Repository: TypQxQ/Klipper_ToolChanger Branch: master Commit: 0ae005a540da Files: 35 Total size: 240.6 KB Directory structure: gitextract_03dvn_i_/ ├── LICENSE ├── README.md ├── assets/ │ └── q ├── config/ │ ├── SuperSlicer_Custom_Gcode.md │ ├── example_complex/ │ │ ├── readme.md │ │ ├── tool_macro.cfg │ │ └── tools.cfg │ ├── example_simple/ │ │ ├── readme.md │ │ └── tools.cfg │ ├── optional_macros/ │ │ ├── G10.cfg │ │ ├── M104.cfg │ │ ├── M106.cfg │ │ ├── M107.cfg │ │ ├── M109.cfg │ │ ├── M116.cfg │ │ ├── M204.cfg │ │ ├── M568.cfg │ │ └── readme.md │ └── readme.md ├── doc/ │ └── command_ref.md ├── install.sh ├── klipper_macros/ │ ├── G10.cfg │ ├── M104.cfg │ ├── M106.cfg │ ├── M107.cfg │ ├── M109.cfg │ ├── M116.cfg │ ├── M204.cfg │ ├── M566.cfg │ ├── M568.cfg │ └── readme.md ├── ktcclog.py ├── tool.py ├── toolgroup.py └── toollock.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: LICENSE ================================================ GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright (C) 2007 Free Software Foundation, Inc. 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A Toolchenager

Tools for klipper (KTCC - Klipper Tool Changer Code)

Universal Toolchanger driver for Klipper

This are python modules, macros and example config for the [Klipper 3D printer firmware](https://github.com/Klipper3d/klipper) to be able to work as a toolchanger.

Klipper Tool Changer code v.2 is now released for preview: https://github.com/TypQxQ/KTC At it's simplest you need to specify extruder, fan, offset for each extruder tool. Then add your macros for pickup, dropoff, toollock and toolunlock. It doesn't matter if you lock the tool by a servo, stepper or moving the toolhead in a special way. Just as long as it can be written in GCODE. Pickups are also custom Gcode. You can uses the parameters stored for each tool to aproach he ZONE fast, slow in to PARKING place and lock. Or it have a robotic arm place the tool. It's all posible. :D [This](https://www.youtube.com/watch?v=cbRXn7R7JZM&t=52s) is a more complex example of it running on a toolchanger with an aditional ERCF under one tool. T0-8 uses first tool with virtual tools for the ERCF, calling the toolchanges recursively. Inspiration comes mainly from how RRF enables toolchanging and from the HappyHare project. I welcome any and all input and contributions. Don't be afraid to make a pull request :D Thank you! ## Readme Table of Contents **[Major feature](#---major-features)**
**[Installation](#---installation)**
\- [1-Install with Moonraker Autoupdate Support](#1-install-with-moonraker-autoupdate-support)
\- [2-Manual Install](#2-manual-install)
**[Configuration requirements](#---configuration-requirements)**
**[G-Code commands](#---g-code-commands)**
**[Values accesible from Macro for each object](#---values-accesible-from-macro-for-each-object)**
**[Example configuration](#---example-configuration)**
#### Other Docs: **[Command Reference](./doc/command_ref.md)**
**[Required and Optional Macros](./klipper_macros/readme.md)**
**[Configuration Reference](./config/readme.md)**

## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Major features:
  • Support any type of toolchanger and any type of tool
  • Tools don't need to be extruders/hotends, can be anything.
  • Each Tool is treated as an object and has it's own configuration having configurable coordinates for parking, tool offset, extruder, part cooling fan, etc.
  • Tools don't need to be extruders/hotends, can be anything.
  • Virtual tools - One tool can have multiple tools. Your T0-T8 can be on same extruder, fan and heater but having an MMU while T9 is another extruder and T10-T12 is another tool with 3 markers that can switched by a servo and finally T13 is a pick and place tool.
  • Multiple tools can be grouped in ToolGroup. -Most configuration can be inherited from the group and overwritten when needed by the tool config section.
  • Partcooling Fan speed is carried over on toolchange if the tool has a fan. M106/M107 defaults to fan of current_tool but can also specify another tool.
  • Extensive extruder temperature control:
    • A tool heater can be set as Active, Standby or Off mode
    • Diffrent Active and Standby temperatures for any tool. Switches to Active when selected and to Standby when Parked.
    • Configurable delay from Standby to off when parked. If tool isn't used for 30 minutes it cools down until used again.
    • Wait to reach temperature with configurable tolerance.
    • Position prior to toolchange can optionaly be saved and restored after toolchange. Configurable axis.
  • Current Tool persists at powerdown. Default but optional.
  • Tool remaping. Remap a tool to another, no need to reslice.
  • Sophisticated logging options (console and ktcc.log file)
  • Moonraker update-manager support
  • Persitance of state and statistics across restarts.
  • Vast customization options!

## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Installation ### 1\. Install with Moonraker Autoupdate Support This plugin assumes that you installed Klipper into your home directory (usually `/home/pi`). 1) Clone this repo into your home directory where Klipper is installed: ``` cd ~ git clone https://github.com/TypQxQ/Klipper_ToolChanger.git ``` 2) Edit `moonraker.conf` by adding the following entry: ``` [update_manager client klipper_toolchanger] type: git_repo path: ~/Klipper_ToolChanger origin: https://github.com/TypQxQ/Klipper_ToolChanger.git install_script: install.sh is_system_service: False ``` 3) Run the `install.sh` script ``` ~/Klipper_ToolChanger/install.sh ``` Klipper_ToolChanger will show up in the update the next time you restart moonraker, or you can restart mooraker right away with: `sudo systemctl restart moonraker`. If you encouter errors after an automatic Klipper update you can safetly run the `install.sh` scipt again to repair the links to the extension. ### 2\. Manual Install Copy the python (`*.py`) files into the `\klipper\klipper\extras` directory. Assuming Klipper is installed in your home directory: ``` cp ./*.py ~/klipper/klippy/extras/ ``` Then restart Klipper to pick up the extensions. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Configuration requirements * `[input_shaper]` needs to be used for input shaper to wordk. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) G-Code commands: Reffer to the [Command Reference](./doc/command_ref.md).
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Values accesible from Macro for each object - **Toollock** - `global_offset` - Global offset. - `tool_current` - -2: Unknown tool locked, -1: No tool locked, 0: and up are toolnames. - `saved_fan_speed` - Speed saved at each fanspeedchange to be recovered at Toolchange. - `purge_on_toolchange` - For use in macros to enable/disable purge/wipe code globaly. - `restore_axis_on_toolchange` - The axis to restore position: - : No restore - XY: Restore XY - XYZ: Restore XYZ - Etc - `saved_position` - The position saved when the latest T# command had a RESTORE_POSITION parameter to other than 0 - **Tool** - The tool calling this macro is referenced as `myself` in macros. When running for example `T3` to pickup the physical tool, in `pickup_gcode:` of one can write `{myself.name}` which would return `3`. - `name` - id. 0, 1, 2, etc. - `is_virtual` - If this tool has another layer of toolchange possible. - `physical_parent_id` - Parent physical tool that holds tool coordinates. Can be same as this. - `extruder` - extruder name as configured. - `fan` - fan name. - `lazy_home_when_parking` - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. - `meltzonelength` - Meltzonelength to unload/load filament at toolpak. See e3d documentation. - `zone` - Fast aproach coordinates when parking - `park` - Parking spot, slow aproach. - `offset` - Tool offset. - `heater_state` - 0 = off, 1 = standby temperature, 2 = active temperature. Placeholder. - `heater_active_temp` - Temperature to set when in active mode. - `heater_standby_temp` - Temperature to set when in standby mode. - `idle_to_standby_time` - Time in seconds from being parked to setting temperature to standby the temperature above. Use 0.1 to change imediatley to standby temperature. - `idle_to_powerdown_time` - Time in seconds from being parked to setting temperature to 0. Use something like 86400 to wait 24h if you want to disable. Requred on Physical tool. - **ToolGroup** - `is_virtual` - As above - `physical_parent_id` - As above - `lazy_home_when_parking` - As above ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Example configuration My corrent configuration is for v.2 where work progresses fast. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 21/09/2023 Added individual axis to position saving and restoring commands. Commited by viesturz. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 09/03/2023 Added Tool Remap. Point one or more tools to another one. Including fan and temperature. This is persistent at reboot. * `KTCC_DISPLAY_TOOL_MAP` - Display the current mapping of tools to other KTCC tools. * `KTCC_REMAP_TOOL` - The command to remap a tool or reset the remaping. * `KTCC_CHECK_TOOL_REMAP` - Display all tool remaps. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 08/03/2023 Added per print statistics and a wrapper around G28 to disable saving statistics while homing. The latter led to MCU Timer to close error when loading a tool at homing. * `KTCC_INIT_PRINT_STATS` - Run at start of a print to reset the KTCC print statistics. * `KTCC_DUMP_PRINT_STATS` - Run at end of a print to list statistics since last print reset. ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 22/02/2023 This is not a simple upgrade, it has some configuration updates. A namechange to KTCC (Klipper Tool Changer Code) is also in the works). - **News:** - Virtual Tools - Logfile - Statistics - **Changes to Configuration:** - LogLevel under ToolLock is deprecated. - Must include new section ```[ktcclog]``` before all other Toollock, tool, and the others.. - New ```virtual_toolload_gcode:`` parameter to tools. - New ```virtual_toolunload_gcode:`` parameter to tools. - **Changes to commands:** - T_1 => KTCC_TOOL_DROPOFF_ALL - T# => KTCC_T# (ex. T0 => KTCC_T0) - **New commands:** - KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL - KTCC_LOG_TRACE - KTCC_LOG_DEBUG - KTCC_LOG_INFO - KTCC_LOG_ALWAYS - KTCC_SET_LOG_LEVEL - KTCC_DUMP_STATS - KTCC_RESET_STATS ================================================ FILE: assets/q ================================================ ================================================ FILE: config/SuperSlicer_Custom_Gcode.md ================================================ Here are the custom G-codes I use in SuperSlicer on my ToolChanger as an example. Start G-code: - I don't heat the tools before actually using them so I don't degrade filament. - Using e3d Revo the heatup times for the tools are verry fast. ``` KTCC_INIT_PRINT_STATS ; Don't heat the tools yet. (Using G10 so SuperSlicer and PrusaSlicer recognizes we set a tool temperature) G10 P0 R0 S0 A0 ; Don't heat the tools yet. (Using G10 so SuperSlicer and PrusaSlicer recognizes we set a tool temperature) G10 P1 R0 S0 A0 ; Don't heat the tools yet G10 P2 R0 S0 A0 ; Don't heat the tools yet ; Heat the bed first M140 S[first_layer_bed_temperature] ; Wait for bed to reach temperature with 2 degrees tolerance M116 H0 S2 ; Wait for bed to reach temperature with 2 degrees tolerance M568 P[initial_extruder] R{filament_toolchange_temp[initial_extruder]} S{first_layer_temperature[initial_extruder]+extruder_temperature_offset[initial_extruder]} A1 G28 ;Custom Mesh only on print area BED_MESH_CALIBRATE AREA_START={first_layer_print_min[0]},{first_layer_print_min[1]} AREA_END={first_layer_print_max[0]},{first_layer_print_max[1]} G0 Z3 F5000 ; Ensure nozzle is at 3mm over the bed SAVE_POSITION X={first_layer_print_max[0]} Y={first_layer_print_min[1]} T[initial_extruder] ; Mount extruder first used (even if only one extruder used). Waits for temperature inside the script. ;G0 Z3 F5000 ; Ensure nozzle is at 3mm over the bed G0 X{first_layer_print_max[0]} Y{first_layer_print_min[1]} Z3 F30000 ``` End G-code ``` ; Custom gcode to run at end of print M104 S0 ; turn off temperature G10 P0 S0 R0 A0 ; turn off extruder 0 G10 P1 S0 R0 A0 ; turn off extruder 1 G10 P2 S0 R0 A0 ; turn off extruder 2 M140 S0 ; turn off bed T_1 ; dropoff current tool G91 ; relative moves G0 Z20 ; move bed down another 30mm G90 ; absolute moves G0 X1 Y1 F30000 ; Move toolhead out of the way SAVE_POSITION ; Reset saved position. KTCC_DUMP_PRINT_STATS ; Print statistics to console. ``` ToolChange G-code - Sets the temperature before activating the tool in case this is the first time the tool is selected. - On first layer it sets the temperature for the next tool to first layer temperature. ``` {if layer_num < 2}M568 P[next_extruder] R{filament_toolchange_temp[next_extruder]} S{first_layer_temperature[next_extruder]+extruder_temperature_offset[next_extruder]} A2 ;First layer temperature for next extruder {else}M568 P[next_extruder] R{filament_toolchange_temp[next_extruder]} S{temperature[next_extruder]+extruder_temperature_offset[next_extruder]} A2 ;Other layer temperature for next extruder {endif} T{next_extruder}``` ================================================ FILE: config/example_complex/readme.md ================================================ # More complex example This are example files with macros to get you started. * It uses T0 as a physical tool having T1-T8 as virtual tools. * T9 and T10 are physical tools without virtual tools. * T49 is a physical tool without a heater, fan or extruder. Only has a Z probe. The files should be added to your printer.cfg like: ``` [include custom/tools.cfg] [include custom/tools.cfg] ``` This is for use with a Jubilee style printer. ================================================ FILE: config/example_complex/tool_macro.cfg ================================================ [gcode_macro TOOL_LOCK_CHECK] description: Check so the tool is mounted by slightly advancing the lock again until hit endstop, only if endstop not already hit. Do not wait for it to finish. gcode: # If endstop is not triggered then try to lock again for safety. Best to check the endstops before calling this. {% if printer.query_endstops.last_query['manual_stepper tool_lock']|default(0) == 0 %} SET_TMC_CURRENT STEPPER=tool_lock CURRENT=1.0 MANUAL_STEPPER STEPPER=tool_lock Move=20 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=0 SET_TMC_CURRENT STEPPER=tool_lock CURRENT=0.8 {% endif %} [gcode_macro M106] variable_fan_speed: 0 description: Snnn Pnnn Set fan speed. A tool and toollock must be configured for this to work. S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) P: Tool (optional, defaults to the currently selected tool) The P parameter specifies tool instead of fan number as in RRF. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) {% if params.S is defined %} {% set newparameters = newparameters ~ " S="~params.S %} # Set heater_standby_temp to new parameters. {% endif %} # P= Tool number {% if params.P is defined %} {% set newparameters = newparameters ~ " P="~params.P %} # Set heater_standby_temp to new parameters. {% endif %} SET_AND_SAVE_FAN_SPEED{newparameters} [gcode_macro M107] description: Pnnn Turn off fan. P = Tool (optional and defaults to the currently selected tool) gcode: {% if params.P is defined %} {% set p = " P"~params.P %} {% endif %} M106 {p|default("")} S0 [gcode_macro G10] description: See M568. Passtrough to M568. gcode: M568 {rawparams} [gcode_macro M568] description: Pnnn Rnnn Snnn An Nnnn Mnnn Set tool temperature. P= Tool number, optional. If this parameter is not provided, the current tool is used. R= Standby temperature(s), optional S= Active temperature(s), optional A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). N = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. Use for example 0.1 to change immediately to standby temperature. O = Time in seconds to wait from docking tool to shutting off the heater, optional. Use for example 86400 to wait 24h if you want to disable shutdown timer. gcode: # RESPOND MSG="M568: Seting new temperature: {rawparams}" {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # P= Tool number {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL="~params.P %} # Set heater_standby_temp to new parameters. {% endif %} # R= Standby temperature {% if params.R is defined %} {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. {% endif %} # S= Active temperature {% if params.S is defined %} {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. {% endif %} # N = Time in seconds to wait from docking tool to putting the heater in standy {% if params.N is defined %} {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. {% endif %} # M = Time in seconds to wait from docking tool to shuting off the heater {% if params.O is defined %} {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. {% endif %} # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature {% if params.A is defined %} {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. {% endif %} {action_respond_info("M568: Running: SET_TOOL_TEMPERATURE"~newparameters)} SET_TOOL_TEMPERATURE{newparameters} [gcode_macro M116] description: Pnnn Hnnn Snnn Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters. Without parameters it waits for bed and current extruder. Only one of either P or H may be used. Pnnn Tool number. Hnnn Heater number. 0="heater_bed", 1="extruder", 2="extruder1", etc. Snnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutine in new format. {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} # Set Tool to new parameters. {% endif %} {% if params.H is defined %} {% set newparameters = newparameters ~ " HEATER=" ~ params.H %} # Set Tool to new parameters. {% endif %} {% if params.S is defined %} {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.S %} # Set Tool to new parameters. {% endif %} TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} [gcode_macro TOOL_DROPOFF] gcode: KTCC_TOOL_DROPOFF_ALL [gcode_macro SAVE_ACCELERATION] variable_max_accel: 0 gcode: SET_GCODE_VARIABLE MACRO=SAVE_ACCELERATION VARIABLE=max_accel VALUE={printer.toolhead.max_accel} [gcode_macro RESTORE_ACCELERATION] gcode: {% if printer['gcode_macro SAVE_ACCELERATION'].max_accel|int == 0 %} { action_respond_info("RESTORE_ACCELERATION: No acceleration saved.") } {% else %} M204 S{printer['gcode_macro SAVE_ACCELERATION'].max_accel} {% endif %} ================================================ FILE: config/example_complex/tools.cfg ================================================ # Config order: ToolGroups must come before tools that use them. Tool that are used as physical_parent must be configured before other virtual tools that use that as parent. # Enables saving of variables between powerdown of machine. Must be configured before [toollock]. [save_variables] filename: ~/variables.cfg [ktcclog] # Log_level & logfile_level can be set to one of (0 = essential, 1 = info, 2 = debug, 3 = trace) log_level: 2 logfile_level: 3 [toollock] purge_on_toolchange = True # Here we can disable all purging. When disabled it overrides all other purge options. Defaults to true. This can be turned off by a macro for automatic probing hot tools without probing them. For example when doing TAMV or ZTATP. global_offset = 0,0,0 #init_printer_to_last_tool = True #Initialise as it was turned off, unlock tool if none was loaded or lock if one was loaded. Defaults to True tool_lock_gcode: SAVE_GCODE_STATE NAME=tool_unlock_state # Save gcode state MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set assumed possition as rotated to min MANUAL_STEPPER STEPPER=tool_lock Move=1 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. SET_TMC_CURRENT STEPPER=tool_lock CURRENT=1.0 # Raise current of stepper temporarily MANUAL_STEPPER STEPPER=tool_lock Move=150 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=1 # Move to max and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. M400 MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set manual extruder position as 0 SET_TMC_CURRENT STEPPER=tool_lock CURRENT=0.7 # Decrease current to standard current. RESTORE_GCODE_STATE NAME=tool_unlock_state MOVE=0 # Restore gcode state M117 "Unknown tool Loaded" # Tool Loaded Message that stays on display. tool_unlock_gcode: SAVE_GCODE_STATE NAME=tool_lock_state # Save gcode state MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=180 # Set assumed possition as rotated to max MANUAL_STEPPER STEPPER=tool_lock Move=179 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. MANUAL_STEPPER STEPPER=tool_lock Move=0 SPEED=100 STOP_ON_ENDSTOP=1 SYNC=1 # Move to min and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. M400 MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set manual extruder position as 0 MANUAL_STEPPER STEPPER=tool_lock ENABLE=0 # Turn off the stepper while unlocked so it can rest without triggering the endswitch RESTORE_GCODE_STATE NAME=tool_lock_state MOVE=0 # Restore gcode state M117 Tool Unloaded # Tool UnLoaded Message that stays on display. [toolgroup 0] is_virtual: True # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent physical_parent: 0 # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. #idle_to_standby_time: 30 #idle_to_powerdown_time: 600 virtual_toolload_gcode: # Because the virtual tools match the number on ERCF I just call that. SUB_VIRTUALTOOL_LOAD T={myself.name} virtual_toolunload_gcode: SUB_VIRTUALTOOL_UNLOAD T={myself.name} # Used to group several tools with similar settings. [toolgroup 1] is_virtual: False # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent pickup_gcode: SUB_TOOL_PICKUP_START T={myself.name} SUB_TOOL_PICKUP_END T={myself.name} dropoff_gcode: SUB_TOOL_DROPOFF_START T={myself.name} SUB_TOOL_DROPOFF_END T={myself.name} ##### Selectable tool. Must be configured after [toolgroup n]. [tool 0] tool_group: 0 # Must be used and configured before this tool ##### Following can be inherited from Physical parent if not specified for this tool. Needed only by physical tools. extruder: extruder fan: partfan_t0 zone: 550,5 park: 598,5 offset: 11.406,3.778,3.537 ##### ##### Following can be inherited from ToolGroup if not specified for this tool or inherited from a Physical parent. #physical_parent: # Defaults to None. #is_virtual: False # Defaults to False meltzonelength: 14 #18 # Defaults to 0 ##### ##### Options below have no effect on Virtual tools. idle_to_standby_time: 0.1 # Time in seconds from being parked to setting temperature to standby the temperature above. Use 0.1 to change imediatley to standby temperature. Defaults to 30 #idle_to_powerdown_time: 600 # Time in seconds from being parked to setting temperature to 0. Use something like 86400 to wait 24h if you want to disable. Defaults to 600 lazy_home_when_parking: 1 # (default: 0 - disabled) - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. shaper_freq_x: 137.2 shaper_freq_y: 116.4 shaper_type_x: 2hump_ei shaper_type_y: 2hump_ei #pickup_gcode= The code that is run when picking up the physical tool. Variable {myself} refers to the tool calling this code. pickup_gcode: SUB_TOOL_PICKUP_START T={myself.name} SUB_TOOL_PICKUP_END T={myself.name} dropoff_gcode: RESPOND MSG="dropoff_gcode. in t0" SUB_TOOL_DROPOFF_START T={myself.name} SUB_TOOL_DROPOFF_END T={myself.name} [tool 1] tool_group: 0 [tool 2] tool_group: 0 [tool 3] tool_group: 0 [tool 4] tool_group: 0 [tool 5] tool_group: 0 [tool 6] tool_group: 0 [tool 7] tool_group: 0 [tool 8] tool_group: 0 # End of Tool 0 virtual tools. [tool 9] tool_group: 1 extruder: extruder1 fan: partfan_t9 zone: 550,100 park: 598,100 offset: -1.046,-0.220,-1.510 meltzonelength: 14 #18 idle_to_standby_time: 0.1 shaper_freq_x: 126.8 shaper_freq_y: 128.6 shaper_type_x: 3hump_ei shaper_type_y: 3hump_ei [tool 10] tool_group: 1 extruder: extruder2 fan: partfan_t10 zone: 550,200 park: 598,200 offset: 12.069,4.472,3.180 meltzonelength: 14 #18 idle_to_standby_time: 0.1 shaper_freq_x: 119.8 shaper_freq_y: 126.6 shaper_type_x: mzv shaper_type_y: 2hump_ei [tool 49] tool_group: 1 zone: 560,515 park: 598,515 offset: 0,0,0 # Just to reset the input shaper. #shaper_freq_x: 0 #shaper_freq_y: 0 #shaper_type_x: mzv #shaper_type_y: mzv [gcode_macro SUB_TOOL_PICKUP_START] description: Internal subroutine. Do not use! # Tnnn: Tool to pickup gcode: {%set myself = printer['tool '~params.T]%} M568 P{myself.name} A2 # Put tool heater in Active mode SAVE_ACCELERATION # Save current acceleration value. M204 S8000 # Set high acceleration for toolchanging SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of SUB_TOOL_PICKUP_END SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X-max endstop as EmergencyStop. G90 ############## Move in to zone ############## {% if printer.toolhead.position.x < 500 %} # If Printer inside safezone: G0 X500 Y{myself.zone[1]} F40000 # Fast move XY inside the safezone. {% else %} # Else, outside of safezone: G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. {% endif %} # / ############## Move in to parking spot ############## G0 X{myself.park[0]|int - 15} F40000 # Fast Move near the pickup position for tool. G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. ############## Lock Tool ############## M400 # Wait for all moves to finish. TOOL_LOCK # Lock the tool. SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. ############## Wait for heater ############## {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: M116 P{myself.name} # Wait for tool to reach target temperature. {% endif %} # / ############## Move out to zone ############## G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. [gcode_macro SUB_TOOL_PICKUP_END] description: Internal subroutine. Do not use! # Tnnn: Tool to pickup gcode: {%set myself = printer['tool '~params.T]%} {%set ktcc = printer['ktcc_toolchanger']%} ############## Move out to Safe position ############## G0 X500 F40000 # Fast Move to the safe position for tools. ############## Check Tool Lock ############## QUERY_ENDSTOPS # Check the endstops and save the state to be retrieved in the macro below. TOOL_LOCK_CHECK # MAcro to check so the tool is mounted by slightly advancing the lock again until hit endstop, only if endstop not already hit. Do not wait for it to finish. ############## Finnish up ############## M400 # Wait for current moves to finish. SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. RESTORE_GCODE_STATE NAME=TOOL_PICKUP MOVE=0 # Restore GCODE state. Was saved at thebegining of SUB_TOOL_PICKUP_START. Move fast to last location. # Set the toolhead offsets. Z is set and moved before any moves in SUB_TOOL_PICKUP_START. Needs to be after any RESTORE_GCODE_STATE! SET_GCODE_OFFSET X={myself.offset[0]|float + ktc.global_offset[0]|float } Y={myself.offset[1]|float + ktc.global_offset[1]|float } Z={myself.offset[2]|float + ktc.global_offset[2]|float } MOVE=0 ############## Return to saved position ############## G1 F40000 RESTORE_POSITION SAVE_GCODE_STATE NAME=TOOL_PICKUP2 # Save state for priming nozzle # RESPOND MSG="First if:{myself.extruder|default("none")|lower}" ############## Prime the filament, asume it was retracted as per e3d Revo documentation ############## {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: # RESPOND MSG="First if1:{myself.extruder|default("none")|lower}" # RESPOND MSG="Second if:{printer[myself.extruder].can_extrude|default("false")|lower}" # RESPOND MSG="Second if1:{printer.toollock.purge_on_toolchange}" # If can extrude and global purge is active: {% if printer[myself.extruder].can_extrude|default("false")|lower == 'true' and printer.toollock.purge_on_toolchange %} # RESPOND MSG="Second if2:{printer[myself.extruder].can_extrude|default("false")|lower}" # RESPOND MSG="Second if3:{printer.toollock.purge_on_toolchange}" M83 # Relative extrusion G1 E{myself.meltzonelength|float - 2} F1300 # DeRetract filament from meltzone G1 E2 F400 # DeRetract filament from meltzone {% endif %} {% endif %} RESTORE_GCODE_STATE NAME=TOOL_PICKUP2 # Restore state after priming nozzle G1 F30000 RESTORE_ACCELERATION # Restore saved acceleration value. [gcode_macro SUB_TOOL_DROPOFF_START] description: Internal subroutine. Do not use! # Tnnn: Tool to pickup gcode: {%set myself = printer['tool '~params.T]%} SAVE_ACCELERATION # Save current acceleration value. M204 S8000 # Set high acceleration for toolchanging {% if myself.name|int != printer.toollock.tool_current|int %} { action_raise_error("SUB_TOOL_DROPOFF_START: Wrong tool. Asked to dropoff T" ~ myself.name ~ " while current is T" ~ printer.toollock.tool_current ~ ".") } {% endif %} ############## Retract the filament as per e3d Revo documentation ############## {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: M568 P{myself.name} A1 # Put tool heater in standby {% if printer[myself.extruder].can_extrude|default("false")|lower == 'true' and printer.toollock.purge_on_toolchange %} M83 # Relative extrusion G1 E-4 F2700 # retract filament from meltzone G1 E2 F800 # Extrude slightly to form a tip G1 E-{myself.meltzonelength|float - 2} F800 # Retract filament from meltzone {% endif %} {% endif %} SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. SAVE_GCODE_STATE NAME=TOOL_DROPOFF_002 # Save GCode state. G90 # Absolute positions SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X max as EmergencyStop. # Fast Move to the general pickup position for tools. {% if printer.toolhead.position.x|float < 500 %} G0 X500 Y{myself.zone[1]} F40000 # Move near pickup and lift z so we don't crash the bed later. {% else %} G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. G0 Y{myself.zone[1]} F40000 # Move Y after X and Z {% endif %} M400 # Wait for current moves to finish G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. [gcode_macro SUB_TOOL_DROPOFF_END] description: Internal subroutine. Do not use! # Tnnn: Tool to pickup gcode: {%set myself = printer['tool '~params.T]%} M400 # Wait for current moves to finish TOOL_UNLOCK # Unlock the tool G0 X{myself.park[0]|float - 15} F6000 # Slow Move to the pickup position for tool. G0 X500 F40000 # Fast Move to the general pickup position for tools. M400 SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. RESTORE_GCODE_STATE NAME=TOOL_DROPOFF_002 MOVE=0 # Restore Gcode state RESTORE_ACCELERATION # Restore saved acceleration value. [gcode_macro SUB_VIRTUALTOOL_LOAD] description: Internal subroutine. Do not use! # Tnnn: Tool to load gcode: {%set myself = printer['tool '~params.T]%} SET_TOOL_TEMPERATURE TOOL={myself.name} CHNG_STATE=2 # Put tool heater in Active mode SAVE_ACCELERATION # Save current acceleration value. M204 S8000 # Set high acceleration for toolchanging SAVE_GCODE_STATE NAME=VIRTUALTOOL_LOAD # Save GCODE state. Will be restored at the end of SUB_TOOL_PICKUP_END SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X-max endstop as EmergencyStop. SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. G90 # Absolute positions ############## Move in to zone ############## {% if printer.toolhead.position.x < 500 %} # If Printer inside safezone: G0 X500 Y{myself.zone[1]} F40000 # Fast move XY inside the safezone. {% else %} # Else, outside of safezone: G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. {% endif %} # / G0 X{myself.zone[0]} F40000 # Fast Move to the zone position for tool. ############## Wait for heater ############## TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. ############## Load ERCF Tool ############## M400 # Wait for all moves to finish. G4 P5000 # Wait 5s so any fiament inside the hotend will get molten before tip forming. ERCF_CHANGE_TOOL TOOL={myself.name} STANDALONE=1 # Load the ERCF tool. ############## Clear the filament by purging ############## M83 # Relative extrusion G1 E50 F300 # Purge filament for new. G1 E25 F300 # Purge filament for new. G1 E-1 F2400 # Equalize pressure. ############## Wipe the nozzle ############## SUB_TOOL_WIPE T={myself.name} # Wipe the tool at the toolpost. G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. ############## Move in to parking spot ############## G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. ############## Move out to zone ############## G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. ############## Move out to Safe position ############## G0 X500 F40000 # Fast Move to the safe position for tools. ############## Finnish up ############## M400 # Wait for current moves to finish. SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. RESTORE_GCODE_STATE NAME=VIRTUALTOOL_LOAD MOVE=0 # Restore GCODE state. Was saved at the begining of SUB_VIRTUALTOOL_LOAD_START. No move. ############## Return to saved position ############## G1 F40000 RESTORE_POSITION # This checks if the position is to be restored or not. RESTORE_ACCELERATION # Restore saved acceleration value. [gcode_macro SUB_VIRTUALTOOL_UNLOAD] description: Internal subroutine. Do not use! # Tnnn: Tool to unload gcode: {%set myself = printer['tool '~params.T]%} SAVE_ACCELERATION # Save current acceleration value. M204 S8000 # Set high acceleration for toolchanging SAVE_GCODE_STATE NAME=VIRTUALTOOL_UNLOAD # Save GCode state. SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. G90 # Absolute positions SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X max as EmergencyStop. ############## Move in to zone ############## {% if printer.toolhead.position.x|int < 500 %} G0 X500 Y{myself.zone[1]} F40000 # Move near pickup and lift z so we don't crash the bed later. {% else %} G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. G0 Y{myself.zone[1]} F40000 # Move Y after X and Z {% endif %} M400 # Wait for current moves to finish G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. ############## Wait for heater ############## M116 P{myself.name} # Wait for tool to reach target temperature. ############## Ejecting filament from ERCF ############## G4 P5000 # Wait 5s so any fiament inside the hotend will get molten before tip forming. ERCF_EJECT ############## Wipe the nozzle ############## SUB_TOOL_WIPE T={myself.name} # Wipe the tool at the toolpost. ############## Move in to parking spot ############## G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool to remove any excess filament on tool. M400 # Wait for current moves to finish G0 X{myself.park[0]|int - 15} F6000 # Slow Move to the pickup position for tool. G0 X500 F40000 # Fast Move to the general pickup position for tools. M400 SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. RESTORE_GCODE_STATE NAME=VIRTUALTOOL_UNLOAD MOVE=0 # Restore Gcode state RESTORE_ACCELERATION # Restore saved acceleration value. [gcode_macro SUB_TOOL_WIPE] description: Internal subroutine. Do not use! # Tnnn: Tool gcode: {%set myself = printer['tool '~params.T]%} ############## Wipe the nozzle ############## G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. ================================================ FILE: config/example_simple/readme.md ================================================ # Simple examples This are basic example file to get you started. the files should be added to your printer.cfg like: `[include custom/tools.cfg]` This is for use with a Jubilee style printer. ================================================ FILE: config/example_simple/tools.cfg ================================================ # Simple sample configuration for getting started with a ToolChanger with 2 tools. # Enables saving of variables between powerdown of machine. Must be configured before [toollock]. [save_variables] filename: ~/variables.cfg [ktcclog] # Log_level & logfile_level can be set to one of (0 = essential, 1 = info, 2 = debug, 3 = trace) log_level: 2 logfile_level: 3 [toollock] tool_lock_gcode: MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set assumed possition as rotated to min MANUAL_STEPPER STEPPER=tool_lock Move=1 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. MANUAL_STEPPER STEPPER=tool_lock Move=150 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=1 # Move to max and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. tool_unlock_gcode: MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=180 # Set assumed possition as rotated to max MANUAL_STEPPER STEPPER=tool_lock Move=179 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. MANUAL_STEPPER STEPPER=tool_lock Move=0 SPEED=100 STOP_ON_ENDSTOP=1 SYNC=1 # Move to min and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. MANUAL_STEPPER STEPPER=tool_lock ENABLE=0 # Turn off the stepper while unlocked so it can rest without triggering the endswitch [toolgroup 0] pickup_gcode: M568 P{myself.name} A2 # Put tool heater in Active mode SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of pickup code G90 ############## Move in to zone ############## G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. ############## Move in to parking spot ############## G0 X{myself.park[0]|float - 15} F40000 # Fast Move near the pickup position for tool. G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. ############## Lock Tool ############## M400 # Wait for all moves to finish. TOOL_LOCK # Lock the tool. SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. ############## Wait for heater ############## {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. {% endif %} # / ############## Move out to zone ############## G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. ############## Move out to Safe position ############## G0 X500 F40000 # Fast Move to the safe position for tools. ############## Finnish up ############## M400 # Wait for current moves to finish. RESTORE_GCODE_STATE NAME=TOOL_PICKUP MOVE=0 # Restore GCODE state. Was saved at thebegining of SUB_TOOL_PICKUP_START. Move fast to last location. # Set the toolhead offsets. Z is set and moved before any moves in SUB_TOOL_PICKUP_START. Needs to be after any RESTORE_GCODE_STATE! SET_GCODE_OFFSET X={myself.offset[0]|float + ktcc.global_offset[0]|float } Y={myself.offset[1]|float + ktcc.global_offset[1]|float } Z={myself.offset[2]|float + ktcc.global_offset[2]|float } MOVE=0 dropoff_gcode: SUB_TOOL_DROPOFF T={myself.name} [tool 0] tool_group: 0 extruder: extruder fan: partfan_t0 zone: 550,5 park: 598,5 offset: 11.278,3.766,3.528 meltzonelength: 18 [tool 1] tool_group: 0 extruder: extruder1 fan: partfan_t1 zone: 550,100 park: 598,100 offset: -1.447,-0.295,-1.503 meltzonelength: 18 [gcode_macro SUB_TOOL_DROPOFF] description: Internal subroutine. Do not use! # Tnnn: Tool to pickup gcode: {%set myself = printer['tool '~params.T]%} SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. SAVE_GCODE_STATE NAME=TOOL_DROPOFF_002 # Save GCode state. G90 # Absolute positions # Fast Move to the general pickup position for tools. G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. G0 Y{myself.zone[1]} F40000 # Move Y after X and Z M400 # Wait for current moves to finish G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. M400 # Wait for current moves to finish TOOL_UNLOCK # Unlock the tool G0 X{myself.park[0]|float - 15} F6000 # Slow Move to the pickup position for tool. G0 X500 F40000 # Fast Move to the general pickup position for tools. RESTORE_GCODE_STATE NAME=TOOL_DROPOFF_002 MOVE=0 # Restore Gcode state SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. ================================================ FILE: config/optional_macros/G10.cfg ================================================ [gcode_macro G10] description: See M568. Passtrough to M568. gcode: M568 {rawparams} ================================================ FILE: config/optional_macros/M104.cfg ================================================ [gcode_macro M104] rename_existing: M104.1 description: [T] [S] Set tool temperature. T= Tool number, optional. If this parameter is not provided, the current tool is used. S= Active temperature(s), optional gcode: {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " P="~params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " P="~params.T %} {% endif %} # S= Active temperature {% if params.S is defined %} {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} {% endif %} KTCC_SET_TOOL_TEMPERATURE{newparameters} ================================================ FILE: config/optional_macros/M106.cfg ================================================ [gcode_macro M106] variable_fan_speed: 0 description: Snnn Pnnn Set fan speed. A KTCC tool must be configured for this to work. S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) P: Tool (optional, defaults to the currently selected tool) The P parameter specifies tool instead of fan number as in RRF. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) {% if params.S is defined %} {% set newparameters = newparameters ~ " S="~params.S %} {% endif %} # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " P="~params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " P="~params.T %} {% endif %} KTCC_SET_AND_SAVE_PARTFAN_SPEED{newparameters} ================================================ FILE: config/optional_macros/M107.cfg ================================================ [gcode_macro M107] description: Pnnn Turn off fan. P = Tool (optional and defaults to the currently selected tool) gcode: # P= Tool number and optional T. {% if params.P is defined %} {% set p = " P"~params.P %} {% elif params.T is defined %} {% set p = " P"~params.T %} {% endif %} M106 {p|default("")} S0 ================================================ FILE: config/optional_macros/M109.cfg ================================================ [gcode_macro M109] rename_existing: M109.1 description: T P H S W Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters. Without parameters it waits for bed and current extruder. Tnnn Tool number. Pnnn Alternative to T. Hnnn Heater number. Snnn Temperature Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutine in new format. # H= Heater {% if params.H is defined %} {% set newparameters = newparameters ~ " HEATER=" ~ params.H %} {% endif %} # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} {% endif %} # S= Active temperature {% if params.S is defined and ( params.T is defined or params.P is defined) %} {% set newTempParameters = newparameters ~ " ACTV_TMP="~params.S ~ " CHNG_STATE=2" %} # Set heater_active_temp to new parameters. KTCC_SET_TOOL_TEMPERATURE{newTempParameters} {% endif %} {% if params.W is defined %} {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.W %} # Set Tolerance to new parameters. {% else %} {% set newparameters = newparameters ~ " TOLERANCE=1" %} # Set Tolerance to default of 1. {% endif %} KTCC_TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} ================================================ FILE: config/optional_macros/M116.cfg ================================================ [gcode_macro M116] description: T P H S W Alias for M109. Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters. Without parameters it waits for bed and current extruder. Tnnn Tool number. Pnnn Alternative to T. Hnnn Heater number. Snnn Temperature Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. gcode: M109 {rawparams} ================================================ FILE: config/optional_macros/M204.cfg ================================================ [gcode_macro M204] rename_existing: M204.1 description: Snnn / Pnnn Tnnn Set acceleration either S or P and T must be provided. If P and T provided then will use the lower of the two. gcode: {% if params.S is defined %} {% set accel = params.S|float %} {% elif params.P is defined or params.T is defined %} {% set p = params.P|default(999999)|int %} {% set t = params.T|default(999999)|int %} {% if p < t %} {% set accel = p %} {% else %} {% set accel = t %} {% endif %} {% else %} { action_raise_error("M204: Must provide S, P or T parameter.") } {% endif %} SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel*0.5} ================================================ FILE: config/optional_macros/M568.cfg ================================================ [gcode_macro M568] description: Pnnn Tnnn Rnnn Snnn An Nnnn Mnnn Set tool temperature. P= Tool number, optional. If this parameter is not provided, the current tool is used. T= Alternative to P. R= Standby temperature(s), optional S= Active temperature(s), optional A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). N = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. Use for example 0.1 to change immediately to standby temperature. O = Time in seconds to wait from docking tool to shutting off the heater, optional. Use for example 86400 to wait 24h if you want to disable shutdown timer. gcode: # RESPOND MSG="M568: Seting new temperature: {rawparams}" {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # P= Tool number {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} {% endif %} # R= Standby temperature {% if params.R is defined %} {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. {% endif %} # S= Active temperature {% if params.S is defined %} {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. {% endif %} # N = Time in seconds to wait from docking tool to putting the heater in standy {% if params.N is defined %} {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. {% endif %} # M = Time in seconds to wait from docking tool to shuting off the heater {% if params.O is defined %} {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. {% endif %} # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature {% if params.A is defined %} {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. {% endif %} # {action_respond_info("M568: Running: KTCC_SET_TOOL_TEMPERATURE"~newparameters)} KTCC_SET_TOOL_TEMPERATURE{newparameters} ================================================ FILE: config/optional_macros/readme.md ================================================ # Required and Optional G-code macros The required macros change how Klipper uses those commands to make use of the toolchanger. They are all backwards compatible. This macros are highly recommended to be included. The optional macros are to add more commands for higher compatibility with for example RRF G-code. > [!NOTE] > You can add the whole directory to the printer.cfg by adding the relative path to the macros directory for example: ``` [include toolchanger/g-code_macros/*.cfg] ```
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Required macros | Command | Description |                                 Parameters                                 | | ------- | ----------- | ---------- | | `M104` | Set tool temperature. If Tool number is not provided, current tool is used. If no S parameter is provided it will dump current temperature settings for the tool.| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Active temperature to set. | | `M106` | Set fan speed. If Tool number is not provided, current tool is used. If no S parameter is provided, set full fan speed. | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S[0-1]` or `S[2-255]` Fan speed 0-1 or 2-255 | | `M107` | Turn off fan. If Tool number is not provided, current tool is used| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P | | `M109` | Waits temperature with a tolerance defaulting to +//1. Optional temperature can be defined when tool is defined, setting the tool as active with specified temperature. If heater is defined it will wait for that heater. Optional tolerance can be specified. Only waits if target temperature is >40*C | `H[0..n]` Heater number, optional
`T[0..n]` Tool number
`P[0..n]` Alternative to T
`W[-50]` Tolerance in degC |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Optional macros | Command | Description |                                 Parameters                                 | | ------- | ----------- | ---------- | | `G10` | Alias to M568 | | | `M116` | Alias to M109 | | | `M568` |Set tool temperature. If Tool number is not provided, current tool is used | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Set active temperature, optional
`R...` Set standby temperature, optional
`A...` Set Heater state, optional
(0= off), (1 = standby temperature), (2 = active temperature)
`N...` Standby timeout is the time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time.
`O...` Timer from Standby to off. Used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print. | | `M204` | Set acceleration to either S or lowest of supplied P and T. | `S...` Acceleration, optional
`P...` Print acceleration, RRF compatible
`T...` Travel acceleration, RRF compatible | | `M566` | Set Square Corner Velocity in RRF style. Only the lower of required X or Y will be used| `X...` X axis
`Y...` Y axis | ================================================ FILE: config/readme.md ================================================ # Configuration reference This document is a reference for options available in the Klipper config file when adding the Tools module. ## Configuration examples Can be found in the different subdirectories. Feel free to add some for reference or send them my way and I will format, comment and add them. - ## Configuration order ToolGroups must come before tools that use them. A Tool that is used as physical_parent must be configured before other virtual tools that use it as a parent. ## Configuration requirements * `[save_variables]` must be used as described in the Klipper documentation. * `[input_shaper]` needs to be used for input shaper to work. ### [toollock] Configures the Locking mechanism and other common configuration for the Tools module. ``` #purge_on_toolchange: True # Here we can disable all purging. When disabled it overrides all other purge options. # This can be turned off by a macro for automatic probing hot tools without probing them. # For example when doing TAMV or ZTATP. The default is True. #global_offset: 0,0,0 # Optional offset that can be accesed in macros and added to all tools. Can be usefull for diailing in the first layer. #init_printer_to_last_tool: True # Initialise as it was turned off, unlock tool if none was loaded or lock if one was # loaded. Defaults to True tool_lock_gcode: # A list of G-Code commands to execute when the tool is locked # in place by the TOOL_LOCK command. This parameter must # be provided. This can also call a macro. tool_unlock_gcode: # A list of G-Code commands to execute when the tool is unlocked # in place by the TOOL_UNLOCK command. This parameter must # be provided. This can also call a macro. ``` ### [toolgroup] Can be used for grouping settings common to multiple tools. At least one (the 0) must be specified and can be empty. ``` [toolgroup 0] #is_virtual: True # If True then must have a physical_parent declared and shares extruder, hotend and # fan with the physical_parent #physical_parent: 0 # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. #lazy_home_when_parking: 0 # If the printer is able to home with the tool mounted. # When set to 1, will home unhomed XY axes if needed and will not move any axis # if already homed and parked. 2 Will also home Z if not homed. #meltzonelength:0 #idle_to_standby_time: 30 #idle_to_powerdown_time: 600 #pickup_gcode #dropoff_gcode ``` ### [tool] A tool can be a physical tool on a toolchanger, being picked up and dropped of, or it can be virtual on a tool. A virtual tool can be a ERCF, a roatating wheel, etc. A virtual tool is a second layer of toolchanging. For example if using a physical e3d Revo with a Bondtech LGX Lite and two fans connected to a 9 port ERCF filament changer. Then the [Tool 0] to [Tool 9] would have 0 as parent and all be virtual. When changing from T0 to T2, then only the ERCF script would run. But if changing from T11 to T2, then first a toolchange and then a ERCF filament change would occur. A tool does not have to have a heater, extruder or fan. It can be a simple pen. The only mandatory setting is "tool_group". A virtual tool can inherit all and any configuration from the parent tool except for "is_virtual" and "physical_parent". Both can be defined in a group, so basicly only the group needs to be specified for a group of tools ``` [tool 0] tool_group: # The Toolgroup number for this tool # Must be used and configured before thr tool using it. #is_virtual: False # Defines this tool as physical or virtual. #physical_parent: # Nr of the physical parent of this tool. Defaults not having one. #extruder: # Name of extruder connected to this tool. For example "extruder" # or "extruder1" without the quotation marks. Defaults to having no extruder. #fan: # Name of general fan configuration used as a partcooling fan. # For example "partfan_t0". Defaults to having no extruder. #zone: # Coordinates to when the toolhead is near the tool, used for fas aproach. # For example "550,5". This would be X550 Y5 in the printer coordinates. park: # Coordinates to when the tool is parked, aproach slowly from zone coordinates. # For example "598,5". This would be X598 Y5 in the printer coordinates. #offset: # Offset of the tip of the tool to the coordinates of the head in X,Y,Z # For example "11.278,3.766,3.528". Defaults to "0,0,0" #idle_to_standby_time: 0.1 # Time in seconds from the tool being parked to setting temperature to standby # if the temperature current temperature is above the standby temperature. # Use 0.1 to change imediatley to standby temperature. Defaults to 0.1 # If you use 0, then it disables the standby temperature. #idle_to_powerdown_time: 600 # Time in seconds from being parked to turning off the heater, setting temperature to 0. # Use something like 86400 to wait 24h if you want to disable. Defaults to 600 (10 minutes). #lazy_home_when_parking: 0 # If the printer is able to home with the tool mounted. # When set to 1, will home unhomed XY axes if needed and will not move any axis # if already homed and parked. 2 Will also home Z if not homed. #meltzonelength: 0 # Length of the meltzone for retracting and inserting filament on toolchange. 18mm for e3d Revo. #shaper_freq_x: 0 #shaper_freq_y: 0 # Shaper frequency for this tool. For example "116.4". Defaults to "0".. See Klipper documentation for more details. # shaper_type_x: "mzv" # shaper_type_y: "mzv" # Shaper type for this tool. Defaults to "mzv". See Klipper documentation for more details. #shaper_damping_ratio_x: 0 #shaper_damping_ratio_x: 0 # Damping ratios of vibrations of X and Y axes used by input shaper. # Defaults to "0.1". See Klipper documentation for more details. #pickup_gcode: # A list of G-Code commands to execute when the tool is locked # in place by the TOOL_LOCK command. This can also call a macro. #dropoff_gcode: # A list of G-Code commands to execute when the tool is unlocked # in place by the TOOL_UNLOCK command. This can also call a macro. ``` Not used yet: ``` #HeatMultiplyerAtFullFanSpeed = 1 # Multiplier to be aplied to hotend temperature when fan is at maximum. # Will be multiplied with fan speed. Ex. 1.1 at 205*C and fan speed of 40% will set temperature to 213*C ``` ================================================ FILE: doc/command_ref.md ================================================ # KTCC - Command Reference ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Basic Toolchanger functionality | Command | Description |                                     Parameters                                     | | ------- | ----------- | ---------- | | `TOOL_LOCK` | Lock the tool to the toolhead. | | | `TOOL_UNLOCK` | Unlock the toolhead from tool. | | | `Tn` | Activates heater, pick up and readyy the tool. If tool is mapped to another one then that tool will be selected instead. | `RESTORE_AXIS=[XYZ]` Restore specified axis position to the latest saved. | | `TOOL_DROPOFF_ALL` | Unloads and parks the current tool without picking up another tool, leaving the toolhead free and unlocked. Actual active extruder eill still be last used one as Klipper needs an active extruder. | | | `SET_TOOL_TEMPERATURE` | Set tool temperature. If `TOOL` parameter is omited then current tool is set. | `TOOL=[0..n]` Optional if other than current loaded tool
`ACTV_TMP=...` Set Active temperature, optional
`STDB_TMP =...` Standby temperature, optional
`CHNG_STATE=[0\|1\|2]` Change Heater State, optional:
(0 = Off) \| (1 = Standby) \| (2 = Active)
`SHTDWN_TIMEOUT=...` Time in seconds to wait with the heater in standby before changing it to off, optional.
`STDB_TIMEOUT=...` Time in seconds to linger at Active temp. after setting the heater to standby when the standby temperature is lower than current tool temperature, optional.
`SHTDWN_TIMEOUT` is used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print.
`STDB_TIMEOUT=` Time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time. | | `SET_AND_SAVE_PARTFAN_SPEED` | Set the partcooling fan speed current or specified tool. Fan speed is carried over between toolchanges. | `S=[0-255 \| 0-1]` Fan speed with either a maximum of 255 or 1.
`P=[0-n]` Tool number if not current tool to set fan to. | | `TEMPERATURE_WAIT_WITH_TOLERANCE` | Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters and then waits for bed and current extruder. Only one of either TOOL or HEATER may be used. Only waits if target temperature is >40*C | `TOOL=[0-n]` Tool number to wait for, optional.
`HEATER=[0-n]` Heater number. 0="heater_bed", 1="extruder", 2="extruder1", 3="extruder2", etc. Only works if named as default, this way, optional.
`TOLERANCE=[0-50]` Tolerance in degC. Defaults to 1*C. Wait will wait until heater is in range of set temperature +/- tolerance. |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Offset commands | Command | Description |                             Parameters                             | | ------- | ----------- | ---------- | | `SET_GLOBAL_OFFSET` | Set a global offset that can be applied to all tools. Can use absolute offset or adjust relative to current offset. | `X=...` Set the new offset for the axis.
`Y=...` As above.
`Z=...` As above.
----------
`X_ADJUST=...` Adjust the offset position incramentally.
`Y_ADJUST=...` As above.
`Z_ADJUST=...` As above.
| | `SET_TOOL_OFFSET` | Set the offset of an individual tool. Can use absolute offset or adjust relative to current offset. | `TOOL=[0-n]` Tool number, optional. If not provided, the current tool is used.
----------
`X=...` Set the new offset for the axis.
`Y=...` As above.
`Z=...` As above.
----------
`X_ADJUST=...` Adjust the offset position incramentally.
`Y_ADJUST=...` As above.
`Z_ADJUST=...` As above.
| | `KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL` | Sets the Klipper G-Code offset to the one for the current tool. | `MOVE=[0\|1]` Wheteher to move the toolhead to the new offset. ( 0 = Do not move, default ) ( 1 = Move )
|
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Position saving and restoring commands | Command | Description |                             Parameters                             | | ------- | ----------- | ---------- | | `SAVE_POSITION` | Save the specified G-Code position for later restore. Without parameters it will set to not restoring axis. | `X=...` Set the restore position and set this axis to be restored.
`Y=...` As above.
`Z=...` As above. | | `SAVE_CURRENT_POSITION` | Save the current G-Code position for later restore. Without parameters it will save previousley saved axis. | `RESTORE_POSITION_TYPE=[XYZ] or [0\|1\|2]` Axis to save or tyoe ( 0 = No restore ), ( 1 = Restore XY ), ( 2 = Restore XYZ ) | | `RESTORE_POSITION` | Restore a previously saved G-Code position. With no parameters it will Restore to previousley saved type. | `RESTORE_POSITION_TYPE=[XYZ] or [0\|1\|2]` Axis to save or tyoe ( 0 = No restore ), ( 1 = Restore XY ), ( 2 = Restore XYZ ) |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Tool remapping commands | Command | Description | Parameters | | ------- | ----------- | ---------- | | `KTCC_DISPLAY_TOOL_MAP` | Dump the current mapping of tools to other KTCC tools. | | | `KTCC_REMAP_TOOL` | Remap a tool to another one. | `RESET=[0\|1]` If 1 the stored tooö remap will be reset.
`TOOL=[0-n]` The toolnumber to remap.
`SET=[0-n]` The toolnumber to remap to. |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Advanced commands, rarely used | Command | Description | Parameters | | ------- | ----------- | ---------- | | `KTCC_SAVE_CURRENT_TOOL` | Set the current loaded tool manually to the specified. When loading a tool manually | `T=[-2-n]` Tool to set as current. ( -2 = Unknown tool ), ( -1 = Toollock unlocked without tool ) | | `KTCC_SET_PURGE_ON_TOOLCHANGE` | Sets a global variable that can disable all purging (can be used in macros) when loading/unloading tools. For example for automated tool alignement such as TAMV/ZTATP. | `VALUE=[0\|1]` If enabled or disabled. | | `KTCC_ENDSTOP_QUERY` | Wait for a ENDSTOP untill it is in the specified state indefinitly or for maximum atempts if specified. Checking state once a second. | `ENDSTOP=...` Name of the endstop to wait for.
`TRIGGERED=[0\|1]` If should be waiting for it to be triggered (1) or open (0).
`ATEMPTS=...` Number of atempts to make, indefinitly if not specified. | | `KTCC_SET_ALL_TOOL_HEATERS_OFF` | Turns off all heaters configured for tools and saves changes made to be resumed later by KTCC_RESUME_ALL_TOOL_HEATERS. This does not affect heated beds or other heaters not defined as aan extruder in tools. | | | `KTCC_RESUME_ALL_TOOL_HEATERS` | Resumes all heaters previously turned off by KTCC_SET_ALL_TOOL_HEATERS_OFF. | `MSG=...` The message to be sent |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Status, Logging and Persisted state | Command | Description | Parameters | | ------- | ----------- | ---------- | | `KTCC_DUMP_STATS` | Dump the KTCC statistics to console. | | | `KTCC_RESET_STATS` | Reset all the KTCC statistics. | `SUERE=[yes\|no]` If "yes" the stored statistics will be reset. | | `KTCC_INIT_PRINT_STATS` | Run at start of a print to initialize and reset the KTCC print statistics | | | `KTCC_DUMP_PRINT_STATS` | Run at end of a print to dump statistics since last print reset to console. | | | `KTCC_SET_LOG_LEVEL` | Set the log level for the KTCC | `LEVEL=[0-3]` How much to log to console: ( 0 = Only the Always messages ) ( 1 = Info messages and above ) ( 2 = Debug messages and above ) ( 3 = Trace messages and above )
`LOGFILE=[0-3]` How much to log to file. Levels as above. | | `KTCC_LOG_TRACE` | Send a message to log at this logging level | `MSG=...` The message to be sent | | `KTCC_LOG_DEBUG` | Send a message to log at this logging level | `MSG=...` The message to be sent | | `KTCC_LOG_INFO` | Send a message to log at this logging level | `MSG=...` The message to be sent | | `KTCC_LOG_ALWAYS` | Send a message to log at this logging level | `MSG=...` The message to be sent |
================================================ FILE: install.sh ================================================ #!/bin/bash # Constants EXTENSION_NAME="klipper_toolchanger" # Force script to exit if an error occurs set -e # Find SRCDIR from the pathname of this script SRCDIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )"/ && pwd )" KLIPPER_PATH="${HOME}/klipper" # Parse command line arguments to allow KLIPPER_PATH override while getopts "k:" arg; do case $arg in k) KLIPPER_PATH=$OPTARG;; esac done # Verify conditions for the install to take place check_preconditions() { if [ "$EUID" -eq 0 ]; then echo "This script must not run as root" exit -1 fi if [ "$(sudo systemctl list-units --full -all -t service --no-legend | grep -F "klipper.service")" ]; then echo "Klipper service found!" else echo "Klipper service not found, please install Klipper first" exit -1 fi } # Step 2: create a symlinks to the extension files in the klippy/extras directory link_extension() { echo "Linking ${EXTENSION_NAME} to Klippy extras..." ln -sf ${SRCDIR}/*.py ${KLIPPER_PATH}/klippy/extras/ } # Step 3: restarting Klipper restart_klipper() { echo "Restarting Klipper..." sudo systemctl restart klipper } # Installation steps: check_preconditions link_extension restart_klipper ================================================ FILE: klipper_macros/G10.cfg ================================================ [gcode_macro G10] description: See M568. Passtrough to M568. gcode: M568 {rawparams} ================================================ FILE: klipper_macros/M104.cfg ================================================ [gcode_macro M104] rename_existing: M104.1 description: [T] [S] Set tool temperature. T= Tool number, optional. If this parameter is not provided, the current tool is used. S= Active temperature(s), optional gcode: {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " P="~params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " P="~params.T %} {% endif %} # S= Active temperature {% if params.S is defined %} {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} {% endif %} KTCC_SET_TOOL_TEMPERATURE{newparameters} ================================================ FILE: klipper_macros/M106.cfg ================================================ [gcode_macro M106] variable_fan_speed: 0 description: Snnn Pnnn Set fan speed. A KTCC tool must be configured for this to work. S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) P: Tool (optional, defaults to the currently selected tool) The P parameter specifies tool instead of fan number as in RRF. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) {% if params.S is defined %} {% set newparameters = newparameters ~ " S="~params.S %} {% endif %} # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " P="~params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " P="~params.T %} {% endif %} KTCC_SET_AND_SAVE_PARTFAN_SPEED{newparameters} ================================================ FILE: klipper_macros/M107.cfg ================================================ [gcode_macro M107] description: Pnnn Turn off fan. P = Tool (optional and defaults to the currently selected tool) gcode: # P= Tool number and optional T. {% if params.P is defined %} {% set p = " P"~params.P %} {% elif params.T is defined %} {% set p = " P"~params.T %} {% endif %} M106 {p|default("")} S0 ================================================ FILE: klipper_macros/M109.cfg ================================================ [gcode_macro M109] rename_existing: M109.1 description: T P H S W Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters. Without parameters it waits for bed and current extruder. Tnnn Tool number. Pnnn Alternative to T. Hnnn Heater number. Snnn Temperature Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. gcode: {% set newparameters = "" %} # Parameters to be passed to subroutine in new format. # H= Heater {% if params.H is defined %} {% set newparameters = newparameters ~ " HEATER=" ~ params.H %} {% endif %} # P= Tool number and optional T. {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} {% endif %} # S= Active temperature {% if params.S is defined and ( params.T is defined or params.P is defined) %} {% set newTempParameters = newparameters ~ " ACTV_TMP="~params.S ~ " CHNG_STATE=2" %} # Set heater_active_temp to new parameters. KTCC_SET_TOOL_TEMPERATURE{newTempParameters} {% endif %} {% if params.W is defined %} {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.W %} # Set Tolerance to new parameters. {% else %} {% set newparameters = newparameters ~ " TOLERANCE=1" %} # Set Tolerance to default of 1. {% endif %} KTCC_TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} ================================================ FILE: klipper_macros/M116.cfg ================================================ [gcode_macro M116] description: T P H S W Alias for M109. Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters. Without parameters it waits for bed and current extruder. Tnnn Tool number. Pnnn Alternative to T. Hnnn Heater number. Snnn Temperature Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. gcode: M109 {rawparams} ================================================ FILE: klipper_macros/M204.cfg ================================================ [gcode_macro M204] rename_existing: M204.1 description: Snnn / Pnnn Tnnn Set acceleration either S or P and T must be provided. If P and T provided then will use the lower of the two. gcode: {% if params.S is defined %} {% set accel = params.S|float %} {% elif params.P is defined or params.T is defined %} {% set p = params.P|default(999999)|int %} {% set t = params.T|default(999999)|int %} {% if p < t %} {% set accel = p %} {% else %} {% set accel = t %} {% endif %} {% else %} { action_raise_error("M204: Must provide S, P or T parameter.") } {% endif %} SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel*0.5} ================================================ FILE: klipper_macros/M566.cfg ================================================ [gcode_macro M566] description: Xnnn Ynnn Set Square Corner Velocity in RRF style. Only the lower of required X or Y will be used. gcode: # RESPOND MSG="M566: Seting new Square Corner Velocity." #: {rawparams}. # { action_respond_info("M566: Seting new Square Corner Velocity: "~rawparams) } {% if params.X is defined or params.Y is defined %} {% set x = params.X|default(999999)|int %} {% set y = params.Y|default(999999)|int %} {% if x < y %} {% set square_corenr_velocity = x %} {% else %} {% set square_corenr_velocity = y %} {% endif %} gcode: SQUARE_CORNER_VELOCITY={square_corenr_velocity/60} {% else %} { action_raise_error("M566: At least X or Y must be defined.") } {% endif %} ================================================ FILE: klipper_macros/M568.cfg ================================================ [gcode_macro M568] description: Pnnn Tnnn Rnnn Snnn An Nnnn Mnnn Set tool temperature. P= Tool number, optional. If this parameter is not provided, the current tool is used. T= Alternative to P. R= Standby temperature(s), optional S= Active temperature(s), optional A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). N = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. Use for example 0.1 to change immediately to standby temperature. O = Time in seconds to wait from docking tool to shutting off the heater, optional. Use for example 86400 to wait 24h if you want to disable shutdown timer. gcode: # RESPOND MSG="M568: Seting new temperature: {rawparams}" {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. # P= Tool number {% if params.P is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} {% elif params.T is defined %} {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} {% endif %} # R= Standby temperature {% if params.R is defined %} {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. {% endif %} # S= Active temperature {% if params.S is defined %} {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. {% endif %} # N = Time in seconds to wait from docking tool to putting the heater in standy {% if params.N is defined %} {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. {% endif %} # M = Time in seconds to wait from docking tool to shuting off the heater {% if params.O is defined %} {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. {% endif %} # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature {% if params.A is defined %} {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. {% endif %} # {action_respond_info("M568: Running: KTCC_SET_TOOL_TEMPERATURE"~newparameters)} KTCC_SET_TOOL_TEMPERATURE{newparameters} ================================================ FILE: klipper_macros/readme.md ================================================ # Required and Optional G-code macros The required macros change how Klipper uses those commands to make use of the toolchanger. They are all backwards compatible. This macros are highly recommended to be included. The optional macros are to add more commands for higher compatibility with for example RRF G-code. > [!NOTE] > You can add the whole directory to the printer.cfg by adding the relative path to the macros directory for example: ``` [include toolchanger/g-code_macros/*.cfg] ```
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Required macros | Command | Description |                                 Parameters                                 | | ------- | ----------- | ---------- | | `M104` | Set tool temperature. If Tool number is not provided, current tool is used. If no S parameter is provided it will dump current temperature settings for the tool.| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Active temperature to set. | | `M106` | Set fan speed. If Tool number is not provided, current tool is used. If no S parameter is provided, set full fan speed. | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S[0-1]` or `S[2-255]` Fan speed 0-1 or 2-255 | | `M107` | Turn off fan. If Tool number is not provided, current tool is used| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P | | `M109` | Waits temperature with a tolerance defaulting to +//1. Optional temperature can be defined when tool is defined, setting the tool as active with specified temperature. If heater is defined it will wait for that heater. Optional tolerance can be specified. Only waits if target temperature is >40*C | `H[0..n]` Heater number, optional
`T[0..n]` Tool number
`P[0..n]` Alternative to T
`W[-50]` Tolerance in degC |
## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Optional macros | Command | Description |                                 Parameters                                 | | ------- | ----------- | ---------- | | `G10` | Alias to M568 | | | `M116` | Alias to M109 | | | `M568` |Set tool temperature. If Tool number is not provided, current tool is used | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Set active temperature, optional
`R...` Set standby temperature, optional
`A...` Set Heater state, optional
(0= off), (1 = standby temperature), (2 = active temperature)
`N...` Standby timeout is the time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time.
`O...` Timer from Standby to off. Used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print. | | `M204` | Set acceleration to either S or lowest of supplied P and T. | `S...` Acceleration, optional
`P...` Print acceleration, RRF compatible
`T...` Travel acceleration, RRF compatible | | `M566` | Set Square Corner Velocity in RRF style. Only the lower of required X or Y will be used| `X...` X axis
`Y...` Y axis | ================================================ FILE: ktcclog.py ================================================ # KTCC - Klipper Tool Changer Code # Log and statistics module # # Copyright (C) 2023 Andrei Ignat # # Based on and inspired by ERCF-Software-V3 Copyright (C) 2021 moggieuk#6538 (discord) # # This file may be distributed under the terms of the GNU GPLv3 license. # # To try to keep terms apart: # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. # Pickup: Tool is physically picked up and attached to the toolchanger head. # Droppoff: Tool is physically parked and dropped of the toolchanger head. # ToolLock: Toollock is engaged. # ToolUnLock: Toollock is disengaged. import logging, logging.handlers, threading, queue, time import math, os.path, copy # Forward all messages through a queue (polled by background thread) class KtccQueueHandler(logging.Handler): def __init__(self, queue): logging.Handler.__init__(self) self.queue = queue def emit(self, record): try: self.format(record) record.msg = record.message record.args = None record.exc_info = None self.queue.put_nowait(record) except Exception: self.handleError(record) # Poll log queue on background thread and log each message to logfile class KtccQueueListener(logging.handlers.TimedRotatingFileHandler): def __init__(self, filename): logging.handlers.TimedRotatingFileHandler.__init__( self, filename, when='midnight', backupCount=5) self.bg_queue = queue.Queue() self.bg_thread = threading.Thread(target=self._bg_thread) self.bg_thread.start() def _bg_thread(self): while True: record = self.bg_queue.get(True) if record is None: break self.handle(record) def stop(self): self.bg_queue.put_nowait(None) self.bg_thread.join() # Class to improve formatting of multi-line KTCC messages class KtccMultiLineFormatter(logging.Formatter): def format(self, record): indent = ' ' * 9 lines = super(KtccMultiLineFormatter, self).format(record) return lines.replace('\n', '\n' + indent) class KtccLog: TOOL_UNKNOWN = -2 TOOL_UNLOCKED = -1 EMPTY_TOOL_STATS = {'toolmounts_completed': 0, 'toolunmounts_completed': 0, 'toolmounts_started': 0, 'toolunmounts_started': 0, 'time_selected': 0, 'time_heater_active': 0, 'time_heater_standby': 0, 'tracked_start_time_selected':0, 'tracked_start_time_active':0, 'tracked_start_time_standby':0, 'total_time_spent_unmounting':0, 'total_time_spent_mounting':0} KTCC_TOOL_STATISTICS_PREFIX = "ktcc_statistics_tool" def __init__(self, config): self.config = config self.gcode = config.get_printer().lookup_object('gcode') self.printer = config.get_printer() self.reactor = self.printer.get_reactor() self.printer.register_event_handler('klippy:connect', self.handle_connect) self.printer.register_event_handler("klippy:disconnect", self.handle_disconnect) self.printer.register_event_handler("klippy:ready", self.handle_ready) # Logging self.log_level = config.getint('log_level', 1, minval=0, maxval=3) self.logfile_level = config.getint('logfile_level', 3, minval=-1, maxval=4) self.log_statistics = config.getint('log_statistics', 0, minval=0, maxval=1) self.log_visual = config.getint('log_visual', 1, minval=0, maxval=2) # Logging self.queue_listener = None self.ktcc_logger = None # Save to file self.changes_to_save = False self.save_delay = 10 self.save_active = True # Register commands handlers = [ 'KTCC_LOG_TRACE', 'KTCC_LOG_DEBUG', 'KTCC_LOG_INFO', 'KTCC_LOG_ALWAYS', 'KTCC_SET_LOG_LEVEL', 'KTCC_DUMP_STATS', 'KTCC_RESET_STATS', 'KTCC_INIT_PRINT_STATS', 'KTCC_DUMP_PRINT_STATS'] for cmd in handlers: func = getattr(self, 'cmd_' + cmd) desc = getattr(self, 'cmd_' + cmd + '_help', None) self.gcode.register_command(cmd, func, False, desc) def handle_ready(self): self.always('KlipperToolChangerCode Ready') # Wraping G28 and wait for temperature so we don't try sending gcode commands to save state while the gcode is blocked. # Need to do it outermost so that any G28 macros are used too. # When inside a G28 the parser won't run any SAVE_VARIABLE resulting in Klipper try: self.toolhead = self.printer.lookup_object('toolhead') self.prev_G28 = self.gcode.register_command("G28", None) self.gcode.register_command("G28", self.cmd_KTCC_G28, desc = self.cmd_KTCC_G28_help) except Exception as e: logging.exception('KTCC Warning: Error trying to wrap G28 macro: %s' % str(e)) cmd_KTCC_G28_help = "Homing axes." def cmd_KTCC_G28(self, gcmd): # self.trace("Starting G28") self.save_active = False # Don't try to use SAVE_VARIABLE commands. self.prev_G28(gcmd) self.save_active = True # Resume to use SAVE_VARIABLE commands. # self.trace("Ending G28") def _save_changes_timer_event(self, eventtime): try: if self.save_active and self.changes_to_save: self.changes_to_save = False self.trace("Saving state in logs.") self._persist_swap_statistics() self._persist_tool_statistics() except Exception as e: self.debug("_save_changes_timer_event:Exception: %s" % (str(e))) logging.exception("_save_changes_timer_event:Exception: %s" % (str(e))) nextwake = eventtime + self.save_delay return nextwake def handle_connect(self): # Load saved variables self.variables = self.printer.lookup_object('save_variables').allVariables # Setup background file based logging before logging any messages if self.logfile_level >= 0: logfile_path = self.printer.start_args['log_file'] dirname = os.path.dirname(logfile_path) if dirname == None: ktcc_log = '/tmp/ktcc.log' else: ktcc_log = dirname + '/ktcc.log' self.debug("ktcc_log=%s" % ktcc_log) self.queue_listener = KtccQueueListener(ktcc_log) self.queue_listener.setFormatter(KtccMultiLineFormatter('%(asctime)s %(message)s', datefmt='%I:%M:%S')) queue_handler = KtccQueueHandler(self.queue_listener.bg_queue) self.ktcc_logger = logging.getLogger('ktcc') self.ktcc_logger.setLevel(logging.INFO) self.ktcc_logger.addHandler(queue_handler) # Load saved values self._load_persisted_state() # Init persihabele statistics self._reset_print_statistics() # Set up timer to save values when needed self.timer_save = self.reactor.register_timer( self._save_changes_timer_event, self.reactor.monotonic() + (self.save_delay)) def handle_disconnect(self): self.always('KTCC Shutdown') self.reactor.update_timer(self.timer_save, self.reactor.NEVER) if self.queue_listener != None: self.queue_listener.stop() def _load_persisted_state(self): swap_stats = self.variables.get("ktcc_statistics_swaps", {}) try: if swap_stats is None or swap_stats == {}: raise Exception("Couldn't find any saved statistics.") # self.trace("Loading statistics for KTCC: %s" % str(swap_stats)) # self.total_mounts = swap_stats['total_mounts'] or 0 self.total_time_spent_mounting = swap_stats['total_time_spent_mounting'] or 0 self.total_time_spent_unmounting = swap_stats['total_time_spent_unmounting'] or 0 self.total_toollocks = swap_stats['total_toollocks'] or 0 self.total_toolunlocks = swap_stats['total_toolunlocks'] or 0 self.total_toolmounts = swap_stats['total_toolmounts'] or 0 self.total_toolunmounts = swap_stats['total_toolunmounts'] or 0 except Exception: # Initializing statistics self._reset_statistics() self.tool_statistics = {} for tool in self.printer.lookup_objects('tool'): try: toolname=str(tool[0]) toolname=toolname[toolname.rindex(' ')+1:] self.tool_statistics[toolname] = self.variables.get("%s%s" % (self.KTCC_TOOL_STATISTICS_PREFIX, toolname), self.EMPTY_TOOL_STATS.copy()) self.tool_statistics[toolname]["tracked_start_time_selected"] = 0 self.tool_statistics[toolname]["tracked_start_time_active"] = 0 self.tool_statistics[toolname]["tracked_start_time_standby"] = 0 self.tool_statistics[toolname]["tracked_unmount_start_time"] = 0 self.tool_statistics[toolname]["tracked_mount_start_time"] = 0 except Exception as err: self.debug("Unexpected error in toolstast: %s" % err) def _reset_print_statistics(self): # Init persihabele statistics self.print_time_spent_mounting = self.total_time_spent_mounting self.print_time_spent_unmounting = self.total_time_spent_unmounting self.print_toollocks = self.total_toollocks self.print_toolunlocks = self.total_toolunlocks self.print_toolmounts = self.total_toolmounts self.print_toolunmounts = self.total_toolunmounts self.print_tool_statistics = copy.deepcopy(self.tool_statistics) #################################### # LOGGING FUNCTIONS # #################################### def get_status(self, eventtime): return {'encoder_pos': "?"} def always(self, message): if self.ktcc_logger: self.ktcc_logger.info(message) self.gcode.respond_info(message) def info(self, message): if self.ktcc_logger and self.logfile_level > 0: self.ktcc_logger.info(message) if self.log_level > 0: self.gcode.respond_info(message) def debug(self, message): message = "- DEBUG: %s" % message if self.ktcc_logger and self.logfile_level > 1: self.ktcc_logger.info(message) if self.log_level > 1: self.gcode.respond_info(message) def trace(self, message): message = "- - TRACE: %s" % message if self.ktcc_logger and self.logfile_level > 2: self.ktcc_logger.info(message) if self.log_level > 2: self.gcode.respond_info(message) # Fun visual display of KTCC state def _display_visual_state(self): if self.log_visual > 0 and not self.calibrating: self.always(self._state_to_human_string()) def _log_level_to_human_string(self, level): log = "OFF" if level > 2: log = "TRACE" elif level > 1: log = "DEBUG" elif level > 0: log = "INFO" elif level > -1: log = "ESSENTIAL MESSAGES" return log def _visual_log_level_to_human_string(self, level): log = "OFF" if level > 1: log = "SHORT" elif level > 0: log = "LONG" return log #################################### # STATISTICS FUNCTIONS # #################################### def _reset_statistics(self): self.debug("Reseting KTCC statistics.") # self.total_mounts = 0 self.total_time_spent_mounting = 0 self.total_time_spent_unmounting = 0 self.tracked_mount_start_time = 0 # self.tracked_unmount_start_time = 0 self.pause_start_time = 0 self.total_toollocks = 0 self.total_toolunlocks = 0 self.total_toolmounts = 0 self.total_toolunmounts = 0 self.tool_statistics = {} for tool in self.printer.lookup_objects('tool'): try: toolname=str(tool[0]) toolname=toolname[toolname.rindex(' ')+1:] self.tool_statistics[toolname] = self.EMPTY_TOOL_STATS.copy() self.tool_statistics[toolname]["tracked_start_time_selected"] = 0 self.tool_statistics[toolname]["tracked_start_time_active"] = 0 self.tool_statistics[toolname]["tracked_start_time_standby"] = 0 self.tool_statistics[toolname]["tracked_unmount_start_time"] = 0 self.tool_statistics[toolname]["tracked_mount_start_time"] = 0 except Exception as err: self.debug("Unexpected error in toolstast: %s" % err) def track_mount_start(self, tool_id): self.trace("track_mount_start: Running for Tool: %s." % (tool_id)) self._set_tool_statistics(tool_id, 'tracked_mount_start_time', time.time()) def track_mount_end(self, tool_id): self.trace("track_mount_end: Running for Tool: %s." % (tool_id)) start_time = self.tool_statistics[str(tool_id)]['tracked_mount_start_time'] if start_time is not None and start_time != 0: # self.trace("track_mount_end: start_time is not None for Tool: %s." % (tool_id)) time_spent = time.time() - start_time self.increase_tool_statistics(tool_id, 'total_time_spent_mounting', time_spent) self.total_time_spent_mounting += time_spent self._set_tool_statistics(tool_id, 'tracked_mount_start_time', 0) self.changes_to_save = True def track_unmount_start(self, tool_id): self.trace("track_unmount_start: Running for Tool: %s." % (tool_id)) self._set_tool_statistics(tool_id, 'tracked_unmount_start_time', time.time()) self.increase_tool_statistics(tool_id, 'toolunmounts_started') def track_unmount_end(self, tool_id): self.trace("track_unmount_end: Running for Tool: %s." % (tool_id)) start_time = self.tool_statistics[str(tool_id)]['tracked_unmount_start_time'] if start_time is not None and start_time != 0: # self.trace("track_unmount_end: start_time is not None for Tool: %s." % (tool_id)) time_spent = time.time() - start_time self.increase_tool_statistics(tool_id, 'total_time_spent_unmounting', time_spent) self.total_time_spent_unmounting += time_spent self._set_tool_statistics(tool_id, 'tracked_unmount_start_time', 0) self.increase_tool_statistics(tool_id, 'toolunmounts_completed') self.increase_statistics('total_toolunmounts') self.changes_to_save = True def increase_statistics(self, key, count=1): try: self.trace("increase_statistics: Running. Provided to record tool stats while key: %s and count: %s" % (str(key), str(count))) if key == 'total_toolmounts': self.total_toolmounts += int(count) elif key == 'total_toolunmounts': self.total_toolunmounts += int(count) elif key == 'total_toollocks': self.total_toollocks += int(count) elif key == 'total_toolunlocks': self.total_toolunlocks += int(count) self.changes_to_save = True except Exception as e: self.debug("Exception whilst tracking tool stats: %s" % str(e)) self.debug("increase_statistics: Error while increasing stats while key: %s and count: %s" % (str(key), str(count))) def track_selected_tool_start(self, tool_id): self.trace("track_selected_tool_start: Running for Tool: %s." % (tool_id)) self._set_tool_statistics(tool_id, 'tracked_start_time_selected', time.time()) self.increase_statistics('total_toolmounts') self.increase_tool_statistics(tool_id, 'toolmounts_completed') def track_selected_tool_end(self, tool_id): self.trace("track_selected_tool_end: Running for Tool: %s." % (tool_id)) self._set_tool_statistics_time_diff(tool_id, 'time_selected', 'tracked_start_time_selected') self.changes_to_save = True def track_active_heater_start(self, tool_id): self.trace("track_active_heater_start: Running for Tool: %s." % (tool_id)) self._set_tool_statistics(tool_id, 'tracked_start_time_active', time.time()) def track_active_heater_end(self, tool_id): self.trace("track_active_heater_end: Running for Tool: %s." % (tool_id)) self._set_tool_statistics_time_diff(tool_id, 'time_heater_active', 'tracked_start_time_active') self.changes_to_save = True def track_standby_heater_start(self, tool_id): self.trace("track_standby_heater_start: Running for Tool: %s." % (tool_id)) self._set_tool_statistics(tool_id, 'tracked_start_time_standby', time.time()) def track_standby_heater_end(self, tool_id): self.trace("track_standby_heater_end: Running for Tool: %s." % (tool_id)) self._set_tool_statistics_time_diff(tool_id, 'time_heater_standby', 'tracked_start_time_standby') self.changes_to_save = True def _seconds_to_human_string(self, seconds): result = "" hours = int(math.floor(seconds / 3600.)) if hours >= 1: result += "%d hours " % hours minutes = int(math.floor(seconds / 60.) % 60) if hours >= 1 or minutes >= 1: result += "%d minutes " % minutes result += "%d seconds" % int((math.floor(seconds) % 60)) return result def _swap_statistics_to_human_string(self): msg = "KTCC Statistics:" # msg += "\n%d swaps completed" % self.total_mounts msg += "\n%s spent mounting tools" % self._seconds_to_human_string(self.total_time_spent_mounting) msg += "\n%s spent unmounting tools" % self._seconds_to_human_string(self.total_time_spent_unmounting) msg += "\n%d tool locks completed" % self.total_toollocks msg += "\n%d tool unlocks completed" % self.total_toolunlocks msg += "\n%d tool mounts completed" % self.total_toolmounts msg += "\n%d tool unmounts completed" % self.total_toolunmounts return msg def _swap_print_statistics_to_human_string(self): msg = "KTCC Statistics for this print:" # msg += "\n%d swaps completed" % self.total_mounts msg += "\n%s spent mounting tools" % self._seconds_to_human_string(self.total_time_spent_mounting-self.print_time_spent_mounting) msg += "\n%s spent unmounting tools" % self._seconds_to_human_string(self.total_time_spent_unmounting-self.print_time_spent_unmounting) msg += "\n%d tool locks completed" % (self.total_toollocks-self.print_toollocks) msg += "\n%d tool unlocks completed" % (self.total_toolunlocks-self.print_toolunlocks) msg += "\n%d tool mounts completed" % (self.total_toolmounts-self.print_toolmounts) msg += "\n%d tool unmounts completed" % (self.total_toolunmounts-self.print_toolunmounts) return msg def _division(self, dividend, divisor): try: return dividend/divisor except ZeroDivisionError: return 0 def _dump_statistics(self, report=False): if self.log_statistics or report: msg = "ToolChanger Statistics:\n" msg += self._swap_statistics_to_human_string() msg += "\n------------\n" msg += "Tool Statistics:\n" # First convert to int so we get right order. res = {int(k):v for k,v in self.tool_statistics.items()} for tid in res: tool_id= str(tid) msg += "Tool#%s:\n" % (tool_id) msg += "Completed %d out of %d mounts in %s. Average of %s per toolmount.\n" % (self.tool_statistics[tool_id]['toolmounts_completed'], self.tool_statistics[tool_id]['toolmounts_started'], self._seconds_to_human_string(self.tool_statistics[tool_id]['total_time_spent_mounting']), self._seconds_to_human_string(self._division(self.tool_statistics[tool_id]['total_time_spent_mounting'], self.tool_statistics[tool_id]['toolmounts_completed']))) msg += "Completed %d out of %d unmounts in %s. Average of %s per toolunmount.\n" % (self.tool_statistics[tool_id]['toolunmounts_completed'], self.tool_statistics[tool_id]['toolunmounts_started'], self._seconds_to_human_string(self.tool_statistics[tool_id]['total_time_spent_unmounting']), self._seconds_to_human_string(self._division(self.tool_statistics[tool_id]['total_time_spent_unmounting'], self.tool_statistics[tool_id]['toolunmounts_completed']))) msg += "%s spent selected." % self._seconds_to_human_string(self.tool_statistics[tool_id]['time_selected']) tool = self.printer.lookup_object("tool " + str(tool_id)) if tool.is_virtual != True or tool.name==tool.physical_parent_id: if tool.extruder is not None: msg += " %s with active heater and %s with standby heater." % (self._seconds_to_human_string(self.tool_statistics[tool_id]['time_heater_active']), self._seconds_to_human_string(self.tool_statistics[tool_id]['time_heater_standby'])) msg += "\n------------\n" self.always(msg) def _dump_print_statistics(self, report=False): if self.log_statistics or report: msg = "ToolChanger Statistics for this print:\n" msg += self._swap_print_statistics_to_human_string() msg += "\n------------\n" msg += "Tool Statistics for this print:\n" # First convert to int so we get right order. res = {int(k):v for k,v in self.tool_statistics.items()} for tid in res: tool_id= str(tid) ts = self.tool_statistics[tool_id] pts = self.print_tool_statistics[tool_id] msg += "Tool#%s:\n" % (tool_id) msg += "Completed %d out of %d mounts in %s. Average of %s per toolmount.\n" % ((ts['toolmounts_completed']-pts['toolmounts_completed']), (ts['toolmounts_started']-pts['toolmounts_started']), self._seconds_to_human_string(ts['total_time_spent_mounting']-pts['total_time_spent_mounting']), self._seconds_to_human_string(self._division((ts['total_time_spent_mounting']-pts['total_time_spent_mounting']), (ts['toolmounts_completed']-ts['toolmounts_completed'])))) msg += "Completed %d out of %d unmounts in %s. Average of %s per toolunmount.\n" % (ts['toolunmounts_completed']-pts['toolunmounts_completed'], ts['toolunmounts_started']-pts['toolunmounts_started'], self._seconds_to_human_string(ts['total_time_spent_unmounting']-pts['total_time_spent_unmounting']), self._seconds_to_human_string(self._division(ts['total_time_spent_unmounting']-pts['total_time_spent_unmounting'], ts['toolunmounts_completed']-pts['toolunmounts_completed']))) msg += "%s spent selected. %s with active heater and %s with standby heater.\n" % (self._seconds_to_human_string(ts['time_selected']-pts['time_selected']), self._seconds_to_human_string(ts['time_heater_active']-pts['time_heater_active']), self._seconds_to_human_string(ts['time_heater_standby']-pts['time_heater_standby'])) msg += "------------\n" self.always(msg) def _persist_swap_statistics(self): swap_stats = { # 'total_mounts': self.total_mounts, 'total_time_spent_mounting': round(self.total_time_spent_mounting, 1), 'total_time_spent_unmounting': round(self.total_time_spent_unmounting, 1), 'total_toolunlocks': self.total_toolunlocks, 'total_toollocks': self.total_toollocks, 'total_toolmounts': self.total_toolmounts, 'total_toolunmounts': self.total_toolunmounts } self.toolhead.wait_moves() self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE=\"%s\"" % ("ktcc_statistics_swaps", swap_stats)) def _persist_tool_statistics(self): for tool in self.tool_statistics: try: self.toolhead.wait_moves() self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s%s VALUE=\"%s\"" % (self.KTCC_TOOL_STATISTICS_PREFIX, tool, self.tool_statistics[tool])) except Exception as err: self.debug("Unexpected error in _persist_tool_statistics: %s" % err) def increase_tool_statistics(self, tool_id, key, count=1): try: self.trace("increase_tool_statistics: Running for Tool: %s. Provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) # if self.tool_statistics.get(str(tool_id)) is not None: if str(tool_id) in self.tool_statistics: if self.tool_statistics[str(tool_id)][key] is None: self.tool_statistics[str(tool_id)][key]=0 # self.trace("increase_tool_statistics: Before running for Tool: %s. Key: %s is: %s" % (tool_id, str(key), str(self.tool_statistics[str(tool_id)][key]))) if isinstance(count, float): self.tool_statistics[str(tool_id)][key] = round(self.tool_statistics[str(tool_id)][key] + count, 3) else: self.tool_statistics[str(tool_id)][key] += count # self.trace("increase_tool_statistics: After running for Tool: %s. Key: %s is: %s" % (tool_id, str(key), str(self.tool_statistics[str(tool_id)][key]))) else: self.debug("increase_tool_statistics: Unknown tool provided to record tool stats: %s" % tool_id) # self.debug(str(self.tool_statistics)) except Exception as e: self.debug("Exception whilst tracking tool stats: %s" % str(e)) self.debug("increase_tool_statistics: Error while tool: %s provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) # self.trace("increase_tool_statistics: Tool: %s provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) def _set_tool_statistics(self, tool_id, key, value): self.trace("_set_tool_statistics:Running for Tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) try: if str(tool_id) in self.tool_statistics: self.tool_statistics[str(tool_id)][key] = value else: self.debug("_set_tool_statistics: Unknown tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) except Exception as e: self.debug("Exception whilst tracking tool stats: %s" % str(e)) self.debug("_set_tool_statistics: Error while tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) # self.trace("_set_tool_statistics: Tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) def _set_tool_statistics_time_diff(self, tool_id, final_time_key, start_time_key): try: if str(tool_id) in self.tool_statistics: tool_stat= self.tool_statistics[str(tool_id)] if tool_stat[start_time_key] is not None and tool_stat[start_time_key] != 0: # self.trace("_set_tool_statistics_time_diff: Tool: %s value before running: final_time_key: %s=%s, start_time_key: %s=%s." % (tool_id, final_time_key, str(tool_stat[final_time_key]), start_time_key, str(tool_stat[start_time_key]))) if tool_stat[final_time_key] is not None and tool_stat[final_time_key] != 0: tool_stat[final_time_key] += time.time() - tool_stat[start_time_key] else: tool_stat[final_time_key] = time.time() - tool_stat[start_time_key] tool_stat[start_time_key] = 0 else: self.debug("_set_tool_statistics_time_diff: Unknown tool: %s provided to record tool stats while final_time_key: %s and start_time_key: %s" % (tool_id, str(final_time_key), str(start_time_key))) except Exception as e: self.debug("Exception whilst tracking tool stats: %s" % str(e)) self.debug("_set_tool_statistics_time_diff: Error while tool: %s provided to record tool stats while final_time_key: %s and start_time_key: %s" % (tool_id, str(final_time_key), str(start_time_key))) # self.trace("_set_tool_statistics_time_diff: Tool: %s value after running: final_time_key: %s=%s, start_time_key: %s=%s." % (tool_id, final_time_key, str(tool_stat[final_time_key]), start_time_key, str(tool_stat[start_time_key]))) ### LOGGING AND STATISTICS FUNCTIONS GCODE FUNCTIONS cmd_KTCC_RESET_STATS_help = "Reset the KTCC statistics" def cmd_KTCC_RESET_STATS(self, gcmd): param = gcmd.get('SURE', "no") if param.lower() == "yes": self._reset_statistics() self._reset_print_statistics() self.changes_to_save = True self._dump_statistics(True) self.always("Statistics RESET.") else: message = "Are you sure you want to reset KTCC statistics?\n" message += "If so, run with parameter SURE=YES:\n" message += "KTCC_RESET_STATS SURE=YES" self.gcode.respond_info(message) cmd_KTCC_DUMP_STATS_help = "Dump the KTCC statistics" def cmd_KTCC_DUMP_STATS(self, gcmd): self._dump_statistics(True) cmd_KTCC_INIT_PRINT_STATS_help = "Run at start of a print to initialize the KTCC print statistics" def cmd_KTCC_INIT_PRINT_STATS(self, gcmd): self._reset_print_statistics() cmd_KTCC_DUMP_PRINT_STATS_help = "Run at end of a print to list statistics since last print reset." def cmd_KTCC_DUMP_PRINT_STATS(self, gcmd): self._dump_print_statistics(True) cmd_KTCC_SET_LOG_LEVEL_help = "Set the log level for the KTCC" def cmd_KTCC_SET_LOG_LEVEL(self, gcmd): self.log_level = gcmd.get_int('LEVEL', self.log_level, minval=0, maxval=4) self.logfile_level = gcmd.get_int('LOGFILE', self.logfile_level, minval=0, maxval=4) self.log_visual = gcmd.get_int('VISUAL', self.log_visual, minval=0, maxval=2) self.log_statistics = gcmd.get_int('STATISTICS', self.log_statistics, minval=0, maxval=1) cmd_KTCC_LOG_ALWAYS_help = "Log allways MSG" def cmd_KTCC_LOG_ALWAYS(self, gcmd): msg = gcmd.get('MSG') self.always(msg) cmd_KTCC_LOG_INFO_help = "Log info MSG" def cmd_KTCC_LOG_INFO(self, gcmd): msg = gcmd.get('MSG') self.info(msg) cmd_KTCC_LOG_DEBUG_help = "Log debug MSG" def cmd_KTCC_LOG_DEBUG(self, gcmd): msg = gcmd.get('MSG') self.debug(msg) cmd_KTCC_LOG_TRACE_help = "Log trace MSG" def cmd_KTCC_LOG_TRACE(self, gcmd): msg = gcmd.get('MSG') self.trace(msg) # def _get_print_status(self): # try: # # If using virtual sdcard this is the most reliable method # source = "print_stats" # print_status = self.printer.lookup_object("print_stats").get_status(self.printer.get_reactor().monotonic())['state'] # except: # # Otherwise we fallback to idle_timeout # source = "idle_timeout" # if self.printer.lookup_object("pause_resume").is_paused: # print_status = "paused" # else: # idle_timeout = self.printer.lookup_object("idle_timeout").get_status(self.printer.get_reactor().monotonic()) # if idle_timeout["printing_time"] < 1.0: # print_status = "standby" # else: # print_status = idle_timeout['state'].lower() # finally: # self.trace("Determined print status as: %s from %s" % (print_status, source)) # return print_status # cmd_KTCC_STATUS_help = "Complete dump of current KTCC state and important configuration" # def cmd_KTCC_STATUS(self, gcmd): # config = gcmd.get_int('SHOWCONFIG', 0, minval=0, maxval=1) # msg = "KTCC with %d gates" % (len(self.selector_offsets)) # msg += " is %s" % ("DISABLED" if not self.is_enabled else "PAUSED/LOCKED" if self.is_paused else "OPERATIONAL") # msg += " with the servo in a %s position" % ("UP" if self.servo_state == self.SERVO_UP_STATE else "DOWN" if self.servo_state == self.SERVO_DOWN_STATE else "unknown") # msg += ", Encoder reads %.2fmm" % self._counter.get_distance() # msg += "\nSelector is %shomed" % ("" if self.is_homed else "NOT ") # msg += ". Tool %s is selected " % self._selected_tool_string() # msg += " on gate %s" % self._selected_gate_string() # msg += ". Toolhead position saved pending resume" if self.saved_toolhead_position else "" # msg += "\nFilament position: %s" % self._state_to_human_string() # if config: # msg += "\n\nConfiguration:\nFilament homes" # if self._must_home_to_extruder(): # if self.homing_method == self.EXTRUDER_COLLISION: # msg += " to EXTRUDER using COLLISION DETECTION (current %d%%)" % self.extruder_homing_current # else: # msg += " to EXTRUDER using STALLGUARD" # if self._has_toolhead_sensor(): # msg += " and then" # msg += " to TOOLHEAD SENSOR" if self._has_toolhead_sensor() else "" # msg += " after a %.1fmm calibration reference length" % self._get_calibration_ref() # if self.sync_load_length > 0 or self.sync_unload_length > 0: # msg += "\nGear and Extruder steppers are synchronized during " # load = False # if self._has_toolhead_sensor() and self.sync_load_length > 0: # msg += "load (up to %.1fmm)" % (self.toolhead_homing_max) # load = True # elif self.sync_load_length > 0: # msg += "load (%.1fmm)" % (self.sync_load_length) # load = True # if self.sync_unload_length > 0: # msg += " and " if load else "" # msg += "unload (%.1fmm)" % (self.sync_unload_length) # else: # msg += "\nGear and Extruder steppers are not synchronized" # msg += ". Tip forming current is %d%%" % self.extruder_form_tip_current # msg += "\nSelector homing is %s - blocked gate detection and recovery %s possible" % (("sensorless", "may be") if self.sensorless_selector else ("microswitch", "is not")) # msg += "\nClog detection is %s" % ("ENABLED" if self.enable_clog_detection else "DISABLED") # msg += " and EndlessSpool is %s" % ("ENABLED" if self.enable_endless_spool else "DISABLED") # p = self.persistence_level # msg += ", %s state is persisted across restarts" % ("All" if p == 4 else "Gate status & TTG map & EndlessSpool groups" if p == 3 else "TTG map & EndlessSpool groups" if p == 2 else "EndlessSpool groups" if p == 1 else "No") # msg += "\nLogging levels: Console %d(%s)" % (self.log_level, self._log_level_to_human_string(self.log_level)) # msg += ", Logfile %d(%s)" % (self.logfile_level, self._log_level_to_human_string(self.logfile_level)) # msg += ", Visual %d(%s)" % (self.log_visual, self._visual_log_level_to_human_string(self.log_visual)) # msg += ", Statistics %d(%s)" % (self.log_statistics, "ON" if self.log_statistics else "OFF") # msg += "\n\nTool/gate mapping%s" % (" and EndlessSpool groups:" if self.enable_endless_spool else ":") # msg += "\n%s" % self._tool_to_gate_map_to_human_string() # msg += "\n\n%s" % self._swap_statistics_to_human_string() # self._log_always(msg) def load_config(config): return KtccLog(config) ================================================ FILE: tool.py ================================================ # KTCC - Klipper Tool Changer Code # Tool module, for each tool. # # Copyright (C) 2023 Andrei Ignat # # This file may be distributed under the terms of the GNU GPLv3 license. # To try to keep terms apart: # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. # Pickup: Tool is physically picked up and attached to the toolchanger head. # Droppoff: Tool is physically parked and dropped of the toolchanger head. # ToolLock: Toollock is engaged. # ToolUnLock: Toollock is disengaged. # KTCC exception error class # class KTCCError(Exception): # pass # Each tool is getting an instance of this. import logging from .toollock import parse_restore_type class Tool: TOOL_UNKNOWN = -2 TOOL_UNLOCKED = -1 HEATER_STATE_ACTIVE = 2 HEATER_STATE_STANDBY = 1 HEATER_STATE_OFF = 0 def __init__(self, config = None): self.name = None self.toolgroup = None # defaults to 0. Check if tooltype is defined. self.is_virtual = None self.physical_parent_id = None # Parent tool is used as a Physical parent for all tools of this group. Only used if the tool i virtual. None gets remaped to -1. self.extruder = None # Name of extruder connected to this tool. Defaults to None. self.fan = None # Name of general fan configuration connected to this tool as a part fan. Defaults to "none". self.meltzonelength = None # Length of the meltzone for retracting and inserting filament on toolchange. 18mm for e3d Revo self.lazy_home_when_parking = None # (default: 0 - disabled) - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. # Wipe. -1 = none, 1= Only load filament, 2= Wipe in front of carriage, 3= Pebble wiper, 4= First Silicone, then pebble. Defaults to None. self.zone = None # Position of the parking zone in the format X, Y self.park = None # Position to move to when fully parking the tool in the dock in the format X, Y self.offset = None # Offset of the nozzle in the format X, Y, Z self.pickup_gcode = None # The plain gcode string for pickup of the tool. self.dropoff_gcode = None # The plain gcode string for droppoff of the tool. self.virtual_toolload_gcode = None # The plain gcode string is to load for virtual tool having this tool as parent. This is for loading the virtual tool. self.virtual_toolunload_gcode = None# The plain gcode string is to unload for virtual tool having this tool as parent. This is for unloading the virtual tool. # self.timer_idle_to_standby = None # self.timer_idle_to_powerdown = None self.requires_pickup_for_virtual_load = None # May be needed for a filament swap to prevent ooze but not for a pen. self.requires_pickup_for_virtual_unload = None # May be needed for a filament swap to prevent ooze but not for a pen. Used when forcing unload. self.unload_virtual_at_dropoff = None # If it takes long time to unload/load it may be faster to leave it loaded and force unload at end of print. self.virtual_loaded = -1 # The abstract tool loaded in the physical tool. self.heater_state = 0 # 0 = off, 1 = standby temperature, 2 = active temperature. Placeholder. self.heater_active_temp = 0 # Temperature to set when in active mode. Placeholder. Requred on Physical and virtual tool if any has extruder. self.heater_standby_temp = 0 # Temperature to set when in standby mode. Placeholder. Requred on Physical and virtual tool if any has extruder. self.idle_to_standby_time = None # Time in seconds from being parked to setting temperature to standby the temperature above. Use 0.1 to change imediatley to standby temperature. Requred on Physical tool self.idle_to_powerdown_time = None # Time in seconds from being parked to setting temperature to 0. Use something like 86400 to wait 24h if you want to disable. Requred on Physical tool. # Tool specific input shaper parameters. Initiated as Klipper standard. self.shaper_freq_x = 0 self.shaper_freq_y = 0 self.shaper_type_x = "mzv" self.shaper_type_y = "mzv" self.shaper_damping_ratio_x = 0.1 self.shaper_damping_ratio_y = 0.1 self.config = config # Under Consideration: # HeatMultiplyerAtFullFanSpeed = 1 # Multiplier to be aplied to hotend temperature when fan is at maximum. Will be multiplied with fan speed. Ex. 1.1 at 205*C and fan speed of 40% will set temperature to 213*C # If called without config then just return a dummy object. if config is None: return # Load used objects. self.printer = config.get_printer() self.gcode = self.printer.lookup_object('gcode') self.gcode_macro = self.printer.load_object(config, 'gcode_macro') self.toollock = self.printer.lookup_object('toollock') self.log = self.printer.lookup_object('ktcclog') ##### Name ##### try: _, name = config.get_name().split(" ", 1) self.name = int(name) except ValueError: raise config.error( "Name of section '%s' contains illegal characters. Use only integer tool number." % (config.get_name())) ##### ToolGroup ##### self.toolgroup = 'toolgroup ' + str(config.getint('tool_group')) if config.has_section(self.toolgroup): self.toolgroup = self.printer.lookup_object(self.toolgroup) else: raise config.error( "ToolGroup of T'%s' is not defined. It must be configured before the tool." % (config.get_name())) tg_status = self.toolgroup.get_status() ##### Is Virtual ##### self.is_virtual = config.getboolean('is_virtual', tg_status["is_virtual"]) ##### Physical Parent ##### self.physical_parent_id = config.getint('physical_parent', tg_status["physical_parent_id"]) if self.physical_parent_id is None: self.physical_parent_id = self.TOOL_UNLOCKED if self.physical_parent_id >= 0 and not self.physical_parent_id == self.name: self.pp = self.printer.lookup_object("tool " + str(self.physical_parent_id)) else: self.pp = Tool() # Initialize physical parent as a dummy object. pp_status = self.pp.get_status() # Used as sanity check for tools that are virtual with same physical as themselves. if self.is_virtual and self.physical_parent_id == self.TOOL_UNLOCKED: raise config.error( "Section Tool '%s' cannot be virtual without a valid physical_parent. If Virtual and Physical then use itself as parent." % (config.get_name())) ##### Extruder ##### self.extruder = config.get('extruder', pp_status['extruder']) ##### Fan ##### self.fan = config.get('fan', pp_status['fan']) ##### Meltzone Length ##### self.meltzonelength = self._get_config_parameter_with_inheritence('meltzonelength', 0) ##### Lazy Home when parking ##### self.lazy_home_when_parking = self._get_bool_config_parameter_with_inheritence('lazy_home_when_parking', False) ##### Coordinates ##### try: self.zone = config.get('zone', pp_status['zone']) if not isinstance(self.zone, list): self.zone = str(self.zone).split(',') self.park = config.get('park', pp_status['park']) if not isinstance(self.park, list): self.park = str(self.park).split(',') self.offset = config.get('offset', pp_status['offset']) if not isinstance(self.offset, list): self.offset = str(self.offset).split(',') # Remove any accidental blank spaces. self.zone = [s.strip() for s in self.zone] self.park = [s.strip() for s in self.park] self.offset = [s.strip() for s in self.offset] if len(self.zone) < 3: raise config.error("zone Offset is malformed, must be a list of x,y,z If you want it blank, use 0,0,0") if len(self.park) < 3: raise config.error("park Offset is malformed, must be a list of x,y,z If you want it blank, use 0,0,0") if len(self.offset) < 3: raise config.error("offset Offset is malformed, must be a list of x,y,z. If you want it blank, use 0,0,0") except Exception as e: raise config.error( "Coordinates of section '%s' is not well formated: %s" % (config.get_name(), str(e))) # Tool specific input shaper parameters. Initiated with Klipper standard values where not specified. self.shaper_freq_x = config.get('shaper_freq_x', pp_status['shaper_freq_x']) self.shaper_freq_y = config.get('shaper_freq_y', pp_status['shaper_freq_y']) self.shaper_type_x = config.get('shaper_type_x', pp_status['shaper_type_x']) self.shaper_type_y = config.get('shaper_type_y', pp_status['shaper_type_y']) self.shaper_damping_ratio_x = config.get('shaper_damping_ratio_x', pp_status['shaper_damping_ratio_x']) self.shaper_damping_ratio_y = config.get('shaper_damping_ratio_y', pp_status['shaper_damping_ratio_y']) ##### Standby settings (if the tool has an extruder) ##### if self.extruder is not None: self.idle_to_standby_time = self.config.getfloat( "idle_to_standby_time", self.pp.idle_to_standby_time) if self.idle_to_standby_time is None: self.idle_to_standby_time = self.toolgroup.idle_to_standby_time self.idle_to_powerdown_time = self.config.getfloat( "idle_to_powerdown_time", self.pp.idle_to_powerdown_time) if self.idle_to_powerdown_time is None: self.idle_to_powerdown_time = self.toolgroup.idle_to_powerdown_time # For all virtual tools that are not also a physical parent, use physical parent's timer. if self.physical_parent_id > self.TOOL_UNLOCKED and self.physical_parent_id != self.name: self.timer_idle_to_standby = self.pp.get_timer_to_standby() self.timer_idle_to_powerdown = self.pp.get_timer_to_powerdown() else: # Set up new timers if physical tool. self.timer_idle_to_standby = ToolStandbyTempTimer(self.printer, self.name, ToolStandbyTempTimer.TIMER_TO_STANDBY) self.timer_idle_to_powerdown = ToolStandbyTempTimer(self.printer, self.name, ToolStandbyTempTimer.TIMER_TO_SHUTDOWN) ##### G-Code ToolChange ##### self.pickup_gcode_template = self._get_gcode_template_with_inheritence('pickup_gcode') self.dropoff_gcode_template = self._get_gcode_template_with_inheritence('dropoff_gcode') ##### G-Code VirtualToolChange ##### if self.is_virtual: self.virtual_toolload_gcode_template = self._get_gcode_template_with_inheritence('virtual_toolload_gcode') self.virtual_toolunload_gcode_template = self._get_gcode_template_with_inheritence('virtual_toolunload_gcode') ##### Parameters for VirtualToolChange ##### self.requires_pickup_for_virtual_load = self.config.getboolean( "requires_pickup_for_virtual_load", self.pp.requires_pickup_for_virtual_load) if self.requires_pickup_for_virtual_load is None: self.requires_pickup_for_virtual_load = self.toolgroup.requires_pickup_for_virtual_load self.requires_pickup_for_virtual_unload = self.config.getboolean( "requires_pickup_for_virtual_unload", self.pp.requires_pickup_for_virtual_unload) if self.requires_pickup_for_virtual_unload is None: self.requires_pickup_for_virtual_unload = self.toolgroup.requires_pickup_for_virtual_unload self.unload_virtual_at_dropoff = self.config.getboolean( "unload_virtual_at_dropoff", self.pp.unload_virtual_at_dropoff) if self.unload_virtual_at_dropoff is None: self.unload_virtual_at_dropoff = self.toolgroup.unload_virtual_at_dropoff logging.warn("T%s unload_virtual_at_dropoff: %s" % (str(self.name), str(self.requires_pickup_for_virtual_load))) ##### Register Tool select command ##### self.gcode.register_command("KTCC_T" + str(self.name), self.cmd_SelectTool, desc=self.cmd_SelectTool_help) def _get_bool_config_parameter_with_inheritence(self, config_param, default = None): tmp = self.config.getboolean(config_param, self.pp.get_config(config_param)) if tmp is None: tmp = self.toolgroup.get_config(config_param, default) return tmp def _get_config_parameter_with_inheritence(self, config_param, default = None): tmp = self.config.get(config_param, self.pp.get_config(config_param)) if tmp is None: tmp = self.toolgroup.get_config(config_param, default) return tmp def _get_gcode_template_with_inheritence(self, config_param, optional = False): temp_gcode = self.pp.get_config(config_param) # First try to get gcode parameter from eventual physical Parent. if temp_gcode is None: # If didn't get any from physical parent, temp_gcode = self.toolgroup.get_config(config_param) # try getting from toolgroup. if optional and temp_gcode is None: temp_gcode = "" # gcode = self.get_config(config_param, temp_gcode) # Get from this config and fallback on previous. template = self.gcode_macro.load_template(self.config, config_param, temp_gcode) return template def get_config(self, config_param, default = None): if self.config is None: return None return self.config.get(config_param, default) cmd_SelectTool_help = "Select Tool" def cmd_SelectTool(self, gcmd): self.log.trace("KTCC T" + str(self.name) + " Selected.") # Allow either one. restore_mode = parse_restore_type(gcmd, 'R', None) restore_mode = parse_restore_type(gcmd, 'RESTORE_POSITION_TYPE', restore_mode) # Check if the requested tool has been remaped to another one. tool_is_remaped = self.toollock.tool_is_remaped(int(self.name)) if tool_is_remaped > -1: self.log.always("Tool %d is remaped to Tool %d" % (self.name, tool_is_remaped)) remaped_tool = self.printer.lookup_object('tool ' + str(tool_is_remaped)) remaped_tool.select_tool_actual(restore_mode) return else: self.select_tool_actual(restore_mode) # To avoid recursive remaping. def select_tool_actual(self, restore_mode = None): current_tool_id = int(self.toollock.get_status()['tool_current']) # int(self.toollock.get_tool_current()) self.log.trace("Current Tool is T" + str(current_tool_id) + ".") self.log.trace("This tool is_virtual is " + str(self.is_virtual) + ".") if current_tool_id == self.name: # If trying to select the already selected tool: return # Exit if current_tool_id < self.TOOL_UNLOCKED: msg = "TOOL_PICKUP: Unknown tool already mounted Can't park it before selecting new tool." self.log.always(msg) raise self.printer.command_error(msg) self.log.increase_tool_statistics(self.name, 'toolmounts_started') if self.extruder is not None: # If the new tool to be selected has an extruder prepare warmup before actual tool change so all unload commands will be done while heating up. self.set_heater(heater_state = self.HEATER_STATE_ACTIVE) # If optional RESTORE_POSITION_TYPE parameter is passed then save current position. # Otherwise do not change either the restore_axis_on_toolchange or saved_position. # This makes it possible to call SAVE_POSITION or SAVE_CURRENT_POSITION before the actual T command. if restore_mode is not None: self.toollock.SaveCurrentPosition(restore_mode) # Sets restore_axis_on_toolchange and saves current position # Drop any tools already mounted if not virtual on same. if current_tool_id > self.TOOL_UNLOCKED: # If there is a current tool already selected and it's a known tool. self.log.track_selected_tool_end(current_tool_id) # Log that the current tool is to be unmounted. current_tool = self.printer.lookup_object('tool ' + str(current_tool_id)) # If the next tool is not another virtual tool on the same physical tool. if int(self.physical_parent_id == self.TOOL_UNLOCKED or self.physical_parent_id) != int( current_tool.get_status()["physical_parent_id"] ): self.log.info("Will Dropoff():%s" % str(current_tool_id)) current_tool.Dropoff() current_tool_id = self.TOOL_UNLOCKED else: # If it's another virtual tool on the same parent physical tool. self.log.info("Dropoff: T" + str(current_tool_id) + "- Virtual - Running UnloadVirtual") current_tool.UnloadVirtual() # Now we asume tool has been dropped if needed be. # Check if this is a virtual tool. if not self.is_virtual: self.log.trace("cmd_SelectTool: T%s - Not Virtual - Pickup" % str(self.name)) self.Pickup() else: if current_tool_id > self.TOOL_UNLOCKED: # If still has a selected tool: (This tool is a virtual tool with same physical tool as the last) current_tool = self.printer.lookup_object('tool ' + str(current_tool_id)) self.log.trace("cmd_SelectTool: T" + str(self.name) + "- Virtual - Physical Tool is not Dropped - ") if self.physical_parent_id > self.TOOL_UNLOCKED and self.physical_parent_id == current_tool.get_status()["physical_parent_id"]: self.log.trace("cmd_SelectTool: T" + str(self.name) + "- Virtual - Same physical tool - Pickup") self.LoadVirtual() else: msg = "cmd_SelectTool: T" + str(self.name) + "- Virtual - Not Same physical tool" msg += "Shouldn't reach this because it is dropped in previous." self.log.debug(msg) raise Exception(msg) else: # New Physical tool with a virtual tool. pp = self.printer.lookup_object('tool ' + str(self.physical_parent_id)) pp_virtual_loaded = pp.get_status()["virtual_loaded"] self.log.trace("cmd_SelectTool: T" + str(self.name) + "- Virtual - Picking upp physical tool") self.Pickup() # If the new physical tool already has another virtual tool loaded: if pp_virtual_loaded > self.TOOL_UNLOCKED: if pp_virtual_loaded != self.name: self.log.info("cmd_SelectTool: T" + str(pp_virtual_loaded) + "- Virtual - Running UnloadVirtual") uv= self.printer.lookup_object('tool ' + str(pp_virtual_loaded)) if uv.extruder is not None: # If the new tool to be selected has an extruder prepare warmup before actual tool change so all unload commands will be done while heating up. curtime = self.printer.get_reactor().monotonic() # heater = self.printer.lookup_object(self.extruder).get_heater() uv.set_heater(heater_state = self.HEATER_STATE_ACTIVE) # if int(self.heater_state) == self.HEATER_STATE_ACTIVE and int(self.heater_standby_temp) < int(heater.get_status(curtime)["temperature"]): self.toollock._Temperature_wait_with_tolerance(curtime, self.extruder, 2) uv.UnloadVirtual() self.set_heater(heater_state = self.HEATER_STATE_ACTIVE) self.log.trace("cmd_SelectTool: T" + str(self.name) + "- Virtual - Picked up physical tool and now Loading virtual tool.") self.LoadVirtual() self.toollock.SaveCurrentTool(self.name) self.log.track_selected_tool_start(self.name) def Pickup(self): self.log.track_mount_start(self.name) # Log the time it takes for tool mount. # Check if homed if not self.toollock.PrinterIsHomedForToolchange(): raise self.printer.command_error("Tool.Pickup: Printer not homed and Lazy homing option for tool %s is: %s" % (str(self.name), str(self.lazy_home_when_parking))) return None # If has an extruder then activate that extruder. if self.extruder is not None: self.gcode.run_script_from_command( "ACTIVATE_EXTRUDER extruder=%s" % (self.extruder)) # Run the gcode for pickup. try: context = self.pickup_gcode_template.create_template_context() context['myself'] = self.get_status() context['toollock'] = self.toollock.get_status() self.pickup_gcode_template.run_gcode_from_command(context) except Exception as e: raise Exception("Pickup gcode: Script running error: %s" % (str(e))) # Restore fan if has a fan. if self.fan is not None: self.gcode.run_script_from_command( "SET_FAN_SPEED FAN=" + self.fan + " SPEED=" + str(self.toollock.get_status()['saved_fan_speed'])) # Set Tool specific input shaper. -- Deprecated -- if self.shaper_freq_x != 0 or self.shaper_freq_y != 0: self.log.always("shaper_freq will be deprecated. Use SET_INPUT_SHAPER inside the pickup gcode instead.") cmd = ("SET_INPUT_SHAPER" + " SHAPER_FREQ_X=" + str(self.shaper_freq_x) + " SHAPER_FREQ_Y=" + str(self.shaper_freq_y) + " DAMPING_RATIO_X=" + str(self.shaper_damping_ratio_x) + " DAMPING_RATIO_Y=" + str(self.shaper_damping_ratio_y) + " SHAPER_TYPE_X=" + str(self.shaper_type_x) + " SHAPER_TYPE_Y=" + str(self.shaper_type_y) ) self.log.trace("Pickup_inpshaper: " + cmd) self.gcode.run_script_from_command(cmd) # Save current picked up tool and print on screen. self.toollock.SaveCurrentTool(self.name) if self.is_virtual: self.log.always("Physical Tool for T%d picked up." % (self.name)) else: self.log.always("T%d picked up." % (self.name)) self.log.track_mount_end(self.name) # Log number of toolchanges and the time it takes for tool mounting. def Dropoff(self, force_virtual_unload = False): self.log.always("Dropoff: T%s - Running." % str(self.name)) self.log.track_selected_tool_end(self.name) # Log that the current tool is to be unmounted. # Check if homed if not self.toollock.PrinterIsHomedForToolchange(): self.log.always("Tool.Dropoff: Printer not homed and Lazy homing option is: " + str(self.lazy_home_when_parking)) return None # Turn off fan if has a fan. if self.fan is not None: self.gcode.run_script_from_command( "SET_FAN_SPEED FAN=" + self.fan + " SPEED=0" ) # Check if this is a virtual tool. self.log.trace("Dropoff: T" + str(self.name) + "- is_virtual: " + str(self.is_virtual)) if self.is_virtual: # Only dropoff if it is required. if self.unload_virtual_at_dropoff or force_virtual_unload: self.log.debug("T%s: unload_virtual_at_dropoff: %s, force_virtual_unload: %s" % (str(self.name), str(self.unload_virtual_at_dropoff), str(force_virtual_unload))) self.log.info("Dropoff: T" + str(self.name) + "- Virtual - Running UnloadVirtual") self.UnloadVirtual() self.log.track_unmount_start(self.name) # Log the time it takes for tool change. # Run the gcode for dropoff. try: context = self.dropoff_gcode_template.create_template_context() context['myself'] = self.get_status() context['toollock'] = self.toollock.get_status() self.dropoff_gcode_template.run_gcode_from_command(context) except Exception as e: raise Exception("Dropoff gcode: Script running error: %s" % (str(e))) self.toollock.SaveCurrentTool(self.TOOL_UNLOCKED) # Dropoff successfull self.log.track_unmount_end(self.name) # Log the time it takes for tool change. def LoadVirtual(self): self.log.info("Loading virtual tool: T%d." % self.name) self.log.track_mount_start(self.name) # Log the time it takes for tool mount. # Run the gcode for Virtual Load. try: context = self.virtual_toolload_gcode_template.create_template_context() context['myself'] = self.get_status() context['toollock'] = self.toollock.get_status() self.virtual_toolload_gcode_template.run_gcode_from_command(context) except Exception as e: raise Exception("virtual_toolload_gcode: Script running error: %s" % (str(e))) pp = self.printer.lookup_object('tool ' + str(self.physical_parent_id)) pp.set_virtual_loaded(int(self.name)) # Save current picked up tool and print on screen. self.toollock.SaveCurrentTool(self.name) self.log.trace("Virtual T%d Loaded" % (int(self.name))) self.log.track_mount_end(self.name) # Log number of toolchanges and the time it takes for tool mounting. def set_virtual_loaded(self, value = -1): self.virtual_loaded = value self.log.trace("Saved VirtualToolLoaded for T%s as: %s" % (str(self.name), str(value))) def UnloadVirtual(self): self.log.info("Unloading virtual tool: T%d." % self.name) self.log.track_unmount_start(self.name) # Log the time it takes for tool unload. # Run the gcode for Virtual Unload. try: context = self.virtual_toolunload_gcode_template.create_template_context() context['myself'] = self.get_status() context['toollock'] = self.toollock.get_status() self.virtual_toolunload_gcode_template.run_gcode_from_command(context) except Exception as e: raise Exception("virtual_toolunload_gcode: Script running error:\n%s" % str(e)) pp = self.printer.lookup_object('tool ' + str(self.physical_parent_id)) pp.set_virtual_loaded(-1) # Save current picked up tool and print on screen. self.toollock.SaveCurrentTool(self.name) self.log.trace("Virtual T%d Unloaded" % (int(self.name))) self.log.track_unmount_end(self.name) # Log the time it takes for tool unload. def set_offset(self, **kwargs): for i in kwargs: if i == "x_pos": self.offset[0] = float(kwargs[i]) elif i == "x_adjust": self.offset[0] = float(self.offset[0]) + float(kwargs[i]) elif i == "y_pos": self.offset[1] = float(kwargs[i]) elif i == "y_adjust": self.offset[1] = float(self.offset[1]) + float(kwargs[i]) elif i == "z_pos": self.offset[2] = float(kwargs[i]) elif i == "z_adjust": self.offset[2] = float(self.offset[2]) + float(kwargs[i]) self.log.always("T%d offset now set to: %f, %f, %f." % (int(self.name), float(self.offset[0]), float(self.offset[1]), float(self.offset[2]))) def _set_state(self, heater_state): self.heater_state = heater_state def set_heater(self, **kwargs): if self.extruder is None: self.log.debug("set_heater: T%d has no extruder! Nothing to do." % self.name ) return None # self.log.info("T%d heater is at begingin %s." % (self.name, self.heater_state )) heater = self.printer.lookup_object(self.extruder).get_heater() curtime = self.printer.get_reactor().monotonic() changing_timer = False # self is always pointing to virtual tool but its timers and extruder are always pointing to the physical tool. When changing multiple virtual tools heaters the statistics can remain open when changing by timers of the parent if another one got in between. # Therefore it's important for all heater statistics to only point to physical parent. if self.is_virtual == True: tool_for_tracking_heater = self.physical_parent_id else: tool_for_tracking_heater = self.name # First set state if changed, so we set correct temps. if "heater_state" in kwargs: chng_state = kwargs["heater_state"] for i in kwargs: if i == "heater_active_temp": self.heater_active_temp = kwargs[i] if int(self.heater_state) == self.HEATER_STATE_ACTIVE: heater.set_temp(self.heater_active_temp) elif i == "heater_standby_temp": self.heater_standby_temp = kwargs[i] if int(self.heater_state) == self.HEATER_STATE_STANDBY: heater.set_temp(self.heater_standby_temp) elif i == "idle_to_standby_time": self.idle_to_standby_time = kwargs[i] changing_timer = True elif i == "idle_to_powerdown_time": self.idle_to_powerdown_time = kwargs[i] changing_timer = True # If already in standby and timers are counting down, i.e. have not triggered since set in standby, then reset the ones counting down. if int(self.heater_state) == self.HEATER_STATE_STANDBY and changing_timer: if self.timer_idle_to_powerdown.get_status()["counting_down"] == True: self.timer_idle_to_powerdown.set_timer(self.idle_to_powerdown_time, self.name) if self.idle_to_powerdown_time > 2: self.log.info("T%d heater will shut down in %s seconds." % (self.name, self.log._seconds_to_human_string(self.idle_to_powerdown_time) )) if self.timer_idle_to_standby.get_status()["counting_down"] == True: self.timer_idle_to_standby.set_timer(self.idle_to_standby_time, self.name) if self.idle_to_standby_time > 2: self.log.info("T%d heater will go in standby in %s seconds." % (self.name, self.log._seconds_to_human_string(self.idle_to_standby_time) )) # Change Active mode, Continuing with part two of temp changing.: if "heater_state" in kwargs: if self.heater_state == chng_state: # If we don't actually change the state don't do anything. if chng_state == self.HEATER_STATE_ACTIVE: self.log.trace("set_heater: T%d heater state not changed. Setting active temp." % self.name ) heater.set_temp(self.heater_active_temp) elif chng_state == self.HEATER_STATE_STANDBY: self.log.trace("set_heater: T%d heater state not changed. Setting standby temp." % self.name ) heater.set_temp(self.heater_standby_temp) else: self.log.trace("set_heater: T%d heater state not changed." % self.name ) return None if chng_state == self.HEATER_STATE_OFF: # If Change to Shutdown self.log.trace("set_heater: T%d heater state now OFF." % self.name ) self.timer_idle_to_standby.set_timer(0, self.name) self.timer_idle_to_powerdown.set_timer(0.1, self.name) # self.log.track_standby_heater_end(self.name) # Set the standby as finishes in statistics. # self.log.track_active_heater_end(self.name) # Set the active as finishes in statistics. elif chng_state == self.HEATER_STATE_ACTIVE: # Else If Active self.log.trace("set_heater: T%d heater state now ACTIVE." % self.name ) self.timer_idle_to_standby.set_timer(0, self.name) self.timer_idle_to_powerdown.set_timer(0, self.name) heater.set_temp(self.heater_active_temp) self.log.track_standby_heater_end(tool_for_tracking_heater) # Set the standby as finishes in statistics. self.log.track_active_heater_start(tool_for_tracking_heater) # Set the active as started in statistics. elif chng_state == self.HEATER_STATE_STANDBY: # Else If Standby self.log.trace("set_heater: T%d heater state now STANDBY." % self.name ) if int(self.heater_state) == self.HEATER_STATE_ACTIVE and int(self.heater_standby_temp) < int(heater.get_status(curtime)["temperature"]): self.timer_idle_to_standby.set_timer(self.idle_to_standby_time, self.name) self.timer_idle_to_powerdown.set_timer(self.idle_to_powerdown_time, self.name) if self.idle_to_standby_time > 2: self.log.always("T%d heater will go in standby in %s seconds." % (self.name, self.log._seconds_to_human_string(self.idle_to_standby_time) )) else: # Else (Standby temperature is lower than the current temperature) self.log.trace("set_heater: T%d standbytemp:%d;heater_state:%d; current_temp:%d." % (self.name, int(self.heater_state), int(self.heater_standby_temp), int(heater.get_status(curtime)["temperature"]))) self.timer_idle_to_standby.set_timer(0.1, self.name) self.timer_idle_to_powerdown.set_timer(self.idle_to_powerdown_time, self.name) if self.idle_to_powerdown_time > 2: self.log.always("T%d heater will shut down in %s seconds." % (self.name, self.log._seconds_to_human_string(self.idle_to_powerdown_time))) self.heater_state = chng_state def get_timer_to_standby(self): return self.timer_idle_to_standby def get_timer_to_powerdown(self): return self.timer_idle_to_powerdown def get_status(self, eventtime= None): status = { "name": self.name, "is_virtual": self.is_virtual, "physical_parent_id": self.physical_parent_id, "extruder": self.extruder, "fan": self.fan, "lazy_home_when_parking": self.lazy_home_when_parking, "meltzonelength": self.meltzonelength, "zone": self.zone, "park": self.park, "offset": self.offset, "heater_state": self.heater_state, "heater_active_temp": self.heater_active_temp, "heater_standby_temp": self.heater_standby_temp, "idle_to_standby_time": self.idle_to_standby_time, "idle_to_powerdown_next_wake": self.idle_to_powerdown_time, "shaper_freq_x": self.shaper_freq_x, "shaper_freq_y": self.shaper_freq_y, "shaper_type_x": self.shaper_type_x, "shaper_type_y": self.shaper_type_y, "shaper_damping_ratio_x": self.shaper_damping_ratio_x, "shaper_damping_ratio_y": self.shaper_damping_ratio_y, "virtual_loaded": self.virtual_loaded, "requires_pickup_for_virtual_load": self.requires_pickup_for_virtual_load, "requires_pickup_for_virtual_unload": self.requires_pickup_for_virtual_unload, "unload_virtual_at_dropoff": self.unload_virtual_at_dropoff } return status # Based on DelayedGcode. class ToolStandbyTempTimer: TIMER_TO_SHUTDOWN = 0 TIMER_TO_STANDBY = 1 def __init__(self, printer, tool_id, temp_type): self.printer = printer self.tool_id = tool_id self.last_virtual_tool_using_physical_timer = None self.duration = 0. self.temp_type = temp_type # 0= Time to shutdown, 1= Time to standby. self.reactor = self.printer.get_reactor() self.gcode = self.printer.lookup_object('gcode') self.timer_handler = None self.inside_timer = self.repeat = False self.printer.register_event_handler("klippy:ready", self._handle_ready) self.toollock = self.printer.lookup_object('toollock') self.log = self.printer.lookup_object('ktcclog') self.counting_down = False self.nextwake = self.reactor.NEVER def _handle_ready(self): self.timer_handler = self.reactor.register_timer( self._standby_tool_temp_timer_event, self.reactor.NEVER) def _standby_tool_temp_timer_event(self, eventtime): self.inside_timer = True self.counting_down = False try: if self.last_virtual_tool_using_physical_timer is None: raise Exception("last_virtual_tool_using_physical_timer is < None") tool = self.printer.lookup_object("tool " + str(self.last_virtual_tool_using_physical_timer)) if tool.is_virtual == True: tool_for_tracking_heater = tool.physical_parent_id else: tool_for_tracking_heater = tool.name self.log.trace( "_standby_tool_temp_timer_event: Running for T%s. temp_type:%s. %s" % (str(self.tool_id), "Time to shutdown" if self.temp_type == 0 else "Time to standby", ("For virtual tool T%s" % str(self.last_virtual_tool_using_physical_timer) ) if self.last_virtual_tool_using_physical_timer != self.tool_id else "")) temperature = 0 heater = self.printer.lookup_object(tool.extruder).get_heater() if self.temp_type == self.TIMER_TO_STANDBY: self.log.track_standby_heater_start(self.tool_id) # Set the standby as started in statistics. temperature = tool.get_status()["heater_standby_temp"] heater.set_temp(temperature) # self.log.trace("_standby_tool_temp_timer_event: Running heater.set_temp(%s)" % str(temperature)) else: self.log.track_standby_heater_end(self.tool_id) # Set the standby as finishes in statistics. tool.get_timer_to_standby().set_timer(0, self.last_virtual_tool_using_physical_timer) # Stop Standby timer. #tool.get_timer_to_powerdown().set_timer(0, self.last_virtual_tool_using_physical_timer) # Stop Poweroff timer. (Already off) tool._set_state(Tool.HEATER_STATE_OFF) # Set off state. heater.set_temp(0) # Set temperature to 0. # tool.set_heater(Tool.HEATER_STATE_OFF) self.log.track_active_heater_end(self.tool_id) # Set the active as finishes in statistics. except Exception as e: raise Exception("Failed to set Standby temp for tool T%s: %s. %s" % (str(self.tool_id), ("for virtual T%s" % str(self.last_virtual_tool_using_physical_timer)), str(e))) # if actual_tool_calling != self.tool_id else "" self.nextwake = self.reactor.NEVER if self.repeat: self.nextwake = eventtime + self.duration self.counting_down = True self.inside_timer = self.repeat = False return self.nextwake def set_timer(self, duration, actual_tool_calling): actual_tool_calling = actual_tool_calling self.log.trace(str(self.timer_handler) + ".set_timer: T%s %s, temp_type:%s, duration:%s." % ( str(self.tool_id), ("for virtual T%s" % str(actual_tool_calling)) if actual_tool_calling != self.tool_id else "", ("Standby" if self.temp_type == 1 else "OFF"), str(duration))) self.duration = float(duration) self.last_virtual_tool_using_physical_timer = actual_tool_calling if self.inside_timer: self.repeat = (self.duration != 0.) else: waketime = self.reactor.NEVER if self.duration: waketime = self.reactor.monotonic() + self.duration self.nextwake = waketime self.reactor.update_timer(self.timer_handler, waketime) self.counting_down = True def get_status(self, eventtime= None): status = { # "tool": self.tool, "temp_type": self.temp_type, "duration": self.duration, "counting_down": self.counting_down, "next_wake": self._time_left() } return status def _time_left(self): if self.nextwake == self.reactor.NEVER: return "never" else: return str( self.nextwake - self.reactor.monotonic() ) # Todo: # Inspired by https://github.com/jschuh/klipper-macros/blob/main/layers.cfg class MeanLayerTime: def __init__(self, printer): # Run before toolchange to set time like in StandbyToolTimer. # Save time for last 5 (except for first) layers # Provide a mean layer time. # Have Tool have a min and max 2standby time. # If mean time for 3 layers is higher than max, then set min time. # Reset time if layer time is higher than max time. Pause or anything else that has happened. # Function to reset layer times. pass def load_config_prefix(config): return Tool(config) ================================================ FILE: toolgroup.py ================================================ # KTCC - Klipper Tool Changer Code # Toolgroup module, used to group Tools and derived from Tool. # # Copyright (C) 2023 Andrei Ignat # # This file may be distributed under the terms of the GNU GPLv3 license. # # To try to keep terms apart: # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. # Pickup: Tool is physically picked up and attached to the toolchanger head. # Droppoff: Tool is physically parked and dropped of the toolchanger head. # ToolLock: Toollock is engaged. # ToolUnLock: Toollock is disengaged. class ToolGroup: def __init__(self, config): self.printer = config.get_printer() self.name = config.get_name().split(' ')[1] self.config = config # gcode_macro = self.printer.load_object(config, 'gcode_macro') try: _, name = config.get_name().split(' ', 1) self.name = int(name) except ValueError: raise config.error( "Name of section '%s' contains illegal characters. Use only integer ToolGroup number." % (config.get_name())) self.is_virtual = config.getboolean( # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent 'is_virtual', False) self.physical_parent_id = config.getint( # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. 'physical_parent', None) self.lazy_home_when_parking = config.get('lazy_home_when_parking', 0) # (default: 0) - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. # -1 = none, 1= Only load filament, 2= Wipe in front of carriage, 3= Pebble wiper, 4= First Silicone, then pebble. Defaults to 0. self.pickup_gcode = config.get('pickup_gcode', '') self.dropoff_gcode = config.get('dropoff_gcode', '') self.virtual_toolload_gcode = config.get('virtual_toolload_gcode', '') self.virtual_toolunload_gcode = config.get('virtual_toolunload_gcode', '') self.meltzonelength = config.get('meltzonelength', 0) self.idle_to_standby_time = config.getfloat( 'idle_to_standby_time', 30, minval = 0.1) self.idle_to_powerdown_time = config.getfloat( 'idle_to_powerdown_time', 600, minval = 0.1) self.requires_pickup_for_virtual_load = self.config.getboolean("requires_pickup_for_virtual_load", True) self.requires_pickup_for_virtual_unload = self.config.getboolean("requires_pickup_for_virtual_unload", True) self.unload_virtual_at_dropoff = self.config.getboolean("unload_virtual_at_dropoff", True) def get_config(self, config_param, default = None): return self.config.get(config_param, default) def get_status(self, eventtime= None): status = { "is_virtual": self.is_virtual, "physical_parent_id": self.physical_parent_id, "lazy_home_when_parking": self.lazy_home_when_parking, "meltzonelength": self.meltzonelength, "idle_to_standby_time": self.idle_to_standby_time, "idle_to_powerdown_time": self.idle_to_powerdown_time, "requires_pickup_for_virtual_load": self.requires_pickup_for_virtual_load, "requires_pickup_for_virtual_unload": self.requires_pickup_for_virtual_unload, "unload_virtual_at_dropoff": self.unload_virtual_at_dropoff } return status def load_config_prefix(config): return ToolGroup(config) ================================================ FILE: toollock.py ================================================ # KTCC - Klipper Tool Changer Code # Toollock and general Tool support # # Copyright (C) 2023 Andrei Ignat # # This file may be distributed under the terms of the GNU GPLv3 license. # # To try to keep terms apart: # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. # Pickup: Tool is physically picked up and attached to the toolchanger head. # Droppoff: Tool is physically parked and dropped of the toolchanger head. # ToolLock: Toollock is engaged. # ToolUnLock: Toollock is disengaged. class ToolLock: TOOL_UNKNOWN = -2 TOOL_UNLOCKED = -1 BOOT_DELAY = 1.5 # Delay before running bootup tasks VARS_KTCC_TOOL_MAP = "ktcc_state_tool_remap" def __init__(self, config): self.printer = config.get_printer() self.reactor = self.printer.get_reactor() self.gcode = self.printer.lookup_object('gcode') gcode_macro = self.printer.load_object(config, 'gcode_macro') self.global_offset = config.get('global_offset', "0,0,0") if isinstance(self.global_offset, str): offset_list = self.global_offset.split(',') if len(offset_list) == 3 and all(x.replace('.', '').isdigit() for x in offset_list): self.global_offset = [float(x) for x in offset_list] else: raise ValueError("global_offset is not a string containing 3 float numbers separated by ,") else: raise TypeError("global_offset is not a string") self.saved_fan_speed = 0 # Saved partcooling fan speed when deselecting a tool with a fan. self.tool_current = "-2" # -2 Unknown tool locked, -1 No tool locked, 0 and up are tools. self.init_printer_to_last_tool = config.getboolean( 'init_printer_to_last_tool', True) self.purge_on_toolchange = config.getboolean( 'purge_on_toolchange', True) self.saved_position = None self.restore_axis_on_toolchange = '' # string of axis to restore: XYZ self.log = self.printer.load_object(config, 'ktcclog') self.tool_map = {} self.last_endstop_query = {} self.changes_made_by_set_all_tool_heaters_off={} # G-Code macros self.tool_lock_gcode_template = gcode_macro.load_template(config, 'tool_lock_gcode', '') self.tool_unlock_gcode_template = gcode_macro.load_template(config, 'tool_unlock_gcode', '') # Register commands handlers = [ 'SAVE_CURRENT_TOOL', 'TOOL_LOCK', 'TOOL_UNLOCK', 'KTCC_TOOL_DROPOFF_ALL', 'SET_AND_SAVE_FAN_SPEED', 'TEMPERATURE_WAIT_WITH_TOLERANCE', 'SET_TOOL_TEMPERATURE', 'SET_GLOBAL_OFFSET', 'SET_TOOL_OFFSET', 'SET_PURGE_ON_TOOLCHANGE', 'SAVE_POSITION', 'SAVE_CURRENT_POSITION', 'RESTORE_POSITION', 'KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL', 'KTCC_DISPLAY_TOOL_MAP', 'KTCC_REMAP_TOOL', 'KTCC_ENDSTOP_QUERY', 'KTCC_SET_ALL_TOOL_HEATERS_OFF', 'KTCC_RESUME_ALL_TOOL_HEATERS'] for cmd in handlers: func = getattr(self, 'cmd_' + cmd) desc = getattr(self, 'cmd_' + cmd + '_help', None) self.gcode.register_command(cmd, func, False, desc) self.printer.register_event_handler("klippy:ready", self.handle_ready) def handle_ready(self): # Load persistent Tool remaping. self.tool_map = self.printer.lookup_object('save_variables').allVariables.get(self.VARS_KTCC_TOOL_MAP, {}) waketime = self.reactor.monotonic() + self.BOOT_DELAY self.reactor.register_callback(self._bootup_tasks, waketime) def _bootup_tasks(self, eventtime): try: if len(self.tool_map) > 0: self.log.always(self._tool_map_to_human_string()) self.Initialize_Tool_Lock() except Exception as e: self.log.always('Warning: Error booting up KTCC: %s' % str(e)) def Initialize_Tool_Lock(self): if not self.init_printer_to_last_tool: return None # self.log.always("Initialize_Tool_Lock running.") save_variables = self.printer.lookup_object('save_variables') try: self.tool_current = save_variables.allVariables["tool_current"] except: self.tool_current = "-1" save_variables.cmd_SAVE_VARIABLE(self.gcode.create_gcode_command( "SAVE_VARIABLE", "SAVE_VARIABLE", {"VARIABLE": "tool_current", 'VALUE': self.tool_current })) if str(self.tool_current) == "-1": self.cmd_TOOL_UNLOCK() self.log.always("ToolLock initialized unlocked") else: t = self.tool_current self.ToolLock(True) self.SaveCurrentTool(str(t)) self.log.always("ToolLock initialized with T%s." % self.tool_current) cmd_TOOL_LOCK_help = "Lock the ToolLock." def cmd_TOOL_LOCK(self, gcmd = None): self.ToolLock() def ToolLock(self, ignore_locked = False): self.log.trace("TOOL_LOCK running. ") if not ignore_locked and int(self.tool_current) != -1: self.log.always("TOOL_LOCK is already locked with tool " + self.tool_current + ".") else: self.tool_lock_gcode_template.run_gcode_from_command() self.SaveCurrentTool("-2") self.log.trace("Tool Locked") self.log.increase_statistics('total_toollocks') cmd_KTCC_TOOL_DROPOFF_ALL_help = "Deselect all tools" def cmd_KTCC_TOOL_DROPOFF_ALL(self, gcmd = None): self.log.trace("KTCC_TOOL_DROPOFF_ALL running. ")# + gcmd.get_raw_command_parameters()) if self.tool_current == "-2": raise self.printer.command_error("cmd_KTCC_TOOL_DROPOFF_ALL: Unknown tool already mounted Can't park unknown tool.") if self.tool_current != "-1": self.printer.lookup_object('tool ' + str(self.tool_current)).Dropoff( force_virtual_unload = True ) try: # Need to check all tools at least once but reload them after each time. all_checked_once = False while not all_checked_once: all_tools = dict(self.printer.lookup_objects('tool')) all_checked_once =True # If no breaks in next For loop then we can exit the While loop. for tool_name, tool in all_tools.items(): # If there is a virtual tool loaded: if tool.get_status()["virtual_loaded"] > self.TOOL_UNLOCKED: # Pickup and then unload and drop the tool. self.log.trace("cmd_KTCC_TOOL_DROPOFF_ALL: Picking up and dropping forced: %s." % str(tool.get_status()["virtual_loaded"])) self.printer.lookup_object("tool " + str(tool.get_status()["virtual_loaded"])).select_tool_actual() self.printer.lookup_object("tool " + str(tool.get_status()["virtual_loaded"])).Dropoff( force_virtual_unload = True ) all_checked_once =False # Do not exit while loop. break # Break for loop to start again. except Exception as e: raise Exception('cmd_KTCC_TOOL_DROPOFF_ALL: Error: %s' % str(e)) cmd_TOOL_UNLOCK_help = "Unlock the ToolLock." def cmd_TOOL_UNLOCK(self, gcmd = None): self.log.trace("TOOL_UNLOCK running. ") self.tool_unlock_gcode_template.run_gcode_from_command() self.SaveCurrentTool(-1) self.log.trace("ToolLock Unlocked.") self.log.increase_statistics('total_toolunlocks') def PrinterIsHomedForToolchange(self, lazy_home_when_parking =0): curtime = self.printer.get_reactor().monotonic() toolhead = self.printer.lookup_object('toolhead') homed = toolhead.get_status(curtime)['homed_axes'].lower() if all(axis in homed for axis in ['x','y','z']): return True elif lazy_home_when_parking == 0 and not all(axis in homed for axis in ['x','y','z']): return False elif lazy_home_when_parking == 1 and 'z' not in homed: return False axes_to_home = "" for axis in ['x', 'y', 'z']: if axis not in homed: axes_to_home += axis self.gcode.run_script_from_command("G28 " + axes_to_home.upper()) return True def SaveCurrentTool(self, t): self.tool_current = str(t) save_variables = self.printer.lookup_object('save_variables') save_variables.cmd_SAVE_VARIABLE(self.gcode.create_gcode_command( "SAVE_VARIABLE", "SAVE_VARIABLE", {"VARIABLE": "tool_current", 'VALUE': t})) cmd_SAVE_CURRENT_TOOL_help = "Save the current tool to file to load at printer startup." def cmd_SAVE_CURRENT_TOOL(self, gcmd): t = gcmd.get_int('T', None, minval=-2) if t is not None: self.SaveCurrentTool(t) cmd_SET_AND_SAVE_FAN_SPEED_help = "Save the fan speed to be recovered at ToolChange." def cmd_SET_AND_SAVE_FAN_SPEED(self, gcmd): fanspeed = gcmd.get_float('S', 1, minval=0, maxval=255) tool_id = gcmd.get_int('P', int(self.tool_current), minval=0) # The minval above doesn't seem to work. if tool_id < 0: self.log.always("cmd_SET_AND_SAVE_FAN_SPEED: Invalid tool:"+str(tool_id)) return None # self.log.trace("ToolLock.cmd_SET_AND_SAVE_FAN_SPEED: Change fan speed for T%s to %f." % (str(tool_id), fanspeed)) # If value is >1 asume it is given in 0-255 and convert to percentage. if fanspeed > 1: fanspeed=float(fanspeed / 255.0) self.SetAndSaveFanSpeed(tool_id, fanspeed) # # Todo: # Implement Fan Scale. Inspired by https://github.com/jschuh/klipper-macros/blob/main/fans.cfg # Can change fan scale for diffrent materials or tools from slicer. Maybe max and min too? # def SetAndSaveFanSpeed(self, tool_id, fanspeed): # Check if the requested tool has been remaped to another one. tool_is_remaped = self.tool_is_remaped(int(tool_id)) if tool_is_remaped > -1: tool_id = tool_is_remaped tool = self.printer.lookup_object("tool " + str(tool_id)) if tool.fan is None: self.log.debug("ToolLock.SetAndSaveFanSpeed: Tool %s has no fan." % str(tool_id)) else: self.SaveFanSpeed(fanspeed) self.gcode.run_script_from_command( "SET_FAN_SPEED FAN=%s SPEED=%f" % (tool.fan, fanspeed)) cmd_TEMPERATURE_WAIT_WITH_TOLERANCE_help = "Waits for current tool temperature, or a specified (TOOL) tool or (HEATER) heater's temperature within (TOLERANCE) tolerance." # Waits for all temperatures, or a specified tool or heater's temperature. # This command can be used without any additional parameters. # Without parameters it waits for bed and current extruder. # Only one of either P or H may be used. # # TOOL=nnn Tool number. # HEATER=nnn Heater number. 0="heater_bed", 1="extruder", 2="extruder1", etc. # TOLERANCE=nnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. def cmd_TEMPERATURE_WAIT_WITH_TOLERANCE(self, gcmd): curtime = self.printer.get_reactor().monotonic() heater_name = None tool_id = gcmd.get_int('TOOL', None, minval=0) heater_id = gcmd.get_int('HEATER', None, minval=0) tolerance = gcmd.get_int('TOLERANCE', 1, minval=0, maxval=50) if tool_id is not None and heater_id is not None: self.log.always("cmd_TEMPERATURE_WAIT_WITH_TOLERANCE: Can't use both P and H parameter at the same time.") return None elif tool_id is None and heater_id is None: tool_id = self.tool_current if int(self.tool_current) >= 0: heater_name = self.printer.lookup_object("tool " + self.tool_current).get_status()["extruder"] #wait for bed self._Temperature_wait_with_tolerance(curtime, "heater_bed", tolerance) else: # Only heater or tool is specified if tool_id is not None: # Check if the requested tool has been remaped to another one. tool_is_remaped = self.tool_is_remaped(int(tool_id)) if tool_is_remaped > -1: tool_id = tool_is_remaped heater_name = self.printer.lookup_object( # Set the heater_name to the extruder of the tool. "tool " + str(tool_id)).get_status(curtime)["extruder"] elif heater_id == 0: # Else If 0, then heater_bed. heater_name = "heater_bed" # Set heater_name to "heater_bed". elif heater_id == 1: # Else If h is 1 then use for first extruder. heater_name = "extruder" # Set heater_name to first extruder which has no number. else: # Else is another heater number. heater_name = "extruder" + str(heater_id - 1) # Because bed is heater_number 0 extruders will be numbered one less than H parameter. if heater_name is not None: self._Temperature_wait_with_tolerance(curtime, heater_name, tolerance) def _Temperature_wait_with_tolerance(self, curtime, heater_name, tolerance): target_temp = int(self.printer.lookup_object( # Get the heaters target temperature. heater_name).get_status(curtime)["target"] ) if target_temp > 40: # Only wait if set temperature is over 40*C self.log.always("Wait for heater " + heater_name + " to reach " + str(target_temp) + " with a tolerance of " + str(tolerance) + ".") self.gcode.run_script_from_command( "TEMPERATURE_WAIT SENSOR=" + heater_name + " MINIMUM=" + str(target_temp - tolerance) + " MAXIMUM=" + str(target_temp + tolerance) ) self.log.always("Wait for heater " + heater_name + " complete.") def _get_tool_id_from_gcmd(self, gcmd): tool_id = gcmd.get_int('TOOL', None, minval=0) if tool_id is None: tool_id = self.tool_current if not int(tool_id) > self.TOOL_UNLOCKED: self.log.always("_get_tool_id_from_gcmd: Tool " + str(tool_id) + " is not valid.") return None else: # Check if the requested tool has been remaped to another one. tool_is_remaped = self.tool_is_remaped(int(tool_id)) if tool_is_remaped > self.TOOL_UNLOCKED: tool_id = tool_is_remaped return tool_id cmd_SET_TOOL_TEMPERATURE_help = "Waits for all temperatures, or a specified (TOOL) tool or (HEATER) heater's temperature within (TOLERANCE) tolerance." # Set tool temperature. # TOOL= Tool number, optional. If this parameter is not provided, the current tool is used. # STDB_TMP= Standby temperature(s), optional # ACTV_TMP= Active temperature(s), optional # CHNG_STATE = Change Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). # STDB_TIMEOUT = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. # Use for example 0.1 to change immediately to standby temperature. # SHTDWN_TIMEOUT = Time in seconds to wait from docking tool to shutting off the heater, optional. # Use for example 86400 to wait 24h if you want to disable shutdown timer. def cmd_SET_TOOL_TEMPERATURE(self, gcmd): tool_id = self._get_tool_id_from_gcmd(gcmd) if tool_id is None: return stdb_tmp = gcmd.get_float('STDB_TMP', None, minval=0) actv_tmp = gcmd.get_float('ACTV_TMP', None, minval=0) chng_state = gcmd.get_int('CHNG_STATE', None, minval=0, maxval=2) stdb_timeout = gcmd.get_float('STDB_TIMEOUT', None, minval=0) shtdwn_timeout = gcmd.get_float('SHTDWN_TIMEOUT', None, minval=0) if self.printer.lookup_object("tool " + str(tool_id)).get_status()["extruder"] is None: self.log.trace("cmd_SET_TOOL_TEMPERATURE: T%s has no extruder! Nothing to do." % str(tool_id)) return None tool = self.printer.lookup_object("tool " + str(tool_id)) set_heater_cmd = {} if stdb_tmp is not None: set_heater_cmd["heater_standby_temp"] = int(stdb_tmp) if actv_tmp is not None: set_heater_cmd["heater_active_temp"] = int(actv_tmp) if stdb_timeout is not None: set_heater_cmd["idle_to_standby_time"] = stdb_timeout if shtdwn_timeout is not None: set_heater_cmd["idle_to_powerdown_time"] = shtdwn_timeout if chng_state is not None: set_heater_cmd["heater_state"] = chng_state # tool.set_heater(heater_state= chng_state) if len(set_heater_cmd) > 0: tool.set_heater(**set_heater_cmd) else: # Print out the current set of temperature settings for the tool if no changes are provided. msg = "T%s Current Temperature Settings" % str(tool_id) msg += "\n Active temperature %s - %d*C - Active to Standby timer: %d seconds" % ( "*" if tool.heater_state == 2 else " ", tool.heater_active_temp, tool.idle_to_standby_time) msg += "\n Standby temperature %s - %d*C - Standby to Off timer: %d seconds" % ( "*" if tool.heater_state == 1 else " ", tool.heater_standby_temp, tool.idle_to_powerdown_time) if tool.heater_state != 3: if tool.timer_idle_to_standby.get_status()["next_wake"] == True: msg += "\n Will go to standby temperature in in %s seconds." % tool.timer_idle_to_standby.get_status()["next_wake"] if tool.timer_idle_to_powerdown.get_status()["counting_down"] == True: msg += "\n Will power down in %s seconds." % tool.timer_idle_to_powerdown.get_status()["next_wake"] gcmd.respond_info(msg) cmd_KTCC_SET_ALL_TOOL_HEATERS_OFF_help = "Turns off all heaters and saves changes made to be resumed by KTCC_RESUME_ALL_TOOL_HEATERS." def cmd_KTCC_SET_ALL_TOOL_HEATERS_OFF(self, gcmd): self.set_all_tool_heaters_off() def set_all_tool_heaters_off(self): all_tools = dict(self.printer.lookup_objects('tool')) self.changes_made_by_set_all_tool_heaters_off = {} try: for tool_name, tool in all_tools.items(): if tool.get_status()["extruder"] is None: # self.log.trace("set_all_tool_heaters_off: T%s has no extruder! Nothing to do." % str(tool_name)) continue if tool.get_status()["heater_state"] == 0: # self.log.trace("set_all_tool_heaters_off: T%s already off! Nothing to do." % str(tool_name)) continue self.log.trace("set_all_tool_heaters_off: T%s saved with heater_state: %str." % ( str(tool_name), str(tool.get_status()["heater_state"]))) self.changes_made_by_set_all_tool_heaters_off[tool_name] = tool.get_status()["heater_state"] tool.set_heater(heater_state = 0) except Exception as e: raise Exception('set_all_tool_heaters_off: Error: %s' % str(e)) cmd_KTCC_RESUME_ALL_TOOL_HEATERS_help = "Resumes all heaters previously turned off by KTCC_SET_ALL_TOOL_HEATERS_OFF." def cmd_KTCC_RESUME_ALL_TOOL_HEATERS(self, gcmd): self.resume_all_tool_heaters() def resume_all_tool_heaters(self): try: # Loop it 2 times, first for all heaters standby and then the active. for tool_name, v in self.changes_made_by_set_all_tool_heaters_off.items(): if v == 1: self.printer.lookup_object(str(tool_name)).set_heater(heater_state = v) for tool_name, v in self.changes_made_by_set_all_tool_heaters_off.items(): if v == 2: self.printer.lookup_object(str(tool_name)).set_heater(heater_state = v) except Exception as e: raise Exception('set_all_tool_heaters_off: Error: %s' % str(e)) cmd_SET_TOOL_OFFSET_help = "Set an individual tool offset" def cmd_SET_TOOL_OFFSET(self, gcmd): tool_id = self._get_tool_id_from_gcmd(gcmd) if tool_id is None: return x_pos = gcmd.get_float('X', None) x_adjust = gcmd.get_float('X_ADJUST', None) y_pos = gcmd.get_float('Y', None) y_adjust = gcmd.get_float('Y_ADJUST', None) z_pos = gcmd.get_float('Z', None) z_adjust = gcmd.get_float('Z_ADJUST', None) tool = self.printer.lookup_object("tool " + str(tool_id)) set_offset_cmd = {} if x_pos is not None: set_offset_cmd["x_pos"] = x_pos elif x_adjust is not None: set_offset_cmd["x_adjust"] = x_adjust if y_pos is not None: set_offset_cmd["y_pos"] = y_pos elif y_adjust is not None: set_offset_cmd["y_adjust"] = y_adjust if z_pos is not None: set_offset_cmd["z_pos"] = z_pos elif z_adjust is not None: set_offset_cmd["z_adjust"] = z_adjust if len(set_offset_cmd) > 0: tool.set_offset(**set_offset_cmd) cmd_SET_GLOBAL_OFFSET_help = "Set the global tool offset" def cmd_SET_GLOBAL_OFFSET(self, gcmd): x_pos = gcmd.get_float('X', None) x_adjust = gcmd.get_float('X_ADJUST', None) y_pos = gcmd.get_float('Y', None) y_adjust = gcmd.get_float('Y_ADJUST', None) z_pos = gcmd.get_float('Z', None) z_adjust = gcmd.get_float('Z_ADJUST', None) if x_pos is not None: self.global_offset[0] = float(x_pos) elif x_adjust is not None: self.global_offset[0] = float(self.global_offset[0]) + float(x_adjust) if y_pos is not None: self.global_offset[1] = float(y_pos) elif y_adjust is not None: self.global_offset[1] = float(self.global_offset[1]) + float(y_adjust) if z_pos is not None: self.global_offset[2] = float(z_pos) elif z_adjust is not None: self.global_offset[2] = float(self.global_offset[2]) + float(z_adjust) self.log.trace("Global offset now set to: %f, %f, %f." % (float(self.global_offset[0]), float(self.global_offset[1]), float(self.global_offset[2]))) cmd_SET_PURGE_ON_TOOLCHANGE_help = "Set the global variable if the tool should be purged or primed with filament at toolchange." def cmd_SET_PURGE_ON_TOOLCHANGE(self, gcmd = None): param = gcmd.get('VALUE', 'FALSE') if param.upper() == 'FALSE' or param == '0': self.purge_on_toolchange = False else: self.purge_on_toolchange = True def SaveFanSpeed(self, fanspeed): self.saved_fan_speed = float(fanspeed) cmd_SAVE_POSITION_help = "Save the specified G-Code position." # Sets the Restore type and saves specified position. # With no parameters it will set Restore type to 0, no restore. # Othervise will restore what is saved. def cmd_SAVE_POSITION(self, gcmd): param_X = gcmd.get_float('X', None) param_Y = gcmd.get_float('Y', None) param_Z = gcmd.get_float('Z', None) self.SavePosition(param_X, param_Y, param_Z) def SavePosition(self, param_X = None, param_Y = None, param_Z = None): self.saved_position = [param_X, param_Y, param_Z] restore_axis = '' if param_X is not None: restore_axis += 'X' if param_Y is not None: restore_axis += 'Y' if param_Z is not None: restore_axis += 'Z' self.restore_axis_on_toolchange = restore_axis cmd_SAVE_CURRENT_POSITION_help = "Save the current G-Code position." # Saves current position. # RESTORE_POSITION_TYPE= Type of restore, optional. If not specified, restore_axis_on_toolchange will not be changed. # 0: No restore # 1: Restore XY # 2: Restore XYZ # XYZ: Restore specified axis def cmd_SAVE_CURRENT_POSITION(self, gcmd): # Save optional RESTORE_POSITION_TYPE parameter to restore_axis_on_toolchange variable. restore_axis = parse_restore_type(gcmd, 'RESTORE_POSITION_TYPE') self.SaveCurrentPosition(restore_axis) def SaveCurrentPosition(self, restore_axis = None): if restore_axis is not None: self.restore_axis_on_toolchange = restore_axis gcode_move = self.printer.lookup_object('gcode_move') self.saved_position = gcode_move._get_gcode_position() cmd_RESTORE_POSITION_help = "Restore a previously saved G-Code position if it was specified in the toolchange T# command." # Restores the previously saved possition according to # With no parameters it will Restore to previousley saved type. # RESTORE_POSITION_TYPE= Type of restore, optional. If not specified, previousley saved restore_axis_on_toolchange will be used. # 0: No restore # 1: Restore XY # 2: Restore XYZ # XYZ: Restore specified axis def cmd_RESTORE_POSITION(self, gcmd): self.restore_axis_on_toolchange = parse_restore_type(gcmd, 'RESTORE_POSITION_TYPE', default=self.restore_axis_on_toolchange) self.log.trace("cmd_RESTORE_POSITION running: " + str(self.restore_axis_on_toolchange)) speed = gcmd.get_int('F', None) if not self.restore_axis_on_toolchange: return # No axis to restore if self.saved_position is None: raise gcmd.error("No previously saved g-code position.") try: p = self.saved_position cmd = 'G1' for t in self.restore_axis_on_toolchange: cmd += ' %s%.3f' % (t, p[XYZ_TO_INDEX[t]]) if speed: cmd += " F%i" % (speed,) # Restore position self.log.trace("cmd_RESTORE_POSITION running: " + cmd) self.gcode.run_script_from_command(cmd) except: raise gcmd.error("Could not restore position.") def get_status(self, eventtime= None): status = { "global_offset": self.global_offset, "tool_current": self.tool_current, "saved_fan_speed": self.saved_fan_speed, "purge_on_toolchange": self.purge_on_toolchange, "restore_axis_on_toolchange": self.restore_axis_on_toolchange, "saved_position": self.saved_position, "last_endstop_query": self.last_endstop_query } return status cmd_KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL_help = "Set G-Code offset to the one of current tool." # Sets the G-Code offset to the one of the current tool. # With no parameters it will not move the toolhead. # MOVE= If should move the toolhead, optional. If not specified, it will not move. # 0: No move # 1: Move def cmd_KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL(self, gcmd): current_tool_id = int(self.get_status()['tool_current']) # int(self.toollock.get_tool_current()) self.log.trace("Setting offsets to those of T" + str(current_tool_id) + ".") if current_tool_id <= self.TOOL_UNLOCKED: msg = "KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL: Unknown tool mounted. Can't set offsets." self.log.always(msg) # raise self.printer.command_error(msg) else: # If optional MOVE parameter is passed as 0 or 1 param_Move = gcmd.get_int('MOVE', 0, minval=0, maxval=1) current_tool = self.printer.lookup_object('tool ' + str(current_tool_id)) self.log.trace("SET_GCODE_OFFSET X=%s Y=%s Z=%s MOVE=%s" % (str(current_tool.offset[0]), str(current_tool.offset[1]), str(current_tool.offset[2]), str(param_Move))) self.gcode.run_script_from_command("SET_GCODE_OFFSET X=%s Y=%s Z=%s MOVE=%s" % (str(current_tool.offset[0]), str(current_tool.offset[1]), str(current_tool.offset[2]), str(param_Move))) ########################################### # TOOL REMAPING # ########################################### def _set_tool_to_tool(self, from_tool, to_tool): #Check first if to_tool is a valid tool. tools = self.printer.lookup_objects('tool') if not [item for item in tools if item[0] == ("tool " + str(to_tool))]: self.log.always("Tool %s not a valid tool" % str(to_tool)) return False # Set the new tool. self.tool_map[from_tool] = to_tool self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE='%s'" % (self.VARS_KTCC_TOOL_MAP, self.tool_map)) def _tool_map_to_human_string(self): msg = "Number of tools remaped: " + str(len(self.tool_map)) for from_tool, to_tool in self.tool_map.items(): msg += "\nTool %s-> Tool %s" % ( str(from_tool), str(to_tool)) return msg def tool_is_remaped(self, tool_to_check): if tool_to_check in self.tool_map: return self.tool_map[tool_to_check] else: return -1 def _remap_tool(self, tool, gate, available): self._set_tool_to_tool(tool, gate) # self._set_tool_status(gate, available) def _reset_tool_mapping(self): self.log.debug("Resetting Tool map") self.tool_map = {} self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE='%s'" % (self.VARS_KTCC_TOOL_MAP, self.tool_map)) ### GCODE COMMANDS FOR TOOL REMAP LOGIC ################################## cmd_KTCC_DISPLAY_TOOL_MAP_help = "Display the current mapping of tools to other KTCC tools." # Used with endless spool" in the future def cmd_KTCC_DISPLAY_TOOL_MAP(self, gcmd): summary = gcmd.get_int('SUMMARY', 0, minval=0, maxval=1) self.log.always(self._tool_map_to_human_string()) cmd_KTCC_REMAP_TOOL_help = "Remap a tool to another one." def cmd_KTCC_REMAP_TOOL(self, gcmd): reset = gcmd.get_int('RESET', 0, minval=0, maxval=1) if reset == 1: self._reset_tool_mapping() else: from_tool = gcmd.get_int('TOOL', -1, minval=0) to_tool = gcmd.get_int('SET', minval=0) available = 1 #gcmd.get_int('AVAILABLE', -1, minval=0, maxval=1) #For future endless spool mode. # if available == -1: # available = self.tool_status[to_tool] if from_tool != -1: self._remap_tool(from_tool, to_tool, available) # else: # self._set_tool_status(to_tool, available) self.log.info(self._tool_map_to_human_string()) ### GCODE COMMANDS FOR witing on endstop (Jubilee sytle toollock) ################################## cmd_KTCC_ENDSTOP_QUERY_help = "Wait for a ENDSTOP= untill it is TRIGGERED=0/[1] or ATEMPTS=#" def cmd_KTCC_ENDSTOP_QUERY(self, gcmd): endstop_name = gcmd.get('ENDSTOP') #'manual_stepper tool_lock' should_be_triggered = bool(gcmd.get_int('TRIGGERED', 1, minval=0, maxval=1)) atempts = gcmd.get_int('ATEMPTS', -1, minval=1) self.query_endstop(endstop_name, should_be_triggered, atempts) def query_endstop(self, endstop_name, should_be_triggered=True, atempts=-1): # Get endstops endstop = None query_endstops = self.printer.lookup_object('query_endstops') for es, name in query_endstops.endstops: if name == endstop_name: endstop = es break if endstop is None: raise Exception("Unknown endstop '%s'" % (endstop_name)) toolhead = self.printer.lookup_object("toolhead") eventtime = self.reactor.monotonic() dwell = 0.1 if atempts == -1: dwell = 1.0 i=0 while not self.printer.is_shutdown(): i += 1 last_move_time = toolhead.get_last_move_time() is_triggered = bool(endstop.query_endstop(last_move_time)) self.log.trace("Check #%d of %s endstop: %s" % (i, endstop_name, ("Triggered" if is_triggered else "Not Triggered"))) if is_triggered == should_be_triggered: break # If not running continuesly then check for atempts. if atempts > 0 and atempts <= i: break eventtime = self.reactor.pause(eventtime + dwell) # if i > 1 or atempts == 1: # self.log.debug("Endstop %s is %s Triggered after #%d checks." % (endstop_name, ("" if is_triggered else "Not"), i)) self.last_endstop_query[endstop_name] = is_triggered # parses legacy type into string of axis names. # Raises gcode error on fail def parse_restore_type(gcmd, arg_name, default = None): type = gcmd.get(arg_name, None) if type is None: return default elif type == '0': return '' elif type == '1': return 'XY' elif type == '2': return 'XYZ' # Validate this is XYZ for c in type: if c not in XYZ_TO_INDEX: raise gcmd.error("Invalid RESTORE_POSITION_TYPE") return type XYZ_TO_INDEX = {'x': 0, 'X':0, 'y':1, 'Y': 1, 'z': 2, 'Z':2} INDEX_TO_XYZ = ['X','Y','Z'] def load_config(config): return ToolLock(config)