_processing_data:
if len(pending_commands) >= 20:
# Stop reading input
@ -737,5 +424,5 @@ class GCodeIO:
return False, "gcodein=%d" % (self.bytes_read,)
def add_early_printer_objects(printer):
printer.add_object('gcode', GCodeParser(printer))
printer.add_object('gcode', GCodeDispatch(printer))
printer.add_object('gcode_io', GCodeIO(printer))

2
klippy/homing.py
View File

@ -15,7 +15,7 @@ class Homing:
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
self.verify_retract = True
def set_no_verify_retract(self):
if self.printer.get_start_args().get("debuginput"):
self.verify_retract = False
def set_axes(self, axes):
self.changed_axes = axes

2
klippy/kinematics/cartesian.py
View File

@ -136,10 +136,8 @@ class CartKinematics:
self.limits[dc_axis] = dc_rail.get_range()
cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
def cmd_SET_DUAL_CARRIAGE(self, gcmd):
gcode = self.printer.lookup_object('gcode')
carriage = gcmd.get_int('CARRIAGE', minval=0, maxval=1)
self._activate_carriage(carriage)
gcode.reset_last_position()
def load_kinematics(toolhead, config):
return CartKinematics(toolhead, config)

9
klippy/klippy.py
View File

@ -59,7 +59,7 @@ class Printer:
self.event_handlers = {}
self.objects = collections.OrderedDict()
# Init printer components that must be setup prior to config
for m in [webhooks, gcode]:
for m in [gcode, webhooks]:
m.add_early_printer_objects(self)
def get_start_args(self):
return self.start_args
@ -70,6 +70,8 @@ class Printer:
category = "ready"
elif self.state_message == message_startup:
category = "startup"
elif self.in_shutdown_state:
category = "shutdown"
else:
category = "error"
return self.state_message, category
@ -247,6 +249,8 @@ def main():
opts.add_option("-I", "--input-tty", dest="inputtty",
default='/tmp/printer',
help="input tty name (default is /tmp/printer)")
opts.add_option("-a", "--api-server", dest="apiserver",
help="api server unix domain socket filename")
opts.add_option("-l", "--logfile", dest="logfile",
help="write log to file instead of stderr")
opts.add_option("-v", action="store_true", dest="verbose",
@ -259,7 +263,8 @@ def main():
options, args = opts.parse_args()
if len(args) != 1:
opts.error("Incorrect number of arguments")
start_args = {'config_file': args[0], 'start_reason': 'startup'}
start_args = {'config_file': args[0], 'apiserver': options.apiserver,
'start_reason': 'startup'}
debuglevel = logging.INFO
if options.verbose:

34
klippy/toolhead.py
View File

@ -232,7 +232,6 @@ class ToolHead:
self.need_check_stall = -1.
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high)
self.last_print_start_time = 0.
self.idle_flush_print_time = 0.
self.print_stall = 0
self.drip_completion = None
@ -260,14 +259,17 @@ class ToolHead:
msg = "Error loading kinematics '%s'" % (kin_name,)
logging.exception(msg)
raise config.error(msg)
# SET_VELOCITY_LIMIT command
# Register commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G4', self.cmd_G4)
gcode.register_command('M400', self.cmd_M400)
gcode.register_command('SET_VELOCITY_LIMIT',
self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
gcode.register_command('M204', self.cmd_M204)
# Load some default modules
modules = ["idle_timeout", "statistics", "manual_probe", "tuning_tower"]
modules = ["gcode_move", "idle_timeout", "statistics", "manual_probe",
"tuning_tower"]
for module_name in modules:
self.printer.load_object(config, module_name)
# Print time tracking
@ -295,7 +297,7 @@ class ToolHead:
kin_time += self.kin_flush_delay
min_print_time = max(est_print_time + self.buffer_time_start, kin_time)
if min_print_time > self.print_time:
self.print_time = self.last_print_start_time = min_print_time
self.print_time = min_print_time
self.printer.send_event("toolhead:sync_print_time",
curtime, est_print_time, self.print_time)
def _process_moves(self, moves):
@ -400,6 +402,7 @@ class ToolHead:
self.trapq_free_moves(self.trapq, self.reactor.NEVER)
self.commanded_pos[:] = newpos
self.kin.set_position(newpos, homing_axes)
self.printer.send_event("toolhead:set_position")
def move(self, newpos, speed):
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d:
@ -412,6 +415,13 @@ class ToolHead:
self.move_queue.add_move(move)
if self.print_time > self.need_check_stall:
self._check_stall()
def manual_move(self, coord, speed):
curpos = list(self.commanded_pos)
for i in range(len(coord)):
if coord[i] is not None:
curpos[i] = coord[i]
self.move(curpos, speed)
self.printer.send_event("toolhead:manual_move")
def dwell(self, delay):
next_print_time = self.get_last_move_time() + max(0., delay)
self._update_move_time(next_print_time)
@ -484,18 +494,11 @@ class ToolHead:
def get_status(self, eventtime):
print_time = self.print_time
estimated_print_time = self.mcu.estimated_print_time(eventtime)
last_print_start_time = self.last_print_start_time
buffer_time = print_time - estimated_print_time
if buffer_time > -1. or not self.special_queuing_state:
status = "Printing"
else:
status = "Ready"
res = dict(self.kin.get_status(eventtime))
res.update({ 'status': status, 'print_time': print_time,
res.update({ 'print_time': print_time,
'estimated_print_time': estimated_print_time,
'extruder': self.extruder.get_name(),
'position': homing.Coord(*self.commanded_pos),
'printing_time': print_time - last_print_start_time,
'max_velocity': self.max_velocity,
'max_accel': self.max_accel,
'max_accel_to_decel': self.requested_accel_to_decel,
@ -540,6 +543,13 @@ class ToolHead:
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
self.max_accel_to_decel = min(self.requested_accel_to_decel,
self.max_accel)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.dwell(delay)
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.wait_moves()
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, gcmd):
print_time = self.get_last_move_time()

435
klippy/webhooks.py
View File

@ -11,8 +11,6 @@ import errno
import json
import homing
SERVER_ADDRESS = "/tmp/klippy_uds"
# Json decodes strings as unicode types in Python 2.x. This doesn't
# play well with some parts of Klipper (particuarly displays), so we
# need to create an object hook. This solution borrowed from:
@ -29,10 +27,6 @@ def byteify(data, ignore_dicts=False):
for k, v in data.items()}
return data
def json_loads_byteified(data):
return byteify(
json.loads(data, object_hook=byteify), True)
class WebRequestError(homing.CommandError):
def __init__(self, message,):
Exception.__init__(self, message)
@ -47,36 +41,47 @@ class Sentinel:
class WebRequest:
error = WebRequestError
def __init__(self, base_request):
self.id = base_request['id']
self.path = base_request['path']
self.method = base_request['method']
self.args = base_request['args']
def __init__(self, client_conn, request):
self.client_conn = client_conn
base_request = json.loads(request, object_hook=byteify)
if type(base_request) != dict:
raise ValueError("Not a top-level dictionary")
self.id = base_request.get('id', None)
self.method = base_request.get('method')
self.params = base_request.get('params', {})
if type(self.method) != str or type(self.params) != dict:
raise ValueError("Invalid request type")
self.response = None
self.is_error = False
def get(self, item, default=Sentinel):
if item not in self.args:
if default == Sentinel:
raise WebRequestError("Invalid Argument [%s]" % item)
return default
return self.args[item]
def get_client_connection(self):
return self.client_conn
def get_int(self, item):
return int(self.get(item))
def get(self, item, default=Sentinel, types=None):
value = self.params.get(item, default)
if value is Sentinel:
raise WebRequestError("Missing Argument [%s]" % (item,))
if types is not None and type(value) not in types:
raise WebRequestError("Invalid Argument Type [%s]" % (item,))
return value
def get_float(self, item):
return float(self.get(item))
def get_str(self, item, default=Sentinel):
return self.get(item, default, types=(str,))
def get_args(self):
return self.args
def get_int(self, item, default=Sentinel):
return self.get(item, default, types=(int,))
def get_path(self):
return self.path
def get_float(self, item, default=Sentinel):
return float(self.get(item, default, types=(int, float)))
def get_dict(self, item, default=Sentinel):
return self.get(item, default, types=(dict,))
def get_method(self):
return self.method
def set_error(self, error):
self.is_error = True
self.response = error.to_dict()
def send(self, data):
@ -85,11 +90,16 @@ class WebRequest:
self.response = data
def finish(self):
if self.id is None:
return None
rtype = "result"
if self.is_error:
rtype = "error"
if self.response is None:
# No error was set and the user never executed
# send, default response is "ok"
self.response = "ok"
return {"request_id": self.id, "response": self.response}
# send, default response is {}
self.response = {}
return {"id": self.id, rtype: self.response}
class ServerSocket:
def __init__(self, webhooks, printer):
@ -98,15 +108,16 @@ class ServerSocket:
self.reactor = printer.get_reactor()
self.sock = self.fd_handle = None
self.clients = {}
is_fileinput = (printer.get_start_args().get('debuginput')
is not None)
if is_fileinput:
# Do not enable server in batch mode
start_args = printer.get_start_args()
server_address = start_args.get('apiserver')
is_fileinput = (start_args.get('debuginput') is not None)
if not server_address or is_fileinput:
# Do not enable server
return
self._remove_socket_file(SERVER_ADDRESS)
self._remove_socket_file(server_address)
self.sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
self.sock.setblocking(0)
self.sock.bind(SERVER_ADDRESS)
self.sock.bind(server_address)
self.sock.listen(1)
self.fd_handle = self.reactor.register_fd(
self.sock.fileno(), self._handle_accept)
@ -145,10 +156,6 @@ class ServerSocket:
def pop_client(self, client_id):
self.clients.pop(client_id, None)
def send_all_clients(self, data):
for client in self.clients.values():
client.send(data)
class ClientConnection:
def __init__(self, server, sock):
self.printer = server.printer
@ -175,6 +182,9 @@ class ClientConnection:
pass
self.server.pop_client(self.uid)
def is_closed(self):
return self.fd_handle is None
def process_received(self, eventtime):
try:
data = self.sock.recv(4096)
@ -193,13 +203,10 @@ class ClientConnection:
requests[0] = self.partial_data + requests[0]
self.partial_data = requests.pop()
for req in requests:
logging.debug(
"webhooks: Request received: %s" % (req))
try:
web_request = WebRequest(json_loads_byteified(req))
web_request = WebRequest(self, req)
except Exception:
logging.exception(
"webhooks: Error decoding Server Request %s"
logging.exception("webhooks: Error decoding Server Request %s"
% (req))
continue
self.reactor.register_callback(
@ -207,20 +214,20 @@ class ClientConnection:
def _process_request(self, web_request):
try:
func = self.webhooks.get_callback(
web_request.get_path())
func = self.webhooks.get_callback(web_request.get_method())
func(web_request)
except homing.CommandError as e:
web_request.set_error(WebRequestError(e.message))
except Exception as e:
msg = "Internal Error on WebRequest: %s" % (web_request.get_path())
msg = ("Internal Error on WebRequest: %s"
% (web_request.get_method()))
logging.exception(msg)
web_request.set_error(WebRequestError(e.message))
self.printer.invoke_shutdown(msg)
result = web_request.finish()
logging.debug(
"webhooks: Sending response - %s" % (str(result)))
self.send({'method': "response", 'params': result})
if result is None:
return
self.send(result)
def send(self, data):
self.send_buffer += json.dumps(data) + "\x03"
@ -256,72 +263,31 @@ class WebHooks:
def __init__(self, printer):
self.printer = printer
self._endpoints = {"list_endpoints": self._handle_list_endpoints}
self._static_paths = []
self.register_endpoint("info", self._handle_info_request)
self.register_endpoint("emergency_stop", self._handle_estop_request)
start_args = printer.get_start_args()
log_file = start_args.get('log_file')
cfg_file = start_args.get('config_file')
klipper_path = os.path.normpath(os.path.join(
os.path.dirname(__file__), ".."))
if log_file is not None:
self.register_static_path("klippy.log", log_file)
self.register_static_path("printer.cfg", cfg_file)
self.register_static_path("klippy_env", sys.executable)
self.register_static_path("klipper_path", klipper_path)
self.sconn = ServerSocket(self, printer)
StatusHandler(self)
# Register Events
printer.register_event_handler(
"klippy:connect", self._handle_connect)
printer.register_event_handler(
"klippy:shutdown", self._notify_shutdown)
def _handle_connect(self):
gcode = self.printer.lookup_object('gcode')
gcode.register_output_handler(self._process_gcode_response)
def _notify_shutdown(self):
self.call_remote_method("set_klippy_shutdown")
def _process_gcode_response(self, gc_response):
self.call_remote_method(
"process_gcode_response", response=gc_response)
def register_endpoint(self, path, callback):
if path in self._endpoints:
raise WebRequestError("Path already registered to an endpoint")
self._endpoints[path] = callback
def register_static_path(self, resource_id, file_path):
static_path_info = {
'resource_id': resource_id, 'file_path': file_path}
self._static_paths.append(static_path_info)
def _handle_list_endpoints(self, web_request):
web_request.send({
'hooks': self._endpoints.keys(),
'static_paths': self._static_paths})
web_request.send({'endpoints': self._endpoints.keys()})
def _handle_info_request(self, web_request):
if web_request.get_method() != 'GET':
raise web_request.error("Invalid Request Method")
start_args = self.printer.get_start_args()
state_message, msg_type = self.printer.get_state_message()
version = start_args['software_version']
cpu_info = start_args['cpu_info']
error = msg_type == "error"
web_request.send(
{'cpu': cpu_info, 'version': version,
state_message, state = self.printer.get_state_message()
klipper_path = os.path.normpath(os.path.join(
os.path.dirname(__file__), ".."))
response = {'state': state, 'state_message': state_message,
'hostname': socket.gethostname(),
'is_ready': msg_type == "ready",
'error_detected': error,
'message': state_message})
'klipper_path': klipper_path, 'python_path': sys.executable}
start_args = self.printer.get_start_args()
for sa in ['log_file', 'config_file', 'software_version', 'cpu_info']:
response[sa] = start_args.get(sa)
web_request.send(response)
def _handle_estop_request(self, web_request):
if web_request.get_method() != 'POST':
raise web_request.error("Invalid Request Method")
self.printer.invoke_shutdown("Shutdown due to webhooks request")
def get_connection(self):
@ -335,150 +301,145 @@ class WebHooks:
raise WebRequestError(msg)
return cb
def call_remote_method(self, method, **kwargs):
self.sconn.send_all_clients({'method': method, 'params': kwargs})
def get_status(self, eventtime):
state_message, state = self.printer.get_state_message()
return {'state': state, 'state_message': state_message}
def _action_call_remote_method(self, method, **kwargs):
self.call_remote_method(method, **kwargs)
return ""
def get_status(self, eventtime=0.):
return {
"action_call_remote_method": self._action_call_remote_method
}
class GCodeHelper:
def __init__(self, printer):
self.printer = printer
self.gcode = printer.lookup_object("gcode")
# Output subscription tracking
self.is_output_registered = False
self.clients = {}
# Register webhooks
wh = printer.lookup_object('webhooks')
wh.register_endpoint("gcode/help", self._handle_help)
wh.register_endpoint("gcode/script", self._handle_script)
wh.register_endpoint("gcode/restart", self._handle_restart)
wh.register_endpoint("gcode/firmware_restart",
self._handle_firmware_restart)
wh.register_endpoint("gcode/subscribe_output",
self._handle_subscribe_output)
def _handle_help(self, web_request):
web_request.send(self.gcode.get_command_help())
def _handle_script(self, web_request):
self.gcode.run_script(web_request.get_str('script'))
def _handle_restart(self, web_request):
self.gcode.run_script('restart')
def _handle_firmware_restart(self, web_request):
self.gcode.run_script('firmware_restart')
def _output_callback(self, msg):
for cconn, template in list(self.clients.items()):
if cconn.is_closed():
del self.clients[cconn]
continue
tmp = dict(template)
tmp['params'] = {'response': msg}
cconn.send(tmp)
def _handle_subscribe_output(self, web_request):
cconn = web_request.get_client_connection()
template = web_request.get_dict('response_template', {})
self.clients[cconn] = template
if not self.is_output_registered:
self.gcode.register_output_handler(self._output_callback)
self.is_output_registered = True
SUBSCRIPTION_REFRESH_TIME = .25
class StatusHandler:
def __init__(self, webhooks):
self.printer = webhooks.printer
self.webhooks = webhooks
self.ready = self.timer_started = False
self.reactor = self.printer.get_reactor()
self.available_objects = {}
self.subscriptions = {}
self.subscription_timer = self.reactor.register_timer(
self._batch_subscription_handler, self.reactor.NEVER)
# Register events
self.printer.register_event_handler(
"klippy:ready", self._handle_ready)
self.printer.register_event_handler(
"gcode:request_restart", self._handle_restart)
class QueryStatusHelper:
def __init__(self, printer):
self.printer = printer
self.clients = {}
self.pending_queries = []
self.query_timer = None
self.last_query = {}
# Register webhooks
webhooks.register_endpoint(
"objects/list",
self._handle_object_request)
webhooks.register_endpoint(
"objects/status",
self._handle_status_request)
webhooks.register_endpoint(
"objects/subscription",
self._handle_subscription_request)
def _handle_ready(self):
eventtime = self.reactor.monotonic()
self.available_objects = {}
objs = self.printer.lookup_objects()
status_objs = {n: o for n, o in objs if hasattr(o, "get_status")}
for name, obj in status_objs.items():
attrs = obj.get_status(eventtime)
self.available_objects[name] = attrs.keys()
self.ready = True
def _handle_restart(self, eventtime):
self.ready = False
self.reactor.update_timer(self.subscription_timer, self.reactor.NEVER)
def _batch_subscription_handler(self, eventtime):
status = self._process_status_request(self.subscriptions, eventtime)
self.webhooks.call_remote_method(
"process_status_update", status=status)
return eventtime + SUBSCRIPTION_REFRESH_TIME
def _process_status_request(self, requested_objects, eventtime):
result = {}
if self.ready:
for name, req_items in requested_objects.items():
obj = self.printer.lookup_object(name, None)
if obj is not None and name in self.available_objects:
status = obj.get_status(eventtime)
if not req_items:
# return all items excluding callables
result[name] = {k: v for k, v in status.items()
if not callable(v)}
else:
# return requested items excluding callables
result[name] = {k: v for k, v in status.items()
if k in req_items and not callable(v)}
else:
result = {"status": "Klippy Not Ready"}
return result
def _handle_object_request(self, web_request):
if web_request.get_method() != 'GET':
raise web_request.error("Invalid Request Method")
web_request.send(dict(self.available_objects))
def _handle_status_request(self, web_request):
if web_request.get_method() != 'GET':
raise web_request.error("Invalid Request Method")
args = web_request.get_args()
eventtime = self.reactor.monotonic()
result = self._process_status_request(args, eventtime)
web_request.send(result)
def _handle_subscription_request(self, web_request):
method = web_request.get_method()
if method == 'POST':
# add a subscription
args = web_request.get_args()
if args:
self.add_subscripton(args)
else:
raise web_request.error("Invalid argument")
else:
# get subscription info
result = dict(self.subscriptions)
web_request.send(result)
def add_subscripton(self, new_sub):
if not new_sub:
return
for obj_name, req_items in new_sub.items():
if obj_name not in self.available_objects:
logging.info(
"webhooks: Object {%s} not available for subscription"
% (obj_name))
webhooks = printer.lookup_object('webhooks')
webhooks.register_endpoint("objects/list", self._handle_list)
webhooks.register_endpoint("objects/query", self._handle_query)
webhooks.register_endpoint("objects/subscribe", self._handle_subscribe)
def _handle_list(self, web_request):
objects = [n for n, o in self.printer.lookup_objects()
if hasattr(o, 'get_status')]
web_request.send({'objects': objects})
def _do_query(self, eventtime):
last_query = self.last_query
query = self.last_query = {}
msglist = self.pending_queries
self.pending_queries = []
msglist.extend(self.clients.values())
# Generate get_status() info for each client
for cconn, subscription, send_func, template in msglist:
is_query = cconn is None
if not is_query and cconn.is_closed():
del self.clients[cconn]
continue
# validate requested items
# Query each requested printer object
cquery = {}
for obj_name, req_items in subscription.items():
res = query.get(obj_name, None)
if res is None:
po = self.printer.lookup_object(obj_name, None)
if po is None or not hasattr(po, 'get_status'):
res = query[obj_name] = {}
else:
res = query[obj_name] = po.get_status(eventtime)
if req_items is None:
req_items = list(res.keys())
if req_items:
avail_items = set(self.available_objects[obj_name])
invalid_items = set(req_items) - avail_items
if invalid_items:
logging.info(
"webhooks: Removed invalid items [%s] from "
"subscription request %s" %
(", ".join(invalid_items), obj_name))
req_items = list(set(req_items) - invalid_items)
if not req_items:
# No valid items remaining
continue
# Add or update subscription
existing_items = self.subscriptions.get(obj_name, None)
if existing_items is not None:
if req_items == [] or existing_items == []:
# Subscribe to all items
self.subscriptions[obj_name] = []
else:
req_items = list(set(req_items) | set(existing_items))
self.subscriptions[obj_name] = req_items
else:
self.subscriptions[obj_name] = req_items
if not self.timer_started:
self.reactor.update_timer(self.subscription_timer, self.reactor.NOW)
self.timer_started = True
subscription[obj_name] = req_items
lres = last_query.get(obj_name, {})
cres = {}
for ri in req_items:
rd = res.get(ri, None)
if is_query or rd != lres.get(ri):
cres[ri] = rd
if cres or is_query:
cquery[obj_name] = cres
# Send data
if cquery or is_query:
tmp = dict(template)
tmp['params'] = {'eventtime': eventtime, 'status': cquery}
send_func(tmp)
if not query:
# Unregister timer if there are no longer any subscriptions
reactor = self.printer.get_reactor()
reactor.unregister_timer(self.query_timer)
self.query_timer = None
return reactor.NEVER
return eventtime + SUBSCRIPTION_REFRESH_TIME
def _handle_query(self, web_request, is_subscribe=False):
objects = web_request.get_dict('objects')
# Validate subscription format
for k, v in objects.items():
if type(k) != str or (v is not None and type(v) != list):
raise web_request.error("Invalid argument")
if v is not None:
for ri in v:
if type(ri) != str:
raise web_request.error("Invalid argument")
# Add to pending queries
cconn = web_request.get_client_connection()
template = web_request.get_dict('response_template', {})
if is_subscribe and cconn in self.clients:
del self.clients[cconn]
reactor = self.printer.get_reactor()
complete = reactor.completion()
self.pending_queries.append((None, objects, complete.complete, {}))
# Start timer if needed
if self.query_timer is None:
qt = reactor.register_timer(self._do_query, reactor.NOW)
self.query_timer = qt
# Wait for data to be queried
msg = complete.wait()
web_request.send(msg['params'])
if is_subscribe:
self.clients[cconn] = (cconn, objects, cconn.send, template)
def _handle_subscribe(self, web_request):
self._handle_query(web_request, is_subscribe=True)
def add_early_printer_objects(printer):
printer.add_object('webhooks', WebHooks(printer))
GCodeHelper(printer)
QueryStatusHelper(printer)

5
lib/.gitignore vendored Normal file
View File

@ -0,0 +1,5 @@
*.o
bossac/bin/
bossac/obj/
hidflash/hid-flash
hub-ctrl/hub-ctrl

142
scripts/graph_temp_sensor.py Executable file
View File

@ -0,0 +1,142 @@
#!/usr/bin/env python2
# Tool to graph temperature sensor ADC resolution
#
# Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, optparse
import matplotlib
######################################################################
# Dummy config / printer / etc. class emulation
######################################################################
class DummyConfig:
def __init__(self, config_settings):
self.config_settings = config_settings
self.sensor_factories = {}
# Emulate config class
def getfloat(self, option, default, **kw):
return self.config_settings.get(option, default)
def get(self, option, default=None):
return default
def get_printer(self):
return self
def get_name(self):
return "dummy"
# Emulate printer class
def load_object(self, config, name):
return self
def lookup_object(self, name):
return self
# Emulate heaters class
def add_sensor_factory(self, name, factory):
self.sensor_factories[name] = factory
def do_create_sensor(self, sensor_type):
return self.sensor_factories[sensor_type](self).adc_convert
# Emulate query_adc class
def register_adc(self, name, klass):
pass
# Emulate pins class
def setup_pin(self, pin_type, pin_name):
return self
# Emulate mcu_adc class
def setup_adc_callback(self, time, callback):
pass
######################################################################
# Plotting
######################################################################
def plot_adc_resolution(config, sensors):
# Temperature list
all_temps = [float(i) for i in range(1, 351)]
temps = all_temps[:-1]
# Build plot
fig, (ax1, ax2) = matplotlib.pyplot.subplots(nrows=2, sharex=True)
pullup = config.getfloat('pullup_resistor', 0.)
adc_voltage = config.getfloat('adc_voltage', 0.)
ax1.set_title("Temperature Sensor (pullup=%.0f, adc_voltage=%.3f)"
% (pullup, adc_voltage))
ax1.set_ylabel('ADC')
ax2.set_ylabel('ADC change per 1C')
for sensor in sensors:
sc = config.do_create_sensor(sensor)
adcs = [sc.calc_adc(t) for t in all_temps]
ax1.plot(temps, adcs[:-1], label=sensor, alpha=0.6)
adc_deltas = [abs(adcs[i+1] - adcs[i]) for i in range(len(temps))]
ax2.plot(temps, adc_deltas, alpha=0.6)
fontP = matplotlib.font_manager.FontProperties()
fontP.set_size('x-small')
ax1.legend(loc='best', prop=fontP)
ax2.set_xlabel('Temperature (C)')
ax1.grid(True)
ax2.grid(True)
fig.tight_layout()
return fig
######################################################################
# Startup
######################################################################
def setup_matplotlib(output_to_file):
global matplotlib
if output_to_file:
matplotlib.rcParams.update({'figure.autolayout': True})
matplotlib.use('Agg')
import matplotlib.pyplot, matplotlib.dates, matplotlib.font_manager
import matplotlib.ticker
def import_sensors(config):
global extras
# Load adc_temperature.py and thermistor.py modules
kdir = os.path.join(os.path.dirname(__file__), '..', 'klippy')
sys.path.append(kdir)
import extras.adc_temperature, extras.thermistor
extras.thermistor.load_config(config)
extras.adc_temperature.load_config(config)
def main():
# Parse command-line arguments
usage = "%prog [options]"
opts = optparse.OptionParser(usage)
opts.add_option("-o", "--output", type="string", dest="output",
default=None, help="filename of output graph")
opts.add_option("-p", "--pullup", type="float", dest="pullup",
default=4700., help="pullup resistor")
opts.add_option("-v", "--voltage", type="float", dest="voltage",
default=5., help="pullup resistor")
opts.add_option("-s", "--sensors", type="string", dest="sensors",
default="", help="list of sensors (comma separated)")
options, args = opts.parse_args()
if len(args) != 0:
opts.error("Incorrect number of arguments")
# Import sensors
config_settings = {'pullup_resistor': options.pullup,
'adc_voltage': options.voltage}
config = DummyConfig(config_settings)
import_sensors(config)
# Determine sensors to graph
if options.sensors:
sensors = [s.strip() for s in options.sensors.split(',')]
else:
sensors = sorted(config.sensor_factories.keys())
# Draw graph
setup_matplotlib(options.output is not None)
fig = plot_adc_resolution(config, sensors)
# Show graph
if options.output is None:
matplotlib.pyplot.show()
else:
fig.set_size_inches(8, 6)
fig.savefig(options.output)
if __name__ == '__main__':
main()

89
scripts/whconsole.py Executable file
View File

@ -0,0 +1,89 @@
#!/usr/bin/env python2
# Test console for webhooks interface
#
# Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, optparse, socket, fcntl, select, json, errno, time
# Set a file-descriptor as non-blocking
def set_nonblock(fd):
fcntl.fcntl(fd, fcntl.F_SETFL
, fcntl.fcntl(fd, fcntl.F_GETFL) | os.O_NONBLOCK)
def webhook_socket_create(uds_filename):
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
sock.setblocking(0)
sys.stderr.write("Waiting for connect to %s\n" % (uds_filename,))
while 1:
try:
sock.connect(uds_filename)
except socket.error as e:
if e.errno == errno.ECONNREFUSED:
time.sleep(0.1)
continue
sys.stderr.write("Unable to connect socket %s [%d,%s]\n"
% (uds_filename, e.errno,
errno.errorcode[e.errno]))
sys.exit(-1)
break
sys.stderr.write("Connection.\n")
return sock
class KeyboardReader:
def __init__(self, uds_filename):
self.kbd_fd = sys.stdin.fileno()
set_nonblock(self.kbd_fd)
self.webhook_socket = webhook_socket_create(uds_filename)
self.poll = select.poll()
self.poll.register(sys.stdin, select.POLLIN | select.POLLHUP)
self.poll.register(self.webhook_socket, select.POLLIN | select.POLLHUP)
self.kbd_data = self.socket_data = ""
def process_socket(self):
data = self.webhook_socket.recv(4096)
if not data:
sys.stderr.write("Socket closed\n")
sys.exit(0)
parts = data.split('\x03')
parts[0] = self.socket_data + parts[0]
self.socket_data = parts.pop()
for line in parts:
sys.stdout.write("GOT: %s\n" % (line,))
def process_kbd(self):
data = os.read(self.kbd_fd, 4096)
parts = data.split('\n')
parts[0] = self.kbd_data + parts[0]
self.kbd_data = parts.pop()
for line in parts:
line = line.strip()
if not line or line.startswith('#'):
continue
try:
m = json.loads(line)
except:
sys.stderr.write("ERROR: Unable to parse line\n")
continue
cm = json.dumps(m, separators=(',', ':'))
sys.stdout.write("SEND: %s\n" % (cm,))
self.webhook_socket.send("%s\x03" % (cm,))
def run(self):
while 1:
res = self.poll.poll(1000.)
for fd, event in res:
if fd == self.kbd_fd:
self.process_kbd()
else:
self.process_socket()
def main():
usage = "%prog [options] <socket filename>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
if len(args) != 1:
opts.error("Incorrect number of arguments")
ml = KeyboardReader(args[0])
ml.run()
if __name__ == '__main__':
main()

12
test/klippy/macros.cfg
View File

@ -73,16 +73,16 @@ gcode:
[gcode_macro TEST_expression]
gcode:
{% if printer.gcode.gcode_position.x != 0.0 %}
{% if printer.gcode_move.gcode_position.x != 0.0 %}
M112
{% else %}
{ printer.gcode.action_respond_info("TEST_expression") }
{ action_respond_info("TEST_expression") }
{% endif %}
[gcode_macro TEST_variable]
variable_t: 12.0
gcode:
{ printer.gcode.action_respond_info("TEST_variable") }
{ action_respond_info("TEST_variable") }
{% if t - 12.0 != printer.toolhead.position.y %}
M112
{% endif %}
@ -94,21 +94,21 @@ gcode:
[gcode_macro TEST_variable_part2]
gcode:
{ printer.gcode.action_respond_info("TEST_variable_part2") }
{ action_respond_info("TEST_variable_part2") }
{% if printer["gcode_macro TEST_variable"].t != 17.0 %}
M112
{% endif %}
[gcode_macro TEST_param]
gcode:
{ printer.gcode.action_respond_info("TEST_param") }
{ action_respond_info("TEST_param") }
{% if params.T != "123" %}
M112
{% endif %}
[gcode_macro TEST_in]
gcode:
{% if "abc" in printer or "gcode" not in printer %}
{% if "abc" in printer or "toolhead" not in printer %}
M112
{% endif %}

1
test/klippy/printers.test
View File

@ -40,6 +40,7 @@ CONFIG ../../config/printer-mtw-create-2015.cfg
CONFIG ../../config/printer-seemecnc-rostock-max-v2-2015.cfg
CONFIG ../../config/printer-sovol-sv01-2020.cfg
CONFIG ../../config/printer-tevo-flash-2018.cfg
CONFIG ../../config/printer-tevo-tarantula-pro-2020.cfg
CONFIG ../../config/printer-velleman-k8200-2013.cfg
CONFIG ../../config/printer-wanhao-duplicator-i3-mini-2017.cfg
CONFIG ../../config/printer-wanhao-duplicator-i3-plus-2017.cfg