├── doc ├── 085afe.png ├── 0fefa9.png ├── 1589F0.png ├── c5f015.png ├── f03c15.png ├── f98b00.png ├── fe3263.png ├── discord+ktc.png ├── TODO.md ├── state_ref.md ├── command_ref.md └── configuration.md ├── .github └── FUNDING.yml ├── macros ├── optional_rrf_compability │ ├── G10.cfg │ ├── M116.cfg │ └── M568.cfg └── base │ ├── M107.cfg │ ├── M104.cfg │ ├── M106.cfg │ └── M109.cfg ├── .vscode └── settings.json ├── config ├── PrusaSlicer_Custom_Gcode.md └── example_config │ ├── TOOL_MACROS.cfg │ ├── simple │ └── simple_example.cfg │ └── complete │ └── complete_example.cfg ├── .gitignore ├── extensions ├── ktc_persisting.py ├── ktc_toolchanger.py ├── ktc_tool.py ├── ktc_heater.py └── ktc_base.py ├── README.md ├── install.sh ├── Dev_doc.md └── LICENSE /doc/085afe.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/085afe.png -------------------------------------------------------------------------------- /doc/0fefa9.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/0fefa9.png -------------------------------------------------------------------------------- /doc/1589F0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/1589F0.png -------------------------------------------------------------------------------- /doc/c5f015.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/c5f015.png -------------------------------------------------------------------------------- /doc/f03c15.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/f03c15.png -------------------------------------------------------------------------------- /doc/f98b00.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/f98b00.png -------------------------------------------------------------------------------- /doc/fe3263.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/fe3263.png -------------------------------------------------------------------------------- /doc/discord+ktc.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/KTC/HEAD/doc/discord+ktc.png -------------------------------------------------------------------------------- /.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | # These are supported funding model platforms 2 | 3 | github: TypQxQ 4 | -------------------------------------------------------------------------------- /macros/optional_rrf_compability/G10.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro G10] 2 | description: See M568. Passtrough to M568. 3 | gcode: 4 | M568 {rawparams} -------------------------------------------------------------------------------- /macros/optional_rrf_compability/M116.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M116] 2 | description: [T | P | H] [S] [W] 3 | Alias for M109. 4 | gcode: 5 | M109 {rawparams} -------------------------------------------------------------------------------- /macros/base/M107.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M107] 2 | description: [T | P] 3 | Turn off fan. 4 | T= Tool number (optional, defaults to the currently selected tool). 5 | P= Tool Number (Same as T. Use one or the other, not both). 6 | gcode: 7 | {% set newparameters = "" %} # Parameters to be passed on to subroutines. 8 | 9 | {% if params.P is defined %} 10 | {% set newparameters = " P"~params.P %} 11 | {% elif params.T is defined %} 12 | {% set newparameters = " P"~params.T %} 13 | {% endif %} 14 | 15 | M106{newparameters} S0 16 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "pylint.args": [ 3 | "--disable=E0611", 4 | "--disable=C0410 ", 5 | "--disable=W0719", 6 | "--disable=C0209", 7 | "--disable=C0115", 8 | "--disable=C0116", 9 | "--disable=W0718", 10 | "--disable=C0114", 11 | "--disable=C0112", 12 | "--disable=W0201" 13 | ], 14 | "python.analysis.typeCheckingMode": "standard", 15 | // "python.analysis.extraPaths": [ 16 | // "../klipper/klippy/" 17 | // ] 18 | "python.analysis.diagnosticSeverityOverrides": { 19 | "reportArgumentType": "none" 20 | }, 21 | } -------------------------------------------------------------------------------- /doc/TODO.md: -------------------------------------------------------------------------------- 1 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Planed To do: 2 | - Mainsail integration 3 | - KlipperScreen integration 4 | - Add selectable automatic calculation of active times based on previous times. Ex: 5 | - Mean Layer time Standby mode. - Save time at every layerchange and at toolchange set to mean time of last 3 layers *2 or at last layer *1.5 with a Maximum and a minimum time. Needs to be analyzed further. 6 | - Save the time it was in Standby last time and apply a fuzzfactor. Put tool in standby and heatup with presumption that next time will be aproximatley after the same time as last. +/- Fuzzfactor. 7 | -------------------------------------------------------------------------------- /macros/base/M104.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M104] 2 | rename_existing: M104.1 3 | description: [T | P] [S] 4 | Set tool temperature. 5 | T= Tool number (optional, defaults to the currently selected tool). 6 | P= Tool number (Same as T. Use one or the other, not both). 7 | S= Active temperature(s), optional. If this parameter is not provided, the temperature is set to 0. 8 | gcode: 9 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 10 | 11 | # P= Tool number and optional T. 12 | {% if params.P is defined %} 13 | {% set newparameters = newparameters ~ " P="~params.P %} 14 | {% elif params.T is defined %} 15 | {% set newparameters = newparameters ~ " P="~params.T %} 16 | {% endif %} 17 | 18 | # S= Active temperature 19 | {% if params.S is defined %} 20 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} 21 | {% endif %} 22 | 23 | {action_respond_info("M104: Running: KTC_TOOL_SET_TEMPERATURE"~newparameters)} 24 | KTC_TOOL_SET_TEMPERATURE{newparameters} 25 | -------------------------------------------------------------------------------- /macros/base/M106.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M106] 2 | variable_fan_speed: 0 3 | description: [T | P] [S] 4 | Set fan speed. A KTC tool must be configured for this to work. 5 | S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed). 6 | T= Tool (optional, defaults to the currently selected tool). 7 | P= Tool (Same as T. Use one or the other, not both). 8 | The P parameter specifies tool instead of fan number as in RRF. 9 | If no S value is given, the fan speed is set to 1 (full speed). 10 | If no T or P value is given, the currently active tool is used. 11 | gcode: 12 | {% set newparameters = "" %} # Parameters to be passed on to subroutines in new format. 13 | 14 | # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 15 | {% if params.S is defined %} 16 | {% set newparameters = newparameters ~ " S="~params.S %} 17 | {% endif %} 18 | 19 | # P= Tool number and optional T. 20 | {% if params.P is defined %} 21 | {% set newparameters = newparameters ~ " P="~params.P %} 22 | {% elif params.T is defined %} 23 | {% set newparameters = newparameters ~ " P="~params.T %} 24 | {% endif %} 25 | 26 | KTC_SET_AND_SAVE_PARTFAN_SPEED{newparameters} 27 | -------------------------------------------------------------------------------- /config/PrusaSlicer_Custom_Gcode.md: -------------------------------------------------------------------------------- 1 | Here are the custom G-codes I use in PrusaSlicer on my ToolChanger as an example. 2 | This haven't been updated so use with caution 3 | 4 | Start G-code: 5 | - I don't heat the tools before actually using them so I don't degrade filament. 6 | - Using e3d Revo the heatup times for the tools are verry fast. 7 | ``` 8 | KTCC_INIT_PRINT_STATS 9 | 10 | ; Heat the bed first 11 | M140 S[first_layer_bed_temperature] 12 | ; Wait for bed to reach temperature with 2 degrees tolerance 13 | M116 H0 W2 14 | M568 P[initial_extruder] R{if not is_nil(idle_temperature[initial_extruder])} R{idle_temperature[initial_extruder]}{else} R100{endif} S{first_layer_temperature[initial_extruder]} A1 15 | 16 | G28 17 | 18 | G0 Z3 F5000 ; Ensure nozzle is at 3mm over the bed 19 | T[initial_extruder] ; Mount extruder first used (even if only one extruder used). Waits for temperature inside the script. 20 | ``` 21 | 22 | End G-code 23 | ``` 24 | ; Custom gcode to run at end of print 25 | M104 S0 ; turn off temperature 26 | G10 P0 S0 R0 A0 ; turn off extruder 0 27 | G10 P1 S0 R0 A0 ; turn off extruder 1 28 | G10 P2 S0 R0 A0 ; turn off extruder 2 29 | M140 S0 ; turn off bed 30 | T_1 ; dropoff current tool 31 | G91 ; relative moves 32 | G0 Z20 ; move bed down another 30mm 33 | G90 ; absolute moves 34 | G0 X1 Y1 F30000 ; Move toolhead out of the way 35 | SAVE_POSITION ; Reset saved position. 36 | KTCC_DUMP_PRINT_STATS ; Print statistics to console. 37 | ``` 38 | 39 | ToolChange G-code 40 | - Sets the temperature before activating the tool in case this is the first time the tool is selected. 41 | - On first layer it sets the temperature for the next tool to first layer temperature. 42 | ``` 43 | {if layer_num < 1}M568 P[next_extruder] {if not is_nil(idle_temperature[initial_extruder])} R{idle_temperature[initial_extruder]}{else} R100{endif} S{first_layer_temperature[next_extruder]} A2 ;First layer temperature 44 | {else}M568 P[next_extruder] {if not is_nil(idle_temperature[initial_extruder])} R{idle_temperature[initial_extruder]}{else} R100{endif} S{first_layer_temperature[next_extruder]} A2 ;Other layer temperature 45 | {endif} 46 | G91 ; relative moves 47 | G0 Z1 ; move bed down 1mm to add a Z-hop style on toolchange. 48 | G90 ; absolute moves 49 | T{next_extruder} ; Actual ToolChange 50 | ``` 51 | -------------------------------------------------------------------------------- /macros/base/M109.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M109] 2 | rename_existing: M109.1 3 | description: [T | P | H] [S] [W] 4 | Turn off fan. 5 | T= Tool number (optional, defaults to the currently selected tool). 6 | P= Tool Number (Same as T. Use one or the other, not both). 7 | H= Heater number, optional. Defaults to 0. If H is specified, P and T are ignored. 8 | S= Temperature in degC to wait for. Used together with P or T. The command will set the active temperature of the specified tool to this value and set the tool to active mode. 9 | W= Tolerance in degC, optional. Wait will wait until heater is between set temperature +/- tolerance. 10 | Waits for all temperatures, or a specified tool or heater's temperature. 11 | This command can be used without any additional parameters. 12 | Without parameters it waits for bed and current extruder. 13 | Defaults to 1*C for faster response. Newer hardware is not as sensitive. 14 | gcode: 15 | {% set newparameters = "" %} # Parameters to be passed to subroutine in new format. 16 | 17 | # H= Heater 18 | {% if params.H is defined %} 19 | {% set newparameters = newparameters ~ " HEATER=" ~ params.H %} 20 | {% endif %} 21 | 22 | # P= Tool number and optional T. 23 | {% if params.P is defined %} 24 | {% set newparameters = newparameters ~ " T=" ~ params.P %} 25 | {% elif params.T is defined %} 26 | {% set newparameters = newparameters ~ " T=" ~ params.T %} 27 | {% endif %} 28 | 29 | # S= Active temperature 30 | {% if params.S is defined and ( params.T is defined or params.P is defined) %} 31 | {% set newTempParameters = newparameters ~ " ACTV_TMP="~params.S ~ " CHNG_STATE=2" %} # Set heater_active_temp to new parameters. 32 | # {action_respond_info("M109: Running: KTC_TOOL_SET_TEMPERATURE"~newTempParameters)} 33 | KTC_TOOL_SET_TEMPERATURE{newTempParameters} 34 | {% endif %} 35 | 36 | # W= Tolerance 37 | {% if params.W is defined %} 38 | {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.W %} # Set Tolerance to new parameters. 39 | # {% else %} 40 | # {% set newparameters = newparameters ~ " TOLERANCE=1" %} # Set Tolerance to default of 1. 41 | {% endif %} 42 | 43 | {action_respond_info("M109: Running: KTC_TEMPERATURE_WAIT_WITH_TOLERANCE"~newparameters)} 44 | KTC_TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} 45 | -------------------------------------------------------------------------------- /macros/optional_rrf_compability/M568.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M568] 2 | description: [T | P] [S] [R] [A] [N] [O] 3 | Set tool temperature. 4 | T= Tool number (optional, defaults to the currently selected tool). 5 | P= Tool number (Same as T. Use one or the other, not both). 6 | R= Standby temperature(s), optional 7 | S= Active temperature(s), optional 8 | A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). 9 | N = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature. 10 | Use for example 0.1 to change immediately to standby temperature. 11 | O = Time in seconds to wait from being set in standby to turning off the heater. 12 | This is for example useful if the tool is not to be used for a long time. 13 | Use for example 86400 to wait 24h if you want to disable shutdown timer. 14 | 15 | 16 | gcode: 17 | # RESPOND MSG="M568: Seting new temperature: {rawparams}" 18 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 19 | 20 | # P= Tool number 21 | {% if params.P is defined %} 22 | {% set newparameters = newparameters ~ " T=" ~ params.P %} 23 | {% elif params.T is defined %} 24 | {% set newparameters = newparameters ~ " T=" ~ params.T %} 25 | {% endif %} 26 | 27 | # R= Standby temperature 28 | {% if params.R is defined %} 29 | {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. 30 | {% endif %} 31 | 32 | # S= Active temperature 33 | {% if params.S is defined %} 34 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. 35 | {% endif %} 36 | 37 | # N = Time in seconds to wait from docking tool to putting the heater in standy 38 | {% if params.N is defined %} 39 | {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set heater_active_to_standby_delay to new parameters. 40 | {% endif %} 41 | 42 | # M = Time in seconds to wait from docking tool to shuting off the heater 43 | {% if params.O is defined %} 44 | {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set heater_active_to_powerdown_delay to new parameters. 45 | {% endif %} 46 | 47 | # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature 48 | {% if params.A is defined %} 49 | {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set heater_active_to_powerdown_delay to new parameters. 50 | {% endif %} 51 | 52 | {action_respond_info("M568: Running: KTC_TOOL_SET_TEMPERATURE"~newparameters)} 53 | KTC_TOOL_SET_TEMPERATURE{newparameters} 54 | -------------------------------------------------------------------------------- /config/example_config/TOOL_MACROS.cfg: -------------------------------------------------------------------------------- 1 | ######################################################################## 2 | # Tool change macros for Mainsail compability 3 | ####################################################################### 4 | [gcode_macro T_1] 5 | gcode: KTC_DESELECT_ALL 6 | [gcode_macro T0] 7 | variable_active: 0 8 | gcode: _SET_ACTIVE_TOOL TOOL=0 9 | [gcode_macro T1] 10 | variable_active: 0 11 | gcode: _SET_ACTIVE_TOOL TOOL=1 12 | [gcode_macro T2] 13 | variable_active: 0 14 | gcode: _SET_ACTIVE_TOOL TOOL=2 15 | [gcode_macro T3] 16 | variable_active: 0 17 | gcode: _SET_ACTIVE_TOOL TOOL=3 18 | [gcode_macro T4] 19 | variable_active: 0 20 | gcode: _SET_ACTIVE_TOOL TOOL=4 21 | [gcode_macro T5] 22 | variable_active: 0 23 | gcode: _SET_ACTIVE_TOOL TOOL=5 24 | [gcode_macro T6] 25 | variable_active: 0 26 | gcode: _SET_ACTIVE_TOOL TOOL=6 27 | [gcode_macro T7] 28 | variable_active: 0 29 | gcode: _SET_ACTIVE_TOOL TOOL=7 30 | [gcode_macro T8] 31 | variable_active: 0 32 | gcode: _SET_ACTIVE_TOOL TOOL=8 33 | [gcode_macro T9] 34 | variable_active: 0 35 | gcode: _SET_ACTIVE_TOOL TOOL=9 36 | [gcode_macro T10] 37 | variable_active: 0 38 | gcode: _SET_ACTIVE_TOOL TOOL=10 39 | [gcode_macro T11] 40 | variable_active: 0 41 | gcode: _SET_ACTIVE_TOOL TOOL=11 42 | [gcode_macro T49] 43 | variable_active: 0 44 | gcode: _SET_ACTIVE_TOOL TOOL=49 45 | 46 | [gcode_macro T20] 47 | variable_active: 0 48 | gcode: _SET_ACTIVE_TOOL TOOL=20 49 | 50 | [gcode_macro TOOL_DROPOFF] 51 | gcode: 52 | KTC_DESELECT_ALL 53 | SUB_SET_ALL_TOOLS_DEACTIVE 54 | 55 | 56 | [gcode_macro _SET_ACTIVE_TOOL] 57 | description: Sets the active tool in mainsail (and all others inactive) 58 | gcode: 59 | SUB_SET_ALL_TOOLS_DEACTIVE 60 | {% set TOOL = params.TOOL|default(-1)|int %} 61 | SET_GCODE_VARIABLE MACRO=T{TOOL} VARIABLE=active VALUE=1 62 | KTC_T{TOOL} 63 | 64 | [gcode_macro SUB_SET_ALL_TOOLS_DEACTIVE] 65 | description: Sets the active tool in mainsail (and all others inactive) 66 | gcode: 67 | SET_GCODE_VARIABLE MACRO=T0 VARIABLE=active VALUE=0 68 | SET_GCODE_VARIABLE MACRO=T1 VARIABLE=active VALUE=0 69 | SET_GCODE_VARIABLE MACRO=T2 VARIABLE=active VALUE=0 70 | SET_GCODE_VARIABLE MACRO=T3 VARIABLE=active VALUE=0 71 | SET_GCODE_VARIABLE MACRO=T4 VARIABLE=active VALUE=0 72 | SET_GCODE_VARIABLE MACRO=T5 VARIABLE=active VALUE=0 73 | SET_GCODE_VARIABLE MACRO=T6 VARIABLE=active VALUE=0 74 | SET_GCODE_VARIABLE MACRO=T7 VARIABLE=active VALUE=0 75 | SET_GCODE_VARIABLE MACRO=T8 VARIABLE=active VALUE=0 76 | SET_GCODE_VARIABLE MACRO=T9 VARIABLE=active VALUE=0 77 | SET_GCODE_VARIABLE MACRO=T10 VARIABLE=active VALUE=0 78 | SET_GCODE_VARIABLE MACRO=T11 VARIABLE=active VALUE=0 79 | SET_GCODE_VARIABLE MACRO=T49 VARIABLE=active VALUE=0 80 | 81 | 82 | [gcode_macro TOOL_UNLOCK] 83 | gcode: 84 | KTC_TOOLCHANGER_DISENGAGE TOOLCHANGER=Jubilee 85 | 86 | [gcode_macro TOOL_LOCK] 87 | gcode: 88 | KTC_TOOLCHANGER_ENGAGE TOOLCHANGER=Jubilee 89 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; otherwise, check them in: 88 | # .python-version 89 | 90 | # pipenv 91 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 92 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 93 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 94 | # install all needed dependencies. 95 | #Pipfile.lock 96 | 97 | # poetry 98 | # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. 99 | # This is especially recommended for binary packages to ensure reproducibility, and is more 100 | # commonly ignored for libraries. 101 | # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control 102 | #poetry.lock 103 | 104 | # pdm 105 | # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. 106 | #pdm.lock 107 | # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it 108 | # in version control. 109 | # https://pdm.fming.dev/#use-with-ide 110 | .pdm.toml 111 | 112 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm 113 | __pypackages__/ 114 | 115 | # Celery stuff 116 | celerybeat-schedule 117 | celerybeat.pid 118 | 119 | # SageMath parsed files 120 | *.sage.py 121 | 122 | # Environments 123 | .env 124 | .venv 125 | env/ 126 | venv/ 127 | ENV/ 128 | env.bak/ 129 | venv.bak/ 130 | 131 | # Spyder project settings 132 | .spyderproject 133 | .spyproject 134 | 135 | # Rope project settings 136 | .ropeproject 137 | 138 | # mkdocs documentation 139 | /site 140 | 141 | # mypy 142 | .mypy_cache/ 143 | .dmypy.json 144 | dmypy.json 145 | 146 | # Pyre type checker 147 | .pyre/ 148 | 149 | # pytype static type analyzer 150 | .pytype/ 151 | 152 | # Cython debug symbols 153 | cython_debug/ 154 | 155 | # PyCharm 156 | # JetBrains specific template is maintained in a separate JetBrains.gitignore that can 157 | # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore 158 | # and can be added to the global gitignore or merged into this file. For a more nuclear 159 | # option (not recommended) you can uncomment the following to ignore the entire idea folder. 160 | #.idea/ 161 | -------------------------------------------------------------------------------- /config/example_config/simple/simple_example.cfg: -------------------------------------------------------------------------------- 1 | # Example of a KTC configuration file for a 2 tool printer. 2 | # This assumes that the printer is configured with 2 extruders and 2 part cooling fans: 3 | # - [extruder0] and [fan_generic partfan_t0] for the first extruder and part cooling fan 4 | # - [extruder1] and [fan_generic partfan_t1] for the second extruder and part cooling fan 5 | 6 | [ktc_tool 0] 7 | tool_number: 0 8 | heater: extruder 9 | fans: partfan_t0 10 | params_park:198,50, 0 11 | 12 | [ktc_tool 1] 13 | tool_number: 1 14 | heater: extruder1 15 | fans: partfan_t1 16 | params_park:198,150, 0 17 | 18 | [ktc] 19 | # Tool change gcode that will be inherited by all tools not overriding it. 20 | tool_select_gcode: 21 | # myself will be replaced with the tool that is selected 22 | KTC_TOOL_SET_TEMPERATURE TOOL={myself.name} CHNG_STATE=2 # Put tool heater in Active mode so heating while moving 23 | 24 | SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of pickup code 25 | G90 26 | 27 | ############## Move in to parking spot ############## 28 | G0 X150 F40000 # Fast move X inside the safezone, so we don't crash into other tools. 29 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 30 | G0 X{myself.params_park[0]} F3000 # Slow Move to the pickup position for tool. 31 | 32 | ############## Atach Tool ############## 33 | # Asume attached 34 | 35 | ############## Tool Z Offset ############## 36 | SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. 37 | 38 | ############## Wait for heater ############## 39 | {% if myself.heater_names|length > 0 %} # If the tool has an extruder: 40 | ACTIVATE_EXTRUDER EXTRUDER={myself.heater_names[0]} # Activate the extruder 41 | KTC_TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. 42 | {% endif %} # / 43 | 44 | ############## Move out ############## 45 | G0 X150 F6000 # Slow Move to the zone position for tool. 46 | 47 | ############## Finnish up ############## 48 | M400 # Wait for current moves to finish. 49 | 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. 50 | # Set the toolhead offsets. Needs to be after any RESTORE_GCODE_STATE! 51 | SET_GCODE_OFFSET X={myself.offset[0]} Y={myself.offset[1]} Z={myself.offset[2]} MOVE=0 52 | 53 | tool_deselect_gcode: 54 | # myself will be replaced with the tool that is deselected 55 | 56 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 57 | SAVE_GCODE_STATE NAME=TOOL_DROPOFF # Save GCode state. 58 | G90 # Absolute positions 59 | 60 | ############## Move in to parking spot ############## 61 | G0 X150 F40000 # Move X and 62 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 63 | G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. 64 | 65 | ############## Detach Tool ############## 66 | G0 Y{myself.zone[1]|float - 15} F40000 # Detach tool 67 | 68 | G0 X150 F40000 # Fast Move to the general pickup position for tools. 69 | 70 | RESTORE_GCODE_STATE NAME=TOOL_DROPOFF MOVE=0 # Restore Gcode state 71 | SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. -------------------------------------------------------------------------------- /doc/state_ref.md: -------------------------------------------------------------------------------- 1 | # Macros used by KTC have this object states accesible 2 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) **KTC** - Is always accessible 3 | - `global_offset` - Global offset. 4 | - `active_tool` - Name of the active tool. Special names are: 'tool_unknown' and 'tool_none'. 5 | - `active_tool_n` - Tool Number if any of the active tool. Special numbers are: -2 for 'tool_unknown' and -1 for 'tool_none'. 6 | - `saved_fan_speed` - Speed saved at each fanspeedchange to be recovered at Toolchange. 7 | - `state` - State of KTC, one of STATE_TYPE. 8 | - `tools` - List of all tool names. 9 | - `toolchangers` - List of all toolchangers. 10 | - `params_available` - List of available custom parameters as specified in the configuration file. 11 | - `params_*` - parameter in the above list. 12 | 13 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) **Tool** - The tool calling this macro is referenced as `myself` in `tool_select_gcode:` and `tool_deselect_gcode:`. One can write `{myself.name}` which would return `3` for a tool named so. 14 | - `name` - Tool name. 0, 1, 2, etc. 15 | - `number` - Tool number. 16 | - `state` - State of the tool, one of STATE_TYPE. 17 | - `toolchanger` - Name of toolchanger this tool is on. 18 | - `heater_names` - List of heaters this tool has. 19 | - `heater_state` - Current state for the tools heaters. 0 = off, 1 = standby temperature, 2 = active temperature. 20 | - `fans` - List of fans this tool has. 21 | - `offset` - Tool offset as a list of [X,Y,Z]. Global offset is added if set. 22 | - `heater_active_temp` - Temperature to set when in active mode. 23 | - `heater_standby_temp` - Temperature to set when in standby mode. 24 | - `heater_active_to_standby_delay` - Time in seconds from setting temperature to standby that the temperature actualy changes. Use 0.1 to change imediatley to standby temperature. 25 | - `standby_to_powerdown_delay` - 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. 26 | - `params_available` - List of available custom parameters as specified in the configuration file. 27 | - `params_*` - parameter in the above list. 28 | 29 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) **Toolchanger** - The toolchanger calling this macro is referenced as `myself` in `init_gcode:`, `engage_gcode:` and `disengage_gcode:`. One can write `{myself.name}` which would return `Jubilee` for a toolchanger named so. 30 | - `name` - Tool name. 0, 1, 2, etc. 31 | - `selected_tool` - Name of the selected tool. Special names are: 'tool_unknown' and 'tool_none'. 32 | - `selected_tool_n` - Tool Number if any of the selected tool. Special numbers are: -2 for 'tool_unknown' and -1 for 'tool_none'. 33 | - `init_mode` - When this toolchanger is initialized: 'manual', 'on_start' or 'on_first_use' 34 | - `state` - State of the toolchanger, one of STATE_TYPE. 35 | - `tools` - List of all tool names attached to this toolchanger. 36 | - `params_available` - List of available custom parameters as specified in the configuration file. 37 | - `params_*` - parameter in the above list. 38 | 39 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) **STATE_TYPE** Constant valuse that the state of ktc, a tool or toolchanger can have. 40 | States can be set like: `KTC_SET_STATE TOOLCHANGER={myself.name} STATE=READY` 41 | - `ERROR` - Toolchanger or tool is in error state. 42 | - `NOT_CONFIGURED` - Toolchanger or tool is not configured. 43 | - `CONFIGURING` - Toolchanger or tool is configuring. 44 | - `CONFIGURED` - Toolchanger or tool is configured but not initialized. 45 | - `UNINITIALIZED` - Toolchanger or tool is uninitialized. 46 | - `INITIALIZING` - Toolchanger or tool is initializing. 47 | - `INITIALIZED` - Toolchanger or tool is initialized but not ready. 48 | - `READY` - Toolchanger or tool is ready to be used. 49 | - `CHANGING` - Toolchanger or tool is changing tool. 50 | - `ENGAGING` - Toolchanger is engaging. 51 | - `SELECTING` - Tool is selecting. 52 | - `DISENGAGING` - Toolchanger or tool is disengaging. 53 | - `DESELECTING` - Tool is deselecting. 54 | - `ENGAGED` - Tollchanger or tool is engaged. 55 | - `SELECTED` - Tool is selected. 56 | - `ACTIVE` - Tool is active as main engaged tool for ktc. 57 | -------------------------------------------------------------------------------- /config/example_config/complete/complete_example.cfg: -------------------------------------------------------------------------------- 1 | # Under development 2 | 3 | # Example of a KTC configuration file for a 5 tool printer and 2 toolchangers. 4 | # This assumes that the printer is configured with 2 extruders and 2 part cooling fans: 5 | # - [extruder0] and [fan_generic partfan_t0] for the first extruder and part cooling fan 6 | # - [extruder1] and [fan_generic partfan_t1] for the second extruder and part cooling fan 7 | # - This asumes that the printer also has a ERCF MMU unit with 3 gates configured with HappyHare. 8 | 9 | # Object tree inheritance: 10 | # - KTC 11 | # Jubilee 12 | # Tool 0 13 | # ERCF 14 | # Tool 2 15 | # Tool 3 16 | # Tool 4 17 | # Tool 1 18 | 19 | 20 | [ktc_toolchanger Jubilee] 21 | 22 | [ktc_tool 0] 23 | tool_number: 0 24 | heater: extruder 25 | fans: partfan_t0 26 | params_park:198,50, 0 27 | 28 | [ktc_tool 1] 29 | tool_number: 1 30 | heater: extruder1 31 | fans: partfan_t1 32 | params_park:198,150, 0 33 | 34 | [ktc_toolchanger ERCF] 35 | parent_tool: 0 36 | tool_deselect_gcode: 37 | # This code will be inherited by ktc_tool 2, 3 and 4. 38 | MMU_EJECT 39 | 40 | [ktc_tool 2] 41 | tool_select_gcode: 42 | # This code will not be inherited. 43 | MMU_CHANGE_TOOL TOOL=0 STANDALONE=1 44 | 45 | [ktc_tool 3] 46 | tool_select_gcode: 47 | MMU_CHANGE_TOOL TOOL=1 STANDALONE=1 48 | 49 | [ktc_tool 4] 50 | tool_select_gcode: 51 | MMU_CHANGE_TOOL TOOL=2 STANDALONE=1 52 | 53 | [ktc] 54 | default_toolchanger = Jubilee 55 | 56 | # Tool change gcode that will be inherited by all tools not overriding it. 57 | tool_select_gcode: 58 | # myself will be replaced with the tool that is selected 59 | # This code will be inherited by Jubillee and on untill overriden by tool 2, 3 or 4. 60 | KTC_TOOL_SET_TEMPERATURE TOOL={myself.name} CHNG_STATE=2 # Put tool heater in Active mode so heating while moving 61 | 62 | SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of pickup code 63 | G90 64 | 65 | ############## Move in to parking spot ############## 66 | G0 X150 F40000 # Fast move X inside the safezone, so we don't crash into other tools. 67 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 68 | G0 X{myself.params_park[0]} F3000 # Slow Move to the pickup position for tool. 69 | 70 | ############## Atach Tool ############## 71 | # Asume attached 72 | 73 | ############## Tool Z Offset ############## 74 | SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. 75 | 76 | ############## Wait for heater ############## 77 | {% if myself.heater_names|length > 0 %} # If the tool has an extruder: 78 | ACTIVATE_EXTRUDER EXTRUDER={myself.heater_names[0]} # Activate the extruder 79 | KTC_TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. 80 | {% endif %} # / 81 | 82 | ############## Move out ############## 83 | G0 X150 F6000 # Slow Move to the zone position for tool. 84 | 85 | ############## Finnish up ############## 86 | M400 # Wait for current moves to finish. 87 | 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. 88 | # Set the toolhead offsets. Needs to be after any RESTORE_GCODE_STATE! 89 | SET_GCODE_OFFSET X={myself.offset[0]} Y={myself.offset[1]} Z={myself.offset[2]} MOVE=0 90 | 91 | tool_deselect_gcode: 92 | # myself will be replaced with the tool that is deselected 93 | # This code will be inherited by Jubillee and on untill overriden by ERCF. 94 | 95 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 96 | SAVE_GCODE_STATE NAME=TOOL_DROPOFF # Save GCode state. 97 | G90 # Absolute positions 98 | 99 | ############## Move in to parking spot ############## 100 | G0 X150 F40000 # Move X and 101 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 102 | G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. 103 | 104 | ############## Detach Tool ############## 105 | G0 Y{myself.zone[1]|float - 15} F40000 # Detach tool 106 | 107 | G0 X150 F40000 # Fast Move to the general pickup position for tools. 108 | 109 | RESTORE_GCODE_STATE NAME=TOOL_DROPOFF MOVE=0 # Restore Gcode state 110 | SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. -------------------------------------------------------------------------------- /extensions/ktc_persisting.py: -------------------------------------------------------------------------------- 1 | # KTC - Klipper Tool Changer code (v.2) 2 | # Persistent storage of variables for the KTC 3 | # 4 | # Copyright (C) 2024 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | # 8 | 9 | # This is based on the Klipper save_variables.py to be able to 10 | # save variables from KTC inddependent of other plugins. 11 | # Using the default save_variables.py will cause conflicts when 12 | # other plugins such as HappyHare tries to reference the file again. 13 | # This will use a different filename to avoid this incompatibility. 14 | # 15 | # This module will also only save the variables when needed and no more. 16 | # This is to avoid excessive writes to the SD card and overhaed on the system. 17 | 18 | import os.path, ast, configparser, typing 19 | 20 | # Only import these modules in Dev environment. Consult Dev_doc.md for more info. 21 | if typing.TYPE_CHECKING: 22 | from ...klipper.klippy import configfile 23 | from ...klipper.klippy import klippy, reactor 24 | from. import ktc_log 25 | 26 | # Constant values moved here to avoid circular imports 27 | KTC_SAVE_VARIABLES_FILENAME = "~/ktc_variables.cfg" 28 | KTC_SAVE_VARIABLES_DELAY = 10 29 | 30 | class KtcPersisting: 31 | def __init__(self, config: 'configfile.ConfigWrapper'): 32 | self.printer : 'klippy.Printer' = config.get_printer() 33 | self.reactor: 'reactor.Reactor' = self.printer.get_reactor() 34 | self.log = typing.cast('ktc_log.KtcLog', self.printer.load_object( 35 | config, "ktc_log" 36 | )) 37 | 38 | self.filename = os.path.expanduser(KTC_SAVE_VARIABLES_FILENAME) 39 | 40 | self.content = {} 41 | self.ready_to_save = False 42 | 43 | # Set up timer to only save values when needed 44 | # and no more than once every 10 seconds to allow for 45 | # multiple changes and avoid excessive writes 46 | self.timer_save = self.reactor.register_timer( 47 | self._save_changes_timer_event, 48 | self.reactor.monotonic() + (KTC_SAVE_VARIABLES_DELAY), 49 | ) 50 | 51 | try: 52 | if not os.path.exists(self.filename): 53 | open(self.filename, "w", encoding="utf-8").close() 54 | self.load_content() 55 | except Exception as e: 56 | raise e.with_traceback(e.__traceback__) 57 | 58 | # Remove the timer when Klipper shuts down 59 | def disconnect(self): 60 | self.reactor.update_timer(self.timer_save, self.reactor.NEVER) 61 | 62 | def load_content(self): 63 | sections = {} 64 | varfile = configparser.ConfigParser() 65 | try: 66 | varfile.read(self.filename) 67 | # Load variables for each section 68 | for section in varfile.sections(): 69 | sections[section] = {} 70 | for name, val in varfile.items(section): 71 | sections[section][name] = ast.literal_eval(val) 72 | except Exception as e: 73 | msg = "Unable to parse existing KTC variable file: %s" % (self.filename,) 74 | raise Exception(msg) from e 75 | self.content = sections 76 | 77 | def save_variable(self, varname: str, value: str, section: str = "Variables", 78 | force_save: bool = False): 79 | try: 80 | value = ast.literal_eval(value) 81 | except ValueError as e: 82 | raise Exception("Unable to parse '%s' as a literal: %s" % (value, e)) from e 83 | 84 | if section not in self.content: 85 | self.content[section] = {} 86 | 87 | self.content[section][varname] = value 88 | self.ready_to_save = True 89 | 90 | if force_save: 91 | self.force_save() 92 | 93 | def force_save(self): 94 | self.ready_to_save = True 95 | self._save_changes_timer_event(self.reactor.monotonic()) 96 | 97 | def _save_changes_timer_event(self, eventtime): 98 | try: 99 | if self.ready_to_save: 100 | self.ready_to_save = False 101 | 102 | # Write file 103 | varfile = configparser.ConfigParser() 104 | for section, variables in sorted(self.content.items()): 105 | varfile.add_section(section) 106 | for name, val in sorted(variables.items()): 107 | varfile.set(section, name, repr(val)) 108 | 109 | f = open(self.filename, "w", encoding="utf-8") 110 | varfile.write(f) 111 | f.close() 112 | except Exception as e: 113 | self.log.debug("_save_changes_timer_event:Exception: %s" % (str(e))) 114 | raise e.with_traceback(e.__traceback__) 115 | nextwake = eventtime + KTC_SAVE_VARIABLES_DELAY 116 | return nextwake 117 | 118 | def get_status(self, eventtime=None): # pylint: disable=unused-argument 119 | status = { 120 | "content": self.content, 121 | } 122 | return status 123 | 124 | 125 | def load_config(config): 126 | return KtcPersisting(config) 127 | -------------------------------------------------------------------------------- /doc/command_ref.md: -------------------------------------------------------------------------------- 1 | # KTC - Command Reference 2 | 3 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Basic Toolchanger functionality 4 | | Command | Description | 5 | | ------- | ----------- | 6 | | `KTC_TOOLCHANGER_ENGAGE [TOOLCHANGER=] [DISREGARD_ENGAGED=<0\|1>]` | Engage or lock the tool. | 7 | | `KTC_TOOLCHANGER_DISENGAGE [TOOLCHANGER=] [DISREGARD_DISENGAGED=<0\|1>]` | Disengage or unlock from the tool. | 8 | | `KTC_T` | Select the tool with number. | 9 | | `KTC_DESELECT_ALL` | Recursivley deselects all tools. | 10 | | `KTC_TOOL_SET_TEMPERATURE [TOOL= \| T=] [ACTV_TMP=] [STDB_TMP=] [CHNG_STATE=<0\|1\|2>\|] [STDB_TIMEOUT=] [SHTDWN_TIMEOUT=]` | Change temperature settings for active or specified tool. | 11 | | `KTC_SET_AND_SAVE_PARTFAN_SPEED [TOOL= \| T=] [S=]` | Set the part cooling fan speed for the active or specified tool. If no speed value is specified, the fan will run at full speed by default. | 12 | | `KTC_TEMPERATURE_WAIT_WITH_TOLERANCE [TOOL= \| T=] [TOLERANCE=<0-9>]` | Waits for the specified tool or heater's temperature to reach its target temperature with a set tolerance. The default tolerance is 1°C. If no tool or heater is specified, it waits for all temperatures to reach their target temperatures. | 13 |
14 | 15 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Offset commands 16 | | Command | Description | 17 | | ------- | ----------- | 18 | | `KTC_GLOBAL_OFFSET_SAVE [ [[X=] [Y=] [Z=]] \| [[X_ADJUST=] [Y_ADJUST=] [Z_ADJUST=]] ]` | Set a global position offset that is applied to all tool offsets. Reports the current global offset if no parameter is provided. | 19 | | `KTC_TOOL_OFFSET_SAVE [TOOL= \| T=] [ [[X=] [Y=] [Z=]] \| [[X_ADJUST=] [Y_ADJUST=] [Z_ADJUST=]] ]` | Save the positional offset of an individual tool to file so it can be used later. Reports the tool offset without global offsets if no offset parameter is provided. | 20 |
21 | 22 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Tool number mapping commands 23 | | Command | Description | 24 | | ------- | ----------- | 25 | | `KTC_TOOLS_DISPLAY` | Report the current mapping of tools to other KTC tools. | 26 | | `KTC_TOOL_MAP_NR TOOL= SET=` | Map a tool to a index. Index must not be already in use. | 27 |
28 | 29 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Advanced commands, rarely used 30 | | Command | Description | 31 | | ------- | ----------- | 32 | | `KTC_SET_ACTIVE_TOOL TOOL= \| T=`| Set the KTC active tool manually to the specified. For overwriding when loading a tool manually. | 33 | | `KTC_SET_STATE [TOOL= \| T= \| TOOLCHANGER=] [STATE=]` | Sets the state of the specified tool, toolchanger or the KTC itself. Without state provided, it reports the currently active state for the specified tool, toolchanger or KTC itself if no attributes. To change state to KTC, only use the STATE attribute. For changing toolchanger state, use TOOLCHANGER attribute. | 34 | | `KTC_TOOLCHANGER_SET_SELECTED_TOOL TOOL= \| T= [TOOLCHANGER=]` | Manually sets the selected tool of a specified or the default toolchanger. | 35 | | `KTC_TOOLCHANGER_INITIALIZE [TOOLCHANGER=]` | Manually initialize the specified or default toolchanger. | 36 | | `KTC_HEATERS_PAUSE` | Turns off all heaters that are configured for tools and saves the changes. The heaters can be resumed later using the command KTC_HEATERS_RESUME. This command does not affect heated beds. | 37 | | `KTC_HEATERS_RESUME` | Resumes all heaters that were previously turned off by the `KTC_HEATERS_PAUSE` command. | 38 |
39 | 40 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Status, Logging and Persisted state 41 | | Command | Description | 42 | | ------- | ----------- | 43 | | `KTC_STATS_REPORT` | Report the KTC statistics to console. | 44 | | `KTC_PRINT_STATS_REPORT` | Report KTC statistics since last print started. | 45 | | `KTC_RESET_STATS SURE=YES` | Reset all the KTC statistics. | 46 | | `KTC_RESET_PRINT_STATS` | Run at start of a print to initialize and reset the KTC print statistics | | 47 | | `KTC_SET_LOG_LEVEL [LEVEL=<0-3>] [LOGFILE=<0-3>]` | Set the log level for the KTC.
- `LEVEL` determines the amount of logging displayed on the console.
- `LOGFILE` determines the amount of logging saved to a file.
Log levels:
( 0 = Only the Always messages )
( 1 = Info messages and above )
( 2 = Debug messages and above )
( 3 = Trace messages and above ) | 48 | | `KTC_LOG_TRACE MSG=` | Send a message to log at this logging level | 49 | | `KTC_LOG_DEBUG MSG=` | Send a message to log at this logging level | 50 | | `KTC_LOG_INFO MSG=` | Send a message to log at this logging level | 51 | | `KTC_LOG_ALWAYS MSG=` | Send a message to log at this logging level | 52 |
53 | 54 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Debuging 55 | | Command | Description | 56 | | ------- | ----------- | 57 | | `KTC_DEBUG_HEATERS` | Reports current status of heaters. | 58 | | `KTC_DEBUG_TOOLS` | Reports current status of tools. | 59 |
60 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 |

2 | A Toolchenager 3 |

KTC - Klipper Toolchanger Code v.2

4 |

5 | 6 |

7 | Universal Toolchanger helper for Klipper 8 |

9 | 10 |

11 | 12 | Downloads Badge 13 | 14 | 15 | Stars Badge 16 | 17 | 18 | Forks Badge 19 | 20 | 21 | License Badge 22 | 23 | 24 | Codacy Badge 25 | 26 |

27 | 28 | This adds logic to [Klipper](https://github.com/Klipper3d/klipper) for layered, inherited ToolChanging functionality. 29 | 30 | This is a complete rewrite of KTCC v.1 to be more versatile and have infinite levels of toolchangers. Inspiration comes mainly from how RRF enables toolchanging and from the HappyHare project. 31 | 32 | I welcome any and all input and contributions. Don't be afraid to make a pull request :D 33 | 34 | Complex code example is still under construction. 35 | 36 | Thank you! 37 | 38 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Major features: 39 |
    40 |
  • Support any type of toolchanger and any type of tool.
    • 41 |
  • Infinite levels of nested changers and tools with inheritance.
    • 42 |
  • Handles Tool temperature transfers on tool select/deselect with multiple heaters and offsets.
    • 43 |
  • Standby temperatures for parked tools.
    • 44 |
  • Handles multiple fans per tool and speed transfer between tools.
    • 45 |
  • Wait to reach temperature with configurable tolerance for tool.
    • 46 |
  • Unlimited parameters for each object, accesible by macros.
    • 47 |
  • Tool number maping. Remap a tool to another, no need to reslice.
    • 48 |
  • Persitance of state and statistics across restarts.
    • 49 |
50 | 51 |
52 | 53 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Installation 54 | 55 | The code requires Klipper to run on Python v.3 and is not compatible with Python v.2. 56 | 57 | ### 1\. Automatic install with Moonraker autoupdate support 58 | Connect to your klipper machine using SSH and run this one line command: 59 | ``` 60 | cd ~/ && git clone https://github.com/TypQxQ/KTC.git && bash ~/KTC/install.sh 61 | ``` 62 | 63 | Configure away inside printer.cfg or a file referenced by it. 64 | 65 | ### 2\. Manual Install 66 | Copy or link the python (`*.py`) files into the `\klipper\klippy\extras` directory. 67 | 68 | Copy the macros inside the macros folder and reference them in printer.cfg. 69 | 70 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Minimum Configuration: 71 | * At least one tool needs to be defined, ex: 72 | 73 | `[ktc_tool 0]` 74 | 75 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Help and community: 76 | [The discution forums here on Github](https://github.com/TypQxQ/KTC/discussions) 77 | 78 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Configuration Examples: 79 | Configuration example can be found here: 80 | 81 | * [Simple Configuration with one toolchanger](/config/example_config/simple/simple_example.cfg) 82 | * [Full Configuration with one Toolchanger](/config/example_config/complete/complete_example.cfg) 83 | * [Macros for T# toolchange](/config/example_config/TOOL_MACROS.cfg) 84 | 85 | And here are some configurations of working machines: 86 | * [Jubilee Toolchanger with Toolchanger and ERCF](https://github.com/TypQxQ/DuetBackup/tree/main/qTC-Klipper/config) 87 | * [Jubilee Toolchanger with Toolchanger and ERCF](https://github.com/ngolshan/Jubilee_KTC_Config) 88 | 89 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) References: 90 | 91 | **[Configuation Reference](./doc/configuration.md)**
92 | Explains all configurable options. 93 | 94 | **[Command Reference](./doc/command_ref.md)**
95 | Lists all the commands available at runtime from Klipper. 96 | 97 | **[Object state Reference](./doc/state_ref.md)**
98 | Lists all available object variables available to macros. 99 | 100 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Related projects 101 | - [kTAMV - Klipper Tool Alignment (using) Machine Vision](https://github.com/TypQxQ/kTAMV) allows X and Y allignment betwween multiple tools on a 3D printer using a camera that points up towards the nozzle from inside Klipper. 102 | 103 | - [KnobProbe](https://github.com/TypQxQ/KnobProbe_Klipper) allows Z allignment between multiple tools. 104 | 105 | - [Query Endstop Continuesly in Klipper](https://github.com/TypQxQ/Query-Endstop-Continuesly-in-Klipper) Klipper module that adds a G-code command so Klipper will pause until specified endstop is in selected state, triggered or not triggered. Alternativley it can query a specified amount of times. 106 | 107 | - [Klipper Save-Restore Position](https://github.com/TypQxQ/Klipper-Save-Restore-Position) Adds behaviour as was in Klipper Toolchanger code v.1. Currently not finnished because I see no use for it. Tell me if you need it. 108 | 109 | - [KTCC v.1](https://github.com/TypQxQ/Klipper_ToolChanger) 110 | 111 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Limitations 112 | - T commands need to be added by macros. Mainsail looks for `[gcode_macros T#]` inside the printer config. Adding a gcode_macro component for the tool at runtime will not work with current implementation of Mainsail and no button will show up. Therefore KTC_T should be manuly called by a corresponding T script as in the [Macros for T# toolchange example](/config/example_config/TOOL_MACROS.cfg). 113 | 114 | - Saving to configuration files does not work in Klipper when the section is not in printer.cfg. That is the reason of the persistent storage. This enables organized and distributable configuration files. 115 | -------------------------------------------------------------------------------- /doc/configuration.md: -------------------------------------------------------------------------------- 1 | # KTC Configuration reference 2 | 3 | This document is a reference for options available in the Klipper Toolchanger Code 4 | config file. 5 | 6 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Configuration file structure 7 | 8 | The configuration for KTC can be saved in one or multiple files that are referenced by printer.cfg 9 | 10 | Minimum amount of information is one `[ktc_tool name]` section that will initiate one tool with a name. 11 | 12 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Structure 13 | 14 | One KTC object can be configured and will contain one default toolchanger. 15 | The default toolchanger can contain one or multiple tools. Each tool can have a toolchanger: 16 | 17 | - [ktc] 18 | - [ktc_toolchanger Default] 19 | - [ktc_tool 0] 20 | - [ktc_toolchanger SubChanger] 21 | - [ktc_tool 0-0] 22 | - [ktc_tool 0-1] 23 | - [ktc_tool 0-2] 24 | - [ktc_tool 0-3] 25 | - [ktc_tool 1] 26 | - [ktc_tool 2] 27 | 28 | ### Inheritance 29 | 30 | Inheritable options are propagated down the object tree until overridden. 31 | 32 | For the previous structure, the following code would set all tools to require_axis_homed except for those under the toolchanger named "SubChanger" whose tools have no required axis to home and ktc_tool 2 that requires all XYZ as in default. 33 | ``` 34 | [ktc] 35 | requires_axis_homed = XY 36 | 37 | [ktc_toolchanger SubChanger] 38 | requires_axis_homed = None 39 | 40 | [ktc_tool 2] 41 | requires_axis_homed = 42 | ``` 43 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Initiating options 44 | 45 | Some options that are stored inside the persistance file can overriden from configuration. When klipper starts and finds such a option, it will save it to persistant state and raise an error prompting to delete or comment out the option in the config file. This is to have a clear source for the setting to be read from at startup and counter any ambiguity. 46 | 47 | ``` 48 | #init_offset = 0.0, 0.0, 0.0 49 | # Used to initiate tool offset from configuration. Saved to state. Inheritable. 50 | # Option must be removed or commented out after being run once. 51 | # Use the 'KTC_TOOL_OFFSET_SAVE' to specify at runtime. 52 | 53 | #init_global_offset = 0.0, 0.0, 0.0 54 | # This only aplies to ktc object. 55 | # Option must be removed or commented out after being run once. 56 | # Use the 'KTC_GLOBAL_OFFSET_SAVE' to specify at runtime. 57 | ``` 58 | 59 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Inheritable options 60 | 61 | The following options can be set to either ktc, ktc_toolchanger or ktc_tool and will propagate down the object tree untill overridden by specifying it as empty `option=` or with a overriding value. 62 | 63 | When not specified they will be initialized with the default value as below. 64 | 65 | ``` 66 | #engage_gcode = "" 67 | # Macro name or G-code to run when 'KTC_TOOLCHANGER_ENGAGE' runs for a ktc_toolchanger. 68 | # The toolchanger state is set to 'ENGAGING' at the begining and 69 | # the code here needs to change it to 'ENGAGED' or 'ERROR'. 70 | 71 | #disengage_gcode 72 | # Macro name or G-code to run when 'KTC_TOOLCHANGER_DISENGAGE' runs for a ktc_toolchanger. 73 | # The toolchanger state is set to 'DISENGAGING' at the begining and 74 | # the code here needs to change it to 'READY' or 'ERROR'. 75 | 76 | #init_gcode = "" 77 | # Macro name or G-code to run when 'KTC_TOOLCHANGER_INITIALIZE' runs for a ktc_toolchanger. 78 | # The toolchanger state is set to 'INITIALIZING' at the begining and 79 | # the code here needs to change it to 'INITIALIZED', 'READY' or 'ERROR'. 80 | 81 | #tool_select_gcode = "" 82 | # Macro name or G-code to run when selecting a tool, 83 | # for example 'KTC_T' runs for a ktc_tool. 84 | # The toolchanger state is set to 'SELECTING' at the begining and 85 | # the code here needs to change it to 'SELECTED' or 'ERROR'. 86 | 87 | #tool_deselect_gcode = "" 88 | # Macro name or G-code to run when selecting a tool, 89 | # for example 'KTC_T' or 'KTC_DESELECT_ALL' runs for a ktc_tool. 90 | # The toolchanger state is set to 'DESELECTING' at the begining and 91 | # the code here needs to change it to 'READY' or 'ERROR'. 92 | 93 | #force_deselect_when_parent_deselects = True 94 | # Used with nested toolchangers. 95 | # Forces all child tools to deselect before deselecting the parent. 96 | # For the toolchanger in the 'Strcture' example above when changing from 0-1 to 2: 97 | # If True then it will deselect 0-1 and 0 before selecting 2. 98 | # If False then it will deselect 0 before selecting 2. 0-1 will be selected on ERCF 99 | # toolchanger and 2 will be selected on the main toolchanger and active on ktc. 100 | # When changing back to 0-1 from 2, it will select 0 and not need to select 0-1 again. 101 | # This saves time on expensive toolchanges. 102 | 103 | #parent_must_be_selected_on_deselect = True 104 | # Used with nested toolchangers having 'force_deselect_when_parent_deselects = False' 105 | # When deselecting all tools with 'KTC_DESELECT_ALL' if 0-1 is selected but not 0 is: 106 | # If True, it will first select 0 before deselecting 0-1 and then 0. 107 | # If False, it will run 'tool_deselect_gcode' for 0-1 while not 0 is selected. 108 | # Setting it to False can be usefull when the tools are not dependent on eachother. 109 | 110 | #heater = 111 | # Used by ktc_tool to specify if the tool has one or more heaters and if it has a offset. 112 | # Heater names are comma separated with optional collon separated temperature offset. 113 | # 'heater = extruder3:-100, extruder2' 114 | # Will set the tool to have 2 heaters. When setting temperature to 210*C, 115 | # ktc will set the temperature to 210 for extruder2 and 110 for extruder3 116 | # Having multiple heaters per tool allows preheating filament for high speed printing. 117 | # When waiting for temperatures, KTC will wait for all the heaters on the tool. 118 | 119 | #fans = 120 | # Used by ktc_tool to specify if the tool has one or more partcooling fans 121 | # and if it has a offset. 122 | # Fan names are comma separated with optional collon separated speed offset. 123 | # 'fans = partfan_t11:-0.2, curtain_cooler' 124 | # Will set the tool to have 2 fans. When setting fan speed to 80%, 125 | # ktc will set the speed to 80% for curtain_cooler and 64% for partfan_t11 126 | 127 | #requires_axis_homed = XYZ 128 | # Specifies axis to ensure are homed before trying to select or deselect a tool. 129 | # 'requires_axis_homed =' disables any check of axis. 130 | 131 | #heater_active_to_standby_delay = 0.1 132 | # When changing the heaters of a tool from active to standby, the temperatures 133 | # will not change imediatley but after the specified time in seconds. 134 | # 0.1 seconds is actually instant. This can be usefull for verry short toolchanges 135 | # to spped up the time it takes to get up to active tool temerature. 136 | 137 | #heater_standby_to_powerdown_delay = 600 138 | # After the heaters of a tool have entered standby, a timer will start counting down 139 | # to the specified seconds and then change state to turn off the heaters. 140 | # Default is 10 minutes. This prevents having a tool run hot for a long time when 141 | # not being used. When selecting the tool again, it will enter active mode and heat 142 | # back up. 143 | 144 | ``` 145 | 146 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Custom parameters 147 | 148 | User defined parameters can be set to the ktc, any tool or toolchanger. Theese are also inherited. To specify such a parameter use the prefix "params_". For example `params_meltzone_lenght = 14`. All user parameters are accessible from macros as read-only. They can be named as anything as long as they have the right prefix and do not use spaces or invalid characters. 149 | 150 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) [KTC] 151 | 152 | The topmost object contains inheritable options that will be inherited by all other objects unless they are specifically overridden. 153 | 154 | ``` 155 | [ktc] 156 | #propagate_state = True 157 | # Propagate state when changed on a tool, down through the tree to the ktc object. 158 | # For example setting a tool state as selected will set it's changer to engaged. 159 | 160 | #default_toolchanger = 161 | # This is required when specifying more than one ktc_toolchanger section. 162 | # Otherwise it will default to the name of the only 163 | # ktc_toolchanger object available. 164 | 165 | #debug_with_profile = False 166 | # Use profiler to measure time it takes to run diffrent commands and output to ktc.log 167 | ``` 168 | 169 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) [ktc_toolchanger] 170 | 171 | For each toolchanger. If no such section is defined a toolchanger named default_toolchanger with the default options will be created. 172 | 173 | ``` 174 | [ktc_toolchanger default_toolchanger] 175 | #parent_tool = 176 | # Not applicable for default_toolchanger and required for all other. 177 | # Specifies the tool this toolchanger has as parent. 178 | ``` 179 | 180 | ### ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) [ktc_tool] 181 | 182 | Requires one ktc_tool section for each tool to be used. Only the section name is required as all other options have default values. 183 | 184 | ``` 185 | [ktc_tool name_of_this_tool] 186 | #tool_number = -3 187 | # Map this tool to a number. Available numbers start at 0. Needs one to be usefull. 188 | # Default -3 denotes it not having a number. 189 | 190 | #toolchanger = 191 | # The name of the toolchanger when using layered toolchangers. 192 | # Defauts to the 'default_toolchanger' of ktc. 193 | 194 | ``` 195 | 196 | ## ![#f98b00](/doc/f98b00.png) ![#fe3263](/doc/fe3263.png) ![#0fefa9](/doc/0fefa9.png) ![#085afe](/doc/085afe.png) Log and persistance 197 | 198 | KTC uses it's owm logging module that creates a file named "ktc.log". 199 | 200 | Persistant options are saved in a file named "ktc_variables.cfg" and does not require any conflicting configurations of Klippers "varaibles.cfg" file. 201 | 202 | The log module needs no referenced in the configuration if using default options while the persistance module has no options. 203 | 204 | ``` 205 | [ktc_log] 206 | #log_level = 1 207 | # Determines the amount of logging displayed on the console. 208 | # Log levels: 209 | # - 0 = Only the Always messages 210 | # - 1 = Info messages and above 211 | # - 2 = Debug messages and above 212 | # - 3 = Trace messages and above 213 | 214 | #logfile_level = 3 215 | # Determines the amount of logging saved to file, levels as above. 216 | 217 | #rollover_logfile_at_startup = False 218 | # When enabled, it will clear the log file existing under another name at each startup. 219 | # Usefull when debugging. 220 | ``` 221 | -------------------------------------------------------------------------------- /install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # KTC - Klipper Tool Changer code (v.2) 4 | # Installation script 5 | # 6 | # Copyright (C) 2023 Andrei Ignat 7 | # 8 | # This file may be distributed under the terms of the GNU GPLv3 license. 9 | # 10 | 11 | # 12 | # The responsibility of this script is to setup the Python extensions 13 | # and configure the update processes. 14 | 15 | # Set this to terminate on error. 16 | set -e 17 | 18 | # Get the root path of the repo, aka, where this script is executing 19 | REPO_DIR=$(realpath $(dirname "$0")) 20 | 21 | # This is where Klipper is installed 22 | KLIPPER_HOME="${HOME}/klipper" 23 | 24 | # This is where the extension are downloaded to, a subdirectory of the repo. 25 | EXTENSION_PATH="${REPO_DIR}/extensions" 26 | 27 | # This is where Moonraker is installed 28 | MOONRAKER_HOME="${HOME}/moonraker" 29 | 30 | # This is where Klipper config files are stored 31 | KLIPPER_CONFIG_HOME="${HOME}/printer_data/config" 32 | 33 | # This is where Klipper config files were stored before the 0.10.0 release 34 | OLD_KLIPPER_CONFIG_HOME="${HOME}/klipper_config" 35 | 36 | # 37 | # Console Write Helpers 38 | # 39 | c_default=$(echo -en "\e[39m") 40 | c_green=$(echo -en "\e[92m") 41 | c_yellow=$(echo -en "\e[93m") 42 | c_magenta=$(echo -en "\e[35m") 43 | c_red=$(echo -en "\e[91m") 44 | 45 | log_header() 46 | { 47 | echo -e "${c_magenta}$1${c_default}" 48 | } 49 | 50 | log_important() 51 | { 52 | echo -e "${c_yellow}$1${c_default}" 53 | } 54 | 55 | log_error() 56 | { 57 | log_blank 58 | echo -e "${c_red}$1${c_default}" 59 | log_blank 60 | } 61 | 62 | log_info() 63 | { 64 | echo -e "${c_green}$1${c_default}" 65 | } 66 | 67 | log_blank() 68 | { 69 | echo "" 70 | } 71 | 72 | # 73 | # Logic to check if Klipper is installed 74 | # 75 | check_klipper() { 76 | # Check if Klipper is installed 77 | log_blank 78 | log_header "Checking if Klipper is installed..." 79 | if [ "$(sudo systemctl list-units --full -all -t service --no-legend | grep -F "klipper.service")" ]; then 80 | log_important "${INFO}Klipper service found" 81 | else 82 | log_error "${ERROR}Klipper service not found! Please install Klipper first" 83 | exit -1 84 | fi 85 | } 86 | 87 | # 88 | # Logic to verify the home directories 89 | # 90 | verify_home_dirs() { 91 | log_blank 92 | log_header "Verifying home directories..." 93 | if [ ! -d "${KLIPPER_HOME}" ]; then 94 | log_error "Klipper home directory (${KLIPPER_HOME}) not found. Use '-k ' option to override" 95 | exit -1 96 | fi 97 | if [ ! -d "${KLIPPER_CONFIG_HOME}" ]; then 98 | if [ ! -d "${OLD_KLIPPER_CONFIG_HOME}" ]; then 99 | log_error "Klipper config directory (${KLIPPER_CONFIG_HOME} or ${OLD_KLIPPER_CONFIG_HOME}) not found. Use '-c ' option to override" 100 | exit -1 101 | fi 102 | KLIPPER_CONFIG_HOME="${OLD_KLIPPER_CONFIG_HOME}" 103 | fi 104 | log_info "Klipper config directory (${KLIPPER_CONFIG_HOME}) found" 105 | 106 | if [ ! -d "${MOONRAKER_HOME}" ]; then 107 | log_error "Moonraker home directory (${MOONRAKER_HOME}) not found. Use '-m ' option to override" 108 | exit -1 109 | fi 110 | } 111 | 112 | restart_klipper() 113 | { 114 | log_header "Restarting Klipper..." 115 | sudo systemctl restart klipper 116 | } 117 | 118 | restart_moonraker() 119 | { 120 | log_header "Restarting Moonraker..." 121 | sudo systemctl restart moonraker 122 | } 123 | 124 | verify_ready() 125 | { 126 | if [ "$EUID" -eq 0 ]; then 127 | log_error "This script must not run as root" 128 | exit -1 129 | fi 130 | } 131 | 132 | function nextfilename { 133 | local name="$1" 134 | if [ -d "${name}" ]; then 135 | printf "%s-%s" ${name%%.*} $(date '+%Y%m%d_%H%M%S') 136 | else 137 | printf "%s-%s.%s-old" ${name%%.*} $(date '+%Y%m%d_%H%M%S') ${name#*.} 138 | fi 139 | } 140 | 141 | # 142 | # Logic to link the extension to Klipper 143 | # 144 | link_extension() 145 | { 146 | log_blank 147 | log_header "Linking extension files to Klipper..." 148 | 149 | for file in $(cd ${EXTENSION_PATH}/ ; ls *.py); do 150 | ln -sf "${EXTENSION_PATH}/${file}" "${KLIPPER_HOME}/klippy/extras/${file}" 151 | log_info "Linking extension file: (${file})." 152 | done 153 | } 154 | 155 | # 156 | # Logic to install the update manager to Moonraker 157 | # 158 | install_update_manager() { 159 | log_blank 160 | log_header "Adding update manager to moonraker.conf" 161 | dest=${KLIPPER_CONFIG_HOME}/moonraker.conf 162 | if test -f "$dest"; then 163 | already_included=$(grep -c "\[update_manager KTC\]" ${dest} || true) 164 | if [ "${already_included}" -eq 0 ]; then 165 | # Backup the original moonraker.conf file 166 | next_dest="$(nextfilename $dest)" 167 | log_info "Copying original moonraker.conf file to ${next_dest}" 168 | cp ${dest} ${next_dest} 169 | 170 | # Add the configuration to moonraker.conf 171 | echo "" >> "${dest}" # Add a blank line 172 | echo "" >> "${dest}" # Add a blank line 173 | echo -e "[update_manager KTC]" >> "${dest}" # Add the section header 174 | echo -e "type: git_repo" >> "${dest}" 175 | echo -e "path: ${REPO_DIR}" >> "${dest}" 176 | echo -e "origin: https://github.com/TypQxQ/KTC.git" >> "${dest}" 177 | echo -e "primary_branch: main" >> "${dest}" 178 | echo -e "install_script: install.sh" >> "${dest}" 179 | echo -e "managed_services: klipper" >> "${dest}" 180 | 181 | restart_moonraker 182 | else 183 | log_error "[update_manager KTC] already exists in moonraker.conf - skipping installing it there" 184 | fi 185 | else 186 | log_error "moonraker.conf not found!" 187 | fi 188 | } 189 | 190 | # 191 | # Logic to install the configuration to Klipper 192 | # 193 | install_klipper_config() { 194 | log_header "Adding configuration to printer.cfg" 195 | 196 | # Add configuration to printer.cfg if it doesn't exist 197 | dest=${KLIPPER_CONFIG_HOME}/printer.cfg 198 | if test -f $dest; then 199 | # Backup the original printer.cfg file 200 | next_dest="$(nextfilename "$dest")" 201 | log_info "Copying original printer.cfg file to ${next_dest}" 202 | cp ${dest} ${next_dest} 203 | 204 | # Add the configuration to printer.cfg 205 | # This example assumes that that both the server and the webcam stream are running on the same machine as Klipper 206 | # The ktc section is not needed if a tool is configured but loaded here for the macros to work if no tool is configured 207 | already_included=$(grep -c "\[ktc\]" ${dest} || true) 208 | if [ "${already_included}" -eq 0 ]; then 209 | echo "" >> "${dest}" # Add a blank line 210 | echo "" >> "${dest}" # Add a blank line 211 | echo -e "[ktc]" >> "${dest}" # Add the section header 212 | 213 | log_info "Added KTC configuration to printer.cfg" 214 | log_important "Please check the configuration in printer.cfg and adjust it as needed" 215 | else 216 | log_error "[ktc] already exists in printer.cfg - skipping adding it there" 217 | fi 218 | 219 | # Add the inclusion of macros to printer.cfg if it doesn't exist 220 | already_included=$(grep -c "\[include ktc/base/*.cfg\]" ${dest} || true) 221 | if [ "${already_included}" -eq 0 ]; then 222 | echo "" >> "${dest}" # Add a blank line 223 | echo -e "[include ktc/base/*.cfg]" >> "${dest}" # Add the section header 224 | echo -e "[include ktc/optional_rrf_compability/*.cfg]" >> "${dest}" # Add the section header 225 | else 226 | log_error "[include ktc/base/*.cfg] already exists in printer.cfg - skipping adding it and the optional macros there" 227 | fi 228 | else 229 | log_error "File printer.cfg file not found! Cannot add KTC configuration. Do it manually." 230 | fi 231 | 232 | if [ ! -d "${KLIPPER_CONFIG_HOME}/ktc" ]; then 233 | log_info "Creating the ${KLIPPER_CONFIG_HOME}/ktc directory" 234 | mkdir ${KLIPPER_CONFIG_HOME}/ktc 235 | else 236 | log_error "ktc directory already exists in ${KLIPPER_CONFIG_HOME} - skipping creating it" 237 | fi 238 | 239 | if [ ! -d "${KLIPPER_CONFIG_HOME}/ktc/base" ]; then 240 | log_info "Copying base macros to ${KLIPPER_CONFIG_HOME}/ktc" 241 | cp -r ${REPO_DIR}/macros/base ${KLIPPER_CONFIG_HOME}/ktc 242 | else 243 | log_error "Base macros already exists in ${KLIPPER_CONFIG_HOME}/ktc/base - skipping copying it there" 244 | fi 245 | 246 | if [ ! -d "${KLIPPER_CONFIG_HOME}/ktc/optional_rrf_compability" ]; then 247 | log_info "Copying optional_rrf_compability macros to ${KLIPPER_CONFIG_HOME}/ktc" 248 | cp -r ${REPO_DIR}/macros/optional_rrf_compability ${KLIPPER_CONFIG_HOME}/ktc 249 | else 250 | log_error "Optional RRF compability macros already exists in ${KLIPPER_CONFIG_HOME}/ktc/optional_rrf_compability - skipping copying it there" 251 | fi 252 | # Restart Klipper 253 | restart_klipper 254 | 255 | } 256 | 257 | # 258 | # Logic to ask a question and get a yes or no answer while displaying a prompt under installation 259 | # 260 | prompt_yn() { 261 | while true; do 262 | read -n1 -p " 263 | $@ (y/n)? " yn 264 | case "${yn}" in 265 | Y|y) 266 | echo "y" 267 | break;; 268 | N|n) 269 | echo "n" 270 | break;; 271 | *) 272 | ;; 273 | esac 274 | done 275 | } 276 | 277 | log_blank 278 | log_blank 279 | log_blank 280 | log_blank 281 | log_blank 282 | log_blank 283 | log_blank 284 | log_blank 285 | log_blank 286 | log_blank 287 | log_blank 288 | log_blank 289 | log_blank 290 | log_blank 291 | log_blank 292 | log_blank 293 | log_blank 294 | log_blank 295 | log_blank 296 | log_blank 297 | log_blank 298 | log_blank 299 | log_blank 300 | log_blank 301 | log_blank 302 | log_blank 303 | log_blank 304 | log_blank 305 | log_blank 306 | log_blank 307 | log_blank 308 | log_blank 309 | log_blank 310 | log_blank 311 | log_blank 312 | log_header " KTC" 313 | log_header " Klipper Tool Changer code (v2)" 314 | log_blank 315 | log_blank 316 | log_important "KTC is used to facilitate toolchanging under Klipper." 317 | log_blank 318 | log_info "Usage: $0 [-k ] [-c ] [-m ]" 319 | log_blank 320 | log_blank 321 | log_important "This script will install the KTC extensions and macros." 322 | log_important "It will add the base configuration in printer.cfg and moonraker.conf." 323 | log_blank 324 | yn=$(prompt_yn "Do you want to continue?") 325 | echo 326 | case $yn in 327 | y) 328 | ;; 329 | n) 330 | log_info "You can run this script again later to install KTC." 331 | log_blank 332 | exit 0 333 | ;; 334 | esac 335 | 336 | 337 | 338 | # Make sure we aren't running as root 339 | verify_ready 340 | 341 | # Check that Klipper is installed 342 | check_klipper 343 | 344 | # Check that the home directories are valid 345 | verify_home_dirs 346 | 347 | # Link the extension to Klipper 348 | link_extension 349 | 350 | # Install the update manager to Moonraker 351 | install_update_manager 352 | 353 | # Install the configuration to Klipper 354 | install_klipper_config 355 | 356 | log_blank 357 | log_blank 358 | log_important "KTC is now installed. Settings can be found in the printer.cfg file." 359 | -------------------------------------------------------------------------------- /extensions/ktc_toolchanger.py: -------------------------------------------------------------------------------- 1 | # KTC - Klipper Tool Changer code 2 | # Toollock and general Tool support 3 | # 4 | # Copyright (C) 2024 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | # 8 | 9 | # from enum import unique 10 | import typing 11 | # import cProfile, pstats 12 | from enum import unique 13 | from .ktc_base import KtcConstantsClass, KtcBaseChangerClass, KtcConfigurableEnum # pylint: disable=relative-beyond-top-level 14 | 15 | # Only import these modules in Dev environment. Consult Dev_doc.md for more info. 16 | if typing.TYPE_CHECKING: 17 | from ...klipper.klippy import configfile 18 | from ...klipper.klippy.extras import gcode_macro as klippy_gcode_macro 19 | from . import ktc_tool 20 | 21 | @typing.final 22 | class KtcToolchanger(KtcBaseChangerClass, KtcConstantsClass): 23 | """Class initialized for each toolchanger. 24 | At least one toolchanger will be initialized for each printer. 25 | A "default_toolchanger" will be initialized if no toolchanger 26 | is specified in the config.""" 27 | 28 | def __init__(self, config: 'configfile.ConfigWrapper'): 29 | # Most of the function is inherited from the base class. 30 | super().__init__(config) 31 | 32 | # When is the toolchanger initialized in relation to printer start and homing. 33 | self.init_mode = self.InitModeType.get_value_from_configuration( 34 | config, "init_mode", self.InitModeType.MANUAL) # type: ignore 35 | 36 | # And in relation to the parent tool. 37 | self.init_order = self.InitOrderType.get_value_from_configuration( 38 | config, "init_order", self.InitOrderType.INDEPENDENT) 39 | 40 | self._selected_tool = self.TOOL_UNKNOWN # The currently active tool. Default is unknown. 41 | 42 | # Load the parent tool if it is defined. 43 | parent_tool_name = config.get("parent_tool", None) # type: ignore 44 | if parent_tool_name is not None and parent_tool_name != "": 45 | self.parent_tool = typing.cast('ktc_tool.KtcTool', 46 | self.printer.load_object( # type: ignore 47 | config, "ktc_tool " + parent_tool_name)) # type: ignore 48 | if self.parent_tool is None: 49 | raise config.error( 50 | "parent_tool %s not found for ktc_toolchanger %s." 51 | % (parent_tool_name, self.name) 52 | ) 53 | 54 | @property 55 | def selected_tool(self): 56 | return self._selected_tool 57 | 58 | @selected_tool.setter 59 | def selected_tool(self, value: 'ktc_tool.KtcTool'): 60 | if self._selected_tool == value: 61 | return 62 | self._selected_tool = value 63 | self.persistent_state_set("selected_tool", value.name) 64 | 65 | def configure_inherited_params(self): 66 | super().configure_inherited_params() 67 | self.gcode_macro = typing.cast('klippy_gcode_macro.PrinterGCodeMacro', # type: ignore # pylint: disable=attribute-defined-outside-init 68 | self.printer.lookup_object("gcode_macro")) # type: ignore 69 | self.state = self.StateType.CONFIGURED # pylint: disable=attribute-defined-outside-init # pylint bug 70 | 71 | def initialize(self): 72 | """Initialize the tool lock.""" 73 | # Sanity check. If the parent tool is not defined, 74 | # the init_order should be set to independent. 75 | if (self.init_order != self.InitOrderType.INDEPENDENT and 76 | self.parent_tool is not None 77 | ): 78 | raise Exception( 79 | "Toolchanger %s has no parent tool " % self.name 80 | + "defined but init_order is set to AFTER_PARENT." 81 | ) 82 | 83 | # If tool is anything but configured, log it. 84 | if self.state != self.StateType.CONFIGURED: 85 | self.log.debug("Initializing toolchanger %s from state %s." % (self.name, self.state)) 86 | self.state = self.StateType.INITIALIZING 87 | 88 | # Order check. If dependent on parent. 89 | if (self.init_order == self.InitOrderType.AFTER_PARENT_INITIALIZATION or 90 | self.init_order == self.InitOrderType.AFTER_PARENT_SELECTED): 91 | # Initialize parent if not already. 92 | if self.parent_tool.toolchanger.state < self.StateType.INITIALIZED: 93 | self.parent_tool.toolchanger.initialize() 94 | # Select parent if not already and needed. 95 | if self.init_order == self.InitOrderType.AFTER_PARENT_SELECTED: 96 | self.parent_tool.select() 97 | 98 | # Restore the active tool from the persistent variables. 99 | selected_tool_name = str.lower(self.persistent_state.get( 100 | "selected_tool", self.TOOL_UNKNOWN.name 101 | )) 102 | 103 | # Set the active tool to the tool with the name from the persistent variables. 104 | # If not found in the tools that are loaded for this changer, set it to TOOL_UNKNOWN. 105 | if selected_tool_name == self.TOOL_NONE.name: 106 | self.selected_tool = self.TOOL_NONE 107 | else: 108 | self.selected_tool = self.tools.get(selected_tool_name, self.TOOL_UNKNOWN) 109 | 110 | if (self.selected_tool == self.TOOL_UNKNOWN and 111 | selected_tool_name != self.TOOL_UNKNOWN.name 112 | ): 113 | self.log.always( 114 | "Initial tool %s not found for ktc_toolchanger %s. Using tool %s." 115 | % (selected_tool_name, self.name, self.selected_tool.name) 116 | ) 117 | 118 | # Run the init gcode template if it is defined. 119 | if self._init_gcode != "": 120 | self.log.trace(f"Initalizing ktc_toolchanger {self.name}.") 121 | init_gcode_template = self.gcode_macro.load_template( # type: ignore 122 | self.config, "", self._init_gcode) 123 | context = init_gcode_template.create_template_context() 124 | context['myself'] = self.get_status() 125 | context['ktc'] = self._ktc.get_status() 126 | context['STATE_TYPE'] = self.StateType 127 | init_gcode_template.run_gcode_from_command(context) 128 | # Check that the gcode has changed the state. 129 | if self.state == self.StateType.CONFIGURED: 130 | raise self.config.error( 131 | ("ktc_toolchanger %s: init_gcode did not " % self.name) 132 | + "change the state. Use for example " 133 | + "'KTC_SET_STATE TOOLCHANGER={myself.name} STATE=READY' to " 134 | + "change the state to READY." 135 | ) 136 | else: 137 | self.state = self.StateType.READY 138 | 139 | # Set the tool as engaged. Fir tools it is equivalent to selected. 140 | self.selected_tool.state = self.StateType.ENGAGED 141 | 142 | def engage(self, disregard_engaged=False): 143 | '''Engage the lock on the tool so it can be removed.''' 144 | try: 145 | if self.state < self.StateType.INITIALIZING: 146 | raise Exception( 147 | "Status is: %s. Can't engage %s." % (self.state, self.name) 148 | ) 149 | 150 | if self._engage_gcode == "": 151 | self.state = self.StateType.ENGAGED 152 | return 153 | 154 | if not disregard_engaged and self.state >= self.StateType.ENGAGED: 155 | self.log.always( 156 | "ktc_toolchanger %s is already engaged with tool %s." 157 | % (self.name, self.selected_tool.name) 158 | + " DISREGARD_ENGAGED is not set. No action taken." 159 | ) 160 | return 161 | 162 | if self.state >= self.StateType.ENGAGING: 163 | self.state = self.StateType.ENGAGING 164 | 165 | engage_gcode_template = self.gcode_macro.load_template( 166 | self.config, "", self._engage_gcode) 167 | context = engage_gcode_template.create_template_context() 168 | context['myself'] = self.get_status() 169 | context['ktc'] = self._ktc.get_status() 170 | context['STATE_TYPE'] = self.StateType 171 | engage_gcode_template.run_gcode_from_command(context) 172 | 173 | if (self.state == self.StateType.ENGAGING or 174 | self.state == self.StateType.INITIALIZING): 175 | raise self.config.error( 176 | ("engage_gcode did not change the state. Use for example " 177 | + "'KTC_SET_STATE TOOLCHANGER={myself.name} STATE=ENGAGED' to " 178 | + "change the state to ENGAGED. Or ERROR if it failed.") 179 | ) 180 | elif self.state == self.StateType.ERROR: 181 | raise self.config.error( 182 | "disengage_gcode failed. Check the logs for more information." 183 | ) 184 | 185 | self.log.changer_stats[self.name].engages += 1 186 | self.log.trace(f"ktc_toolchanger.engage(): Setting state to {self.state}.") 187 | except Exception as e: 188 | self.state = self.StateType.ERROR 189 | # self._ktc.state = self.StateType.ERROR 190 | raise self.printer.command_error( 191 | "Engage failed for ktc_toolchanger %s with error: %s" 192 | % (self.name, e)) from e 193 | 194 | def disengage(self, disregard_disengaged=True): 195 | """Disengage the lock on the tool so it can be removed.""" 196 | try: 197 | if self.state < self.StateType.INITIALIZING: 198 | raise Exception( 199 | "Status is: %s. Can't disengage %s." % (self.state, self.name) 200 | ) 201 | 202 | if self._disengage_gcode == "": 203 | self.state = self.StateType.READY 204 | return 205 | 206 | if not disregard_disengaged and self.state == self.StateType.READY: 207 | self.log.always( 208 | "ktc_toolchanger %s is already disengaged with tool %s." 209 | % (self.name, self.selected_tool.name) 210 | + " DISREGARD_DISENGAGED is not set. No action taken." 211 | ) 212 | return 213 | 214 | if self.state >= self.StateType.DISENGAGING: 215 | self.state = self.StateType.DISENGAGING 216 | 217 | disengage_gcode_template = self.gcode_macro.load_template( 218 | self.config, "", self._disengage_gcode) 219 | context = disengage_gcode_template.create_template_context() 220 | context['myself'] = self.get_status() 221 | context['ktc'] = self._ktc.get_status() 222 | context['STATE_TYPE'] = self.StateType 223 | disengage_gcode_template.run_gcode_from_command(context) 224 | 225 | if (self.state == self.StateType.DISENGAGING or 226 | self.state == self.StateType.INITIALIZING): 227 | raise self.config.error( 228 | ("disengage_gcode did not " 229 | + "change the state. Use for example " 230 | + "'KTC_SET_STATE TOOLCHANGER={myself.name} STATE=READY' to " 231 | + "change the state to READY. Or ERROR if it failed.") 232 | ) 233 | elif self.state == self.StateType.ERROR: 234 | raise self.config.error( 235 | "disengage_gcode failed. Check the logs for more information." 236 | ) 237 | 238 | self.log.changer_stats[self.name].disengages += 1 239 | self.log.trace("ktc_toolchanger.engage(): Setting state to %s." % self.state) 240 | except Exception as e: 241 | self.state = self.StateType.ERROR 242 | # self._ktc.state = self.StateType.ERROR 243 | raise self.printer.command_error( 244 | "Disengage failed for ktc_toolchanger %s with error: %s" % 245 | (self.name, e)) 246 | 247 | @KtcBaseChangerClass.state.setter 248 | def state(self, value): 249 | super(KtcBaseChangerClass, type(self)).state.fset(self, value) # type: ignore 250 | if self._ktc.propagate_state: 251 | self._ktc.state = value 252 | 253 | if value == self.StateType.ENGAGING: 254 | self.selected_tool = self.TOOL_UNKNOWN 255 | elif value == self.StateType.READY: 256 | self.selected_tool = self.TOOL_NONE 257 | elif value == self.StateType.ERROR: 258 | self.log.always("KTC is now in error state.") 259 | self.selected_tool = self.TOOL_UNKNOWN 260 | 261 | def get_status(self, eventtime=None): # pylint: disable=unused-argument 262 | status = { 263 | "name": self.name, 264 | "selected_tool": self.selected_tool.name, 265 | "selected_tool_n": self.selected_tool.number, 266 | "state": self.state, 267 | "init_mode": self.init_mode, 268 | "tools": list(self.tools), 269 | "params_available": str(self.params.keys()), 270 | **self.params, 271 | } 272 | return status 273 | 274 | @unique 275 | class InitModeType(str, KtcConfigurableEnum): 276 | """Constants for the initialization mode of the toolchanger. 277 | Inherits from str so it can be JSON serializable.""" 278 | MANUAL = "manual" 279 | ON_START = "on_start" 280 | ON_FIRST_USE = "on_first_use" 281 | 282 | @unique 283 | class InitOrderType(str, KtcConfigurableEnum): 284 | """Constants for the initialization order of the toolchanger.""" 285 | INDEPENDENT = "independent" 286 | AFTER_PARENT_SELECTED = "after_parent_selected" 287 | AFTER_PARENT_INITIALIZATION = "after_parent_initialization" 288 | 289 | def load_config_prefix(config): 290 | """Load the toolchanger object with the given config. 291 | This is called by Klipper to initialize the toolchanger object.""" 292 | # prof = cProfile.Profile() 293 | 294 | # retval = prof.runcall(KtcToolchanger, config) 295 | 296 | # output = io.StringIO() 297 | # stats = pstats.Stats(prof, stream=output).sort_stats('cumtime') 298 | # stats.print_stats() 299 | # stats_string = output.getvalue() 300 | # output.close() 301 | # carriage_return_count = stats_string.count('\n') 302 | # if carriage_return_count >= 20: 303 | # index = -1 304 | # for _ in range(20): 305 | # index = stats_string.find('\n', index + 1) 306 | # # index now contains the index of the 10th carriage return 307 | # else: 308 | # index = len(stats_string) - 1 309 | # retval.debug_init_profile = stats_string[:index] 310 | 311 | # return retval 312 | 313 | return KtcToolchanger(config) 314 | -------------------------------------------------------------------------------- /Dev_doc.md: -------------------------------------------------------------------------------- 1 | # Development doc for KTC 2 | 3 | ## Setting up enviroment. 4 | It is assumed KTC and Klipper folders are in same directory for typing to work. 5 | 6 | ## Why so many classes? 7 | > Using inherited classes from Ktc code can use the BaseClass for typechecks and not cross import. 8 | > This minimizes risk for circular imports. 9 | > 10 | > Each class can import ktc and ktc can not import them inside the init(). 11 | > The classes should not import or load eachother inside the init() 12 | 13 | ## Load paths 14 | ### Minimum configuration load path: 15 | Minimum configuration would be one tool declared. 16 | 17 | - The tool loads ktc in it's init. 18 | - ktc loads ktc_persistent at init. 19 | - ktc_persistent loads log at init. 20 | - ktc_persistent loads persistent data from file at init. 21 | - ktc_config_default_toolchanger adds default_toolchanger 22 | - ktc_config_default_toolchanger adds the toolchanger to ktc.toolchangers 23 | - ktc._config_tools adds the tool(s) to ktc.default_toolchanger.tools 24 | - ktc._config_tools adds the tool(s) to ktc.all_toolls 25 | 26 | 1- (Run configure_inherited_params recursevly) 27 | 1- Run on ktc 28 | 2- Run on default_toolchanger 29 | 3- Make a dictionary of tools that are toolchanger parents. 30 | 3- Run on first tool of default_toolchanger 31 | 4- Run on first toolchanger having the above tool as parent from (3) 32 | 4b- Run on next 33 | 3b- Run on next 34 | All obj having ran configure_inherited_params get state=configured. 35 | 36 | ## SELECT 37 | - If no tool is selected then just select 38 | - If active tool needs deselecting, deselect. 39 | - Check if toolchanger on same level has a tool selected 40 | - Check if tool needs force deselect. 41 | - Check if toolchanger over this needs deselecting 42 | 43 | - If tool on same changer is selected deselect first. 44 | - If active tool is on changer under a sibling 45 | - If active tool is on changer 46 | 47 | 48 | ## Tool Heaters 49 | When a tool has a heater it checks if a heater obj exists for it in ktc.all_heaters[] 50 | If it exists, then link to it. 51 | If it does not exist, create with own timers. Own object. 52 | When selecting tool, check if heater changes. 53 | - Setting state 54 | - State is set on tool.extruder. 55 | - For each heater it sets state if ACTIVE 56 | - Sets timers and ACTIVE temperatures with offset. 57 | - For each heater it checks if active on another tool too 58 | - If STANDBY 59 | - Set to STANDBY 60 | - Sets timers and STANDBY temperatures with offset. 61 | - If OFF 62 | - just set to OFF 63 | 64 | 65 | - ktc runs .initialize() on all toolchangers with .init_mode == "ON_START" recursevly. 66 | 67 | ## Configuration: 68 | ### Inheritable 69 | - engage_gcode = "": Gcode to run at toochanger engage, status from READY to ENGAGED 70 | - disengage_gcode = "": Gcode to run at toochanger disengage, status from ENGAGED to READY 71 | - init_gcode = "": Gcode to run at toolchanger initialization, from CONFIGURED to READY. If used, it is important tha t the Gcode changes the state of toolchanger. 72 | - requires_axis_homed = "": Axis in XYZ to be required before tool can be changed, for select 73 | - tool_select_gcode = "": Gcode to run whan selecting the tool, from ready to SELECTED 74 | - tool_deselect_gcode = "": Oposite of above. 75 | - standby_to_powerdown_time = 0.1: Seconds to wait when a tool has been deselected, before changing temperature on heater to standy temperature. 0.1 is a tenth of a second. 76 | Use something like 86400 to wait 24h if you want to run indefinitly. 77 | - heater_standby_to_powerdown_delay = 0.2: As above but from active to off. 78 | - init_offset = "": Toolhead offset. If not set anywhere, will default to "0.0,0.0,0.0". Must be deleted after the value has been read once. Can be put in again to overwrite to other value. Or use the KTC_TOOL_OFFSET_SAVE GCode command. 79 | - force_deselect_when_parent_deselects = True: 80 | Does nothing for tools on default toolchanger. 81 | When deselecting the parent tool, deselect this tool first. Otherwise it will be left 82 | selected on the toolchanger but not active on ktc. 83 | - parent_must_be_selected_on_deselect = True: 84 | Does nothing for tools on default toolchanger or tools having force_deselect_when_parent_deselects True. 85 | Used to speed up multilayer toolchanging when False. 86 | When deselecting the tool and the parent tool for this tools toolchanger is not selected, select it recursivley for all tools also having this as True, before deselecting. 87 | - heater: A list of heaters and their offset: Example: "heater0:0, preheater:-100.5" 88 | This configures heater0 and heater1 where preheater will be set to 100 degrees less than the configured temperature for the tool. 89 | At least heater_name is required if tool has a heater. 90 | To override inheritance, add it without any values: "heater:" 91 | 92 | When the tool is deselected, the heater goes in standby after "active to standby delay" seconds and then to off after "standby to powerdown time". This is so the heater waits in standby for short toolchanges and shuts down if not used for a while. 93 | Speeds up toolchanging while providing security 94 | 95 | ### NonInheritable 96 | #### KTC (all optional) 97 | - propagate_state = True. When state is changed on a tool then it's toolchanger and the ktc object also changes state accordigly. Use False if you need to control the state manually from GCode. 98 | 99 | 100 | #### KtcToolchanger 101 | - init_mode = MANUAL: When is the toolchanger initialized in relation to printer start and homing. 102 | - init_order = INDEPENDENT: And in relation to the parent tool. 103 | - force_deselect_when_parent_deselects = False 104 | - parent_tool = "" 105 | 106 | ### KtcTool 107 | tool_number = None: For use with "T#" gcode commands in by slicer. Defaults to not using. 108 | toolchanger = Default: Toolchanger this is on, defaults to Default changer. 109 | 110 | 111 | ## Base clases defined in ktc.py 112 | 113 | > ### KtcBaseClass: 114 | > The base all Ktc Classes inherits. 115 | > - functions: 116 | > - __init__: Optional config. If config is not None, Load self.config, self.printer and self.gcode reference. 117 | > - configure_inherited_params: Loads inherited parameters from instances that this instance inherits from. 118 | > - variables: 119 | > - self.config: 120 | > - self.name: 121 | > - self.printer: 122 | > - self.gcode: 123 | > - self.reactor: 124 | 125 | > ### KtcBaseChangerClass(KtcBaseClass) 126 | > The base all Ktc_Toolchanger inherits. 127 | > - functions: 128 | > - __init__: config required. 129 | > - configure_inherited_params: Loads inherited parameters from instances that this instance inherits from. 130 | > - variables: 131 | > - self.parent_tool: None if main toolchanger. Otherwise the tool this tool uses 132 | > - self.tools{}: List of all tools on the toolchanger. 133 | > - self.active_tool: Selected Tool. 134 | 135 | > ### KtcBaseToolClass(KtcBaseClass) 136 | > The base all Ktc_Toolchanger inherits. 137 | > - functions: 138 | > - __init__: config required. 139 | > - configure_inherited_params: Loads inherited parameters from instances that this instance inherits from. 140 | > - variables: 141 | > - self.parent_tool: None if main toolchanger. Otherwise the tool this tool uses 142 | > - self.tools{}: List of all tools on the toolchanger. 143 | > - self.active_tool: Selected Tool. 144 | 145 | 146 | 147 | > ### KtcConstantsClass: 148 | > Class to include CONSTANTS. This are instances of KtcBaseToolClass so they must be inherited paralel. 149 | > - CONSTANTS: 150 | > - TOOL_NUMBERLESS_N = TOOL_NUMBERLESS_N 151 | > - TOOL_NONE_N: -1 152 | > - TOOL_UNKNOWN_N: -2 153 | > - TOOL_UNKNOWN: Instance KtcBaseToolClass: name="tool_unknown", number=TOOL_UNKNOWN_N 154 | > - TOOL_NONE = Instance KtcBaseToolClass:name="tool_none", number=TOOL_NONE_N 155 | 156 | 157 | ## Python files: 158 | 159 | 160 | > ###class INIT_MODE(str, Enum): 161 | > Constants for the initialization mode of the toolchanger. 162 | > Inherits from str so it can be JSON serializable. 163 | > Not using StrEnum as it was first introduced in Python 3.11. 164 | > Enum was introduced in Python 3.4. 165 | 166 | 167 | 168 | ktc.py has all common methods that need only initialized once. 169 | -constants 170 | TOOL_UNKNOWN : Special tool indicating stateunknown. 171 | TOOL_NONE : Special tool when known state is that a toolchanger has no tool engaged. 172 | 173 | - configurable 174 | global_offset: X,Y,Z. 175 | params_*: Aditional personizable options that can be used by macros. 176 | default_toolchanger:Toolchanger object 177 | params_*: Aditional personizable options that can be used by macros. 178 | 179 | -params 180 | tools: dict[tool_name:tool] 181 | tools_by_number: dict[int, ktc_tool.KtcTool] 182 | self.toolchangers: dict[str, ktc_toolchanger.KtcToolchanger] 183 | 184 | -get_status 185 | global_offset: X,Y,Z 186 | active_tool: 187 | ? active_tool_n: 188 | saved_fan_speed: 189 | ? restore_axis_on_toolchange: 190 | ? saved_position 191 | tools: list of tool names 192 | TOOL_NONE: TOOL_NONE.name 193 | TOOL_UNKNOWN: TOOL_UNKNOWN.name 194 | **self.params 195 | 196 | 197 | ktc_log.py is is initialized once and used for logging, statistics and saving persistant settings like offsets. 198 | 199 | 200 | ktc_toolchanger.py is initialized for each toolchanger system and can have a parent_tool. 201 | - configurable 202 | Name: is case sensitive and can contain spaces 203 | params_*: Aditional personizable options that can be used by macros. 204 | disengage_gcode: G-Code run when disengaging 205 | init_mode: When to initialize the toolchanger: manual, on_start, on_first_use, homing_start, homing_end 206 | Can also be set to manual and called manualy inside the homing file for example. 207 | init_order: Defaults to independent Required if not default, not usable on default. 208 | Defaults to manual. 209 | parent_tool: Required for changers other than the default. 210 | init_gcode: G-code running on initialization. active_tool is loaded before running this 211 | engage_gcode: G-code running when engaging tool-lock. 212 | disengage_gcode: G-code running when disengaging tool-lock. 213 | 214 | -params 215 | tools: dict[tool_name:tool] 216 | persistent_state: Get the persistend state. ex. {'active_tool':'20',} 217 | state : ktc_toolchanger.STATE attr indicating current state. 218 | init_mode: ktc_toolchanger.INIT_MODE attr indicating method of initialization. 219 | active_tool: tool object currently active. Defaults to TOOL_UNKNOWN 220 | init_order: 221 | 222 | tools: 223 | 224 | - get_status: 225 | tools: list of tool.names in tools 226 | active_tool: active_tool.name 227 | init_mode: ktc_toolchanger.INIT_MODE attr indicating method of initialization. 228 | active_tool: tool object currently active. Defaults to TOOL_UNKNOWN 229 | 230 | - methods 231 | engage : method to engage the tool lock. Locking the tool 232 | disengage : method to disengage the tool lock. Unlocking the tool. 233 | change : method to change the tool. 234 | init: Method to init the changer. 235 | Loads persisted active_tool. 236 | Then checks if a init_gcode has been specified. 237 | If no init_gcode is specified then it will set state to STATE.INITIALIZED. 238 | If init_gcode is specified, it will run it. 239 | Atleast myself.state should be set for example to STATE.INITIALIZED. 240 | Can access this context: 241 | myself: The ktc_toolchanger being initialized. 242 | ktc: The ktc object. 243 | STATE: Constants for setting and comparing myself.state 244 | INIT_MODE: Constants for setting and comparing myself.init_mode 245 | persistent_state_set: Set the persistend state. ex. {'active_tool':'20',} 246 | - G-Code commands 247 | 248 | 249 | 250 | ktc_tool.py is initialized for each tool. 251 | Name is case sensitive and can contain spaces 252 | params_*: Aditional personizable options that can be used by macros. 253 | toolchanger: Optional alternative. Uses default if not specified. 254 | 255 | Offset is overwritten to persistant variable. 256 | 257 | 258 | 259 | - If final_selected has same changer as active_tool. 260 | - Deselect active_tool and continue selecting final_selected. 261 | - Else 262 | - Recursivly check tools from active_tool to ktc if force_deselect_when_parent_change. 263 | - Deselect those tools while checking. 264 | - Recursivly check all layers from final_selected to ktc If not selected 265 | - Add to ordered list? 266 | - Select all tools in ordered list one by one. 267 | 268 | Function get_list_from_tool_traversal_(checking)(start_tool, parameter_to_check, value_to_check, comparer_to_check) 269 | 270 | force_deselect_when_parent_deselects 271 | final_selected 272 | 273 | 274 | 275 | # To try to keep terms apart: 276 | Inheritance: tool <- inheriting_tool <- toolchanger <- tool <- inheriting_tool <- toolchanger <- ktc 277 | - Add T# macros if option (default) is True. Do trough adding a gcodemacro object and rename any existing. Maybe renaming to random number, recursive until not already existing. 278 | Each tool has a id (name) (ktc_tool name) and a nr. 279 | 280 | # Select: Tool is selected and loaded for use, be it a physical or a virtual on physical. 281 | When a child tool is selected it will be active on it's toolchanger and on ktc while the parent only on it's toolchanger. 282 | # Deselect: Tool is deselected and unloaded, be it a physical or a virtual on physical. 283 | 284 | ## TESTS TO DO 285 | - Check if it selects previous tool for deselecting a tool that needs tool selected. 286 | - If T0 -> T11 -> Deselect_all should: Deselect T11, select T20, deselect T0, deselect T20. 287 | 288 | class ktc_MeanLayerTime: 289 | def __init__(self, printer): 290 | # Run before toolchange to set time like in StandbyToolTimer. 291 | # Save time for last 5 (except for first) layers 292 | # Provide a mean layer time. 293 | # Have Tool have a min and max 2standby time. 294 | # If mean time for 3 layers is higher than max, then set min time. 295 | # Reset time if layer time is higher than max time. Pause or anything else that has happened. 296 | # Method to reset layer times. 297 | pass 298 | 299 | 300 | - Extruder -> heater_collection (HeaterCollectionWrapper) 301 | - Add context as constants that are inherited. Add a ktc._run_gcode_from_context() 302 | - Combine KTC_SET_STATUS with TOOL and TOOLCHANGER 303 | - Add Tn in addition to KTC_Tn 304 | 305 | - Idea for preprocessing to get time of toolchange is using a module that has a opiton named time before ToolChange. 306 | - CMD in GCODE before waiting for bed to reach temperature. 307 | - The cmd is searching for T# commands that do toolchange. 308 | - Parse chunks of rows before T# and see how much time it takes. 309 | - If takes less than option above then add a chunk, but not more than untill previous T#. 310 | - If takes more than option above then note row and have T# heat up when gcode file has been run past that command. 311 | - Check line once a second or twice a second, configurable. 312 | -Maybe using something from: 313 | https://github.com/Annex-Engineering/klipper_estimator -------------------------------------------------------------------------------- /extensions/ktc_tool.py: -------------------------------------------------------------------------------- 1 | # KTC - Klipper Tool Changer code (v.2) 2 | # Tool module, for each tool. 3 | # 4 | # Copyright (C) 2024 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | 8 | from __future__ import annotations 9 | import typing, operator 10 | from .ktc_base import ( # pylint: disable=relative-beyond-top-level 11 | KtcBaseToolClass, 12 | KtcConstantsClass, 13 | KtcBaseChangerClass, 14 | ) 15 | from .ktc_heater import HeaterStateType, KtcHeaterSettings # pylint: disable=relative-beyond-top-level 16 | 17 | # Only import these modules in Dev environment. Consult Dev_doc.md for more info. 18 | if typing.TYPE_CHECKING: 19 | from ...klipper.klippy import configfile 20 | from ...klipper.klippy.extras import gcode_macro as klippy_gcode_macro 21 | from . import ktc_toolchanger 22 | 23 | class KtcTool(KtcBaseToolClass, KtcConstantsClass): 24 | """Class for a single tool in the toolchanger""" 25 | 26 | def __init__(self, config: "configfile.ConfigWrapper"): 27 | super().__init__(config) 28 | ##### Name ##### 29 | self.name = config.get_name().split(" ", 1)[1] 30 | if self.name == self.TOOL_NONE.name or self.name == self.TOOL_UNKNOWN.name: 31 | raise config.error( 32 | "Name of section '%s' is not well formated. Name is reserved for internal use." 33 | % (config.get_name()) 34 | ) 35 | 36 | ##### Tool Number ##### 37 | # Will be added to the ktc.tools_by_number dict in ktc._config_tools() 38 | self.number = config.getint("tool_number", None) # type: ignore 39 | 40 | ##### Toolchanger ##### 41 | # If none, then the default toolchanger will be set in ktc._config_default_toolchanger() 42 | toolchanger_name = config.get("toolchanger", None) # type: ignore # None is default. 43 | if toolchanger_name is not None: 44 | self.toolchanger = typing.cast( # type: ignore 45 | "ktc_toolchanger.KtcToolchanger", 46 | self.printer.load_object(config, "ktc_toolchanger " + toolchanger_name), 47 | ) 48 | 49 | @property 50 | def toolchanger(self) -> "ktc_toolchanger.KtcToolchanger": 51 | return self._toolchanger 52 | 53 | @toolchanger.setter 54 | def toolchanger(self, value): 55 | if value is not None and not isinstance(value, KtcBaseChangerClass): 56 | raise ValueError("Toolchanger must be a KtcToolchanger object.") 57 | self._toolchanger = value # type: ignore 58 | 59 | @KtcBaseToolClass.state.setter 60 | def state(self, value): 61 | super(KtcBaseToolClass, type(self)).state.fset(self, value) # type: ignore 62 | 63 | def configure_inherited_params(self): 64 | # If this is TOOL_NONE or TOOL_UNKNOWN. 65 | if self.config is None: 66 | return 67 | 68 | super().configure_inherited_params() 69 | 70 | self.gcode_macro = typing.cast('klippy_gcode_macro.PrinterGCodeMacro', # type: ignore # pylint: disable=attribute-defined-outside-init 71 | self.printer.lookup_object("gcode_macro")) # type: ignore 72 | 73 | self.extruder.active_to_standby_delay = self._heater_active_to_standby_delay_in_config 74 | self.extruder.standby_to_powerdown_delay = self._heater_standby_to_powerdown_delay_in_config 75 | # Settings for any heaters. 76 | if self._heaters_config is not None: 77 | heaters = self._heaters_config.replace(" ", "").split(",") 78 | for heater_string in heaters: 79 | if heater_string == "": 80 | continue 81 | heater_settings = KtcHeaterSettings.from_string(heater_string) 82 | self.extruder.heaters.append(heater_settings) 83 | # Initialize the heater if first time used. 84 | if heater_settings.name not in self._ktc.all_heaters: 85 | self._ktc.all_heaters[heater_settings.name] = ( 86 | self.printer.load_object( 87 | self.config, "ktc_heater " + heater_settings.name) 88 | ) 89 | 90 | self.state = self.StateType.CONFIGURED 91 | 92 | def cmd_SelectTool(self, gcmd): # pylint: disable=invalid-name, unused-argument 93 | self.log.trace("KTC Tool " + str(self.number) + " Selected.") 94 | self.run_with_profile(self.select, final_selected=True) 95 | 96 | def select(self, final_selected=False): 97 | self.state = self.StateType.SELECTING 98 | try: 99 | self.log.always("KTC Tool %s Selecting." % self.name) 100 | at = self._ktc.active_tool 101 | 102 | # Check if homed 103 | self._ktc.confirm_ready_for_toolchange(self) 104 | 105 | # None of this is needed if this is not the final tool. 106 | if final_selected: 107 | # If already selected as final tool then do nothing. 108 | if self == at: 109 | return 110 | 111 | if at == self.TOOL_UNKNOWN: 112 | msg = ("Unknown tool already mounted." 113 | + "Can't automatically deselect unknown tool" 114 | + " before selecting new tool.") 115 | self.log.always(msg) 116 | raise self.printer.command_error(msg) 117 | 118 | # If the new tool to be selected has any heaters prepare warmup before 119 | # actual tool change so all moves will be done while heating up. 120 | if len(self.extruder.heaters) > 0: 121 | self.set_heaters(heater_state=HeaterStateType.ACTIVE) 122 | 123 | # Put all other active heaters in standby. 124 | for heater in ( heater for heater in self._ktc.all_heaters.values() 125 | if heater.state == HeaterStateType.ACTIVE 126 | and heater.name not in self.extruder.heater_names()): 127 | heater.state = HeaterStateType.STANDBY 128 | 129 | # If another tool is selected it needs to be deselected first. 130 | if at is not self.TOOL_NONE: 131 | # If the new tool is on the same toolchanger as the current tool. 132 | if self.toolchanger == at.toolchanger: 133 | at.deselect() 134 | # If on different toolchanger: 135 | else: 136 | # First deselect all tools recursively. 137 | # Only if force_deselect_when_parent_deselects is True for the tool. 138 | tools = self._get_list_from_tool_traversal_conditional( 139 | at, "force_deselect_when_parent_deselects", True) 140 | for t in tools: 141 | t.deselect() 142 | # Check if the tool to be deselected is on the same toolchanger. 143 | # Then don't deselect beyond that tool. 144 | if t.toolchanger == self.toolchanger: 145 | break 146 | # Then select the new tools recursively in reverse order 147 | # by getting the list of tools not already selected. 148 | tools = self._get_list_from_tool_traversal_conditional( 149 | self, "state", self.StateType.SELECTED, operator.ne) 150 | for t in reversed(tools): 151 | t.select() 152 | 153 | # If already selected then do nothing. 154 | if self.state == self.StateType.SELECTED or self.state == self.StateType.ACTIVE: 155 | return 156 | 157 | # Now we asume tool has been dropped if needed be. 158 | # Increase the number of selects started. 159 | self.log.tool_stats[self.name].selects_started += 1 160 | # Log the time it takes for tool mount. 161 | self.log.track_tool_selecting_start(self) 162 | 163 | # Run the gcode for pickup. 164 | try: 165 | self.state = self.StateType.SELECTING 166 | self.toolchanger.state = self.toolchanger.StateType.CHANGING 167 | self._ktc.state = self.StateType.CHANGING 168 | tool_select_gcode_template = self.gcode_macro.load_template( 169 | self.config, "", self._tool_select_gcode) 170 | context = tool_select_gcode_template.create_template_context() 171 | context['myself'] = self.get_status() 172 | context['ktc'] = self._ktc.get_status() 173 | context['STATE_TYPE'] = self.StateType 174 | tool_select_gcode_template.run_gcode_from_command(context) 175 | # Check that the gcode has changed the state. 176 | except Exception as e: 177 | raise Exception("Failed to run tool_select_gcode: " + str(e)) from e 178 | if self.state == self.StateType.SELECTING: 179 | raise self.config.error( 180 | ("tool_select_gcode has not changed the state while running " 181 | + "code in tool_select_gcode. Use for example " 182 | + "'KTC_SET_STATE TOOL={myself.name} STATE=SELECTED' to " 183 | + "indicate it is selected successfully. Or ERROR if it failed.") 184 | ) 185 | elif self.state == self.StateType.ERROR: 186 | raise self.config.error( 187 | ("tool_select_gcode changed the state to ERROR while running.") 188 | ) 189 | 190 | if final_selected and self.state == self.StateType.SELECTED: 191 | # Restore fan if has a fan. 192 | for fan in self.fans: 193 | self.gcode.run_script_from_command( 194 | "SET_FAN_SPEED FAN=" 195 | + fan[0] 196 | + " SPEED=" 197 | + str(self._ktc.saved_fan_speed * float(fan[1])) 198 | ) 199 | 200 | self._ktc.active_tool = self 201 | self.log.track_tool_selected_start(self) 202 | self.state = self.StateType.ACTIVE 203 | 204 | self.log.tool_stats[self.name].selects_completed += 1 205 | 206 | except Exception as e: 207 | self.log.always("KTC Tool %s failed to select: %s" % (self.name, str(e))) 208 | self.state = self.StateType.ERROR 209 | self._ktc.state = self.StateType.ERROR 210 | raise e from e 211 | finally: 212 | self.log.track_tool_selecting_end(self) 213 | 214 | def deselect(self): # pylint: disable=arguments-differ 215 | self.state = self.StateType.DESELECTING 216 | try: 217 | # Check if homed 218 | self._ktc.confirm_ready_for_toolchange(self) 219 | 220 | self.log.track_tool_selected_end(self) 221 | self.log.track_tool_deselecting_start(self) 222 | self.log.tool_stats[self.name].deselects_started += 1 223 | 224 | self.extruder.state = HeaterStateType.STANDBY 225 | 226 | # Turn off fan if has a fan. 227 | self._ktc.tool_fan_speed_set(self, 0) 228 | 229 | # Check if toolchanger is not topmost and 230 | # parent tool must be selected on deselect and 231 | # parent tool is not selected. 232 | if ( 233 | self.toolchanger.parent_tool is not None and 234 | self.parent_must_be_selected_on_deselect and 235 | self.toolchanger.parent_tool.state != self.StateType.SELECTED 236 | ): 237 | tools_to_select = self._get_list_from_tool_traversal_conditional( 238 | self, "parent_must_be_selected_on_deselect", True) 239 | for t in reversed(tools_to_select): 240 | t.select() 241 | 242 | try: 243 | gcode_template = self.gcode_macro.load_template( 244 | self.config, "", self._tool_deselect_gcode) 245 | context = gcode_template.create_template_context() 246 | context['myself'] = self.get_status() 247 | context['ktc'] = self._ktc.get_status() 248 | context['STATE_TYPE'] = self.StateType 249 | gcode_template.run_gcode_from_command(context) 250 | except Exception as e: 251 | raise Exception("Failed to run tool_deselect_gcode: " + str(e)) from e 252 | # Check that the gcode has changed the state. 253 | if self.state == self.StateType.DESELECTING: 254 | raise self.config.error( 255 | ("tool_deselect_gcode has not changed the state while running " 256 | + "code in tool_select_gcode. Use for example " 257 | + "'KTC_SET_STATE TOOL={myself.name} STATE=SELECTED' to " 258 | + "indicate it is selected successfully. Or ERROR if it failed.") 259 | ) 260 | elif self.state == self.StateType.ERROR: 261 | raise self.config.error( 262 | ("tool_select_gcode has changed the state to ERROR while running.") 263 | ) 264 | 265 | self._ktc.active_tool = self.TOOL_NONE # Dropoff successfull 266 | self.log.track_tool_deselecting_end( 267 | self 268 | ) # Log the time it takes for tool change. 269 | except Exception as e: 270 | self.log.always("KTC Tool %s failed to deselect: %s" % (self.name, str(e))) 271 | self.state = self.StateType.ERROR 272 | self._ktc.state = self.StateType.ERROR 273 | raise e from e 274 | 275 | def _get_list_from_tool_traversal_conditional( 276 | self, start_tool: KtcBaseToolClass, param: str, 277 | value, condition = operator.eq) -> typing.List[KtcTool]: 278 | return_list = [] 279 | 280 | if start_tool in ( 281 | self.TOOL_NONE, 282 | self.TOOL_UNKNOWN, 283 | self._ktc, 284 | None 285 | ): 286 | return return_list 287 | 288 | if condition(getattr(start_tool, param), value): 289 | return_list.append(start_tool) 290 | 291 | upper_tool = start_tool.toolchanger.parent_tool 292 | 293 | if upper_tool is not None: 294 | return_list += self._get_list_from_tool_traversal_conditional( 295 | upper_tool, param, value, condition) 296 | 297 | return return_list 298 | 299 | def set_heaters(self, **kwargs) -> None: 300 | if len(self.extruder.heaters) < 1: 301 | self.log.debug( 302 | "set_heater: KTC Tool %s has no heaters! Nothing to do." % self.name 303 | ) 304 | return None 305 | 306 | self.log.trace(f"set_heater: KTC Tool {self.name} heater is at begining " + 307 | f"{self.extruder.state}. {self.extruder.active_temp}*C, " + 308 | f"{self.extruder.standby_temp}*C") 309 | 310 | changing_timer = False 311 | ex = self.extruder 312 | 313 | if self in self.INVALID_TOOLS: 314 | self.log.always("KTC Tool %s is not a valid tool to set heaters for." % self.name) 315 | return 316 | 317 | for i in kwargs: # pylint: disable=consider-using-dict-items 318 | if i == "heater_active_temp": 319 | ex.active_temp = kwargs[i] 320 | elif i == "heater_standby_temp": 321 | ex.standby_temp = kwargs[i] 322 | elif i == "heater_active_to_standby_delay": 323 | ex.active_to_standby_delay = kwargs[i] 324 | changing_timer = True 325 | elif i == "heater_standby_to_powerdown_delay": 326 | ex.standby_to_powerdown_delay = kwargs[i] 327 | changing_timer = True 328 | if "heater_state" in kwargs: 329 | chng_state = HeaterStateType.parse_heater_state(kwargs["heater_state"]) 330 | ex.state = chng_state 331 | 332 | # If already in standby and timers are counting down, 333 | # i.e. have not triggered since set in standby, 334 | # then reset the ones counting down. 335 | if ex.state == HeaterStateType.STANDBY and changing_timer: 336 | self.log.trace("ex.state == HeaterStateType.STANDBY and changing_timer.") 337 | for hs in ex.heaters: 338 | ht = self._ktc.all_heaters[hs.name] 339 | if ht.timer_heater_standby_to_powerdown_delay.counting_down: 340 | ht.timer_heater_standby_to_powerdown_delay.set_timer( 341 | ex.standby_to_powerdown_delay) 342 | if ht.timer_heater_active_to_standby_delay.counting_down: 343 | ht.timer_heater_active_to_standby_delay.set_timer( 344 | ex.active_to_standby_delay) 345 | 346 | def get_status(self, eventtime=None): # pylint: disable=unused-argument 347 | status = { 348 | "name": self.name, 349 | "number": self.number, 350 | "state": self.state, 351 | "toolchanger": self.toolchanger.name, 352 | "fans": self.fans, 353 | "offset": [self.offset[i] + self._ktc.global_offset[i] for i in range(3)], 354 | "heater_names": [heater.name for heater in self.extruder.heaters], 355 | "heater_state": self.extruder.state, 356 | "heater_active_temp": self.extruder.active_temp, 357 | "heater_standby_temp": self.extruder.standby_temp, 358 | "heater_active_to_standby_delay": self.extruder.active_to_standby_delay, 359 | "standby_to_powerdown_delay": self.extruder.standby_to_powerdown_delay, 360 | "params_available": str(self.params.keys()), 361 | **self.params, 362 | } 363 | return status 364 | 365 | ########################################### 366 | # Dataclassess for KtcTool 367 | ########################################### 368 | def load_config_prefix(config): 369 | return KtcTool(config) 370 | -------------------------------------------------------------------------------- /extensions/ktc_heater.py: -------------------------------------------------------------------------------- 1 | # KTC - Klipper Tool Changer code (v.2) 2 | # Heater control for controlling the temperature of the tools 3 | # 4 | # Copyright (C) 2024 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | import typing, dataclasses 8 | from enum import IntEnum, unique 9 | 10 | # Only import these modules in Dev environment. Consult Dev_doc.md for more info. 11 | if typing.TYPE_CHECKING: 12 | from ...klipper.klippy import configfile, gcode, klippy, reactor 13 | from ...klipper.klippy.extras import heaters as klippy_heaters 14 | 15 | # from ...klipper.klippy.extras import gcode_macro as klippy_gcode_macro 16 | from . import ktc_log, ktc_toolchanger, ktc_tool, ktc 17 | 18 | DEFAULT_HEATER_ACTIVE_TO_STANDBY_DELAY = 0.1 19 | DEFAULT_HEATER_STANDBY_TO_POWERDOWN_DELAY = 600 20 | NOW = 0.1 21 | NEVER = 0 22 | 23 | 24 | @unique 25 | class HeaterStateType(IntEnum): 26 | OFF = 0 27 | STANDBY = 1 28 | ACTIVE = 2 29 | 30 | @classmethod 31 | def parse_heater_state(cls, state: str): 32 | state = str(state).strip() 33 | if state is not None: 34 | if state.lower() in ("0", "off", "heaterstatetype.off"): 35 | return cls.OFF 36 | elif state.lower() in ("1", "standby", "heaterstatetype.standby"): 37 | return cls.STANDBY 38 | elif state.lower() in ("2", "active", "heaterstatetype.active"): 39 | return cls.ACTIVE 40 | else: 41 | raise ValueError( 42 | f"Invalid value for heater state: {state}. " 43 | + "Valid values are: 0/OFF, 1/STANDBY, 2/ACTIVE." 44 | ) 45 | 46 | 47 | @unique 48 | class HeaterTimerType(IntEnum): 49 | TIMER_TO_SHUTDOWN = 0 50 | TIMER_TO_STANDBY = 1 51 | 52 | 53 | # @dataclasses_json.dataclass_json 54 | @dataclasses.dataclass 55 | class KtcHeaterSettings: 56 | name: str 57 | temperature_offset: float 58 | 59 | def __init__(self, name: str, temperature_offset: float): 60 | self.name = name 61 | self.temperature_offset = temperature_offset 62 | 63 | @classmethod 64 | def from_list(cls, list_value: list): 65 | temp = [list_value[0], 0.0] # Default temperature temperature_offset 66 | for i, val in enumerate(list_value[1:]): 67 | temp[i + 1] = float(val) 68 | return cls(*temp) 69 | 70 | @classmethod 71 | def from_string(cls, string_value: str): 72 | list_value = string_value.split(":") 73 | return cls.from_list(list_value) 74 | 75 | @classmethod 76 | def from_dict(cls, data): 77 | return cls(name=data["name"], temperature_offset=data["temperature_offset"]) 78 | 79 | def to_dict(self): 80 | return {"name": self.name, "temperature_offset": self.temperature_offset} 81 | 82 | 83 | class KtcToolExtruder: 84 | def __init__(self, tool: "ktc_tool.KtcTool"): 85 | self._tool = tool 86 | self._state = HeaterStateType.OFF 87 | self._active_temp = 0 88 | self._standby_temp = 0 89 | self._active_to_standby_delay = DEFAULT_HEATER_ACTIVE_TO_STANDBY_DELAY 90 | self._standby_to_powerdown_delay = DEFAULT_HEATER_STANDBY_TO_POWERDOWN_DELAY 91 | self.heaters: list["KtcHeaterSettings"] = [] 92 | # dataclasses.field(default_factory=list) 93 | 94 | if tool.name not in ("tool_unknown", "tool_none"): 95 | self._ktc = tool._ktc 96 | 97 | def heater_names(self) -> list[str]: 98 | return [heater.name for heater in self.heaters] 99 | 100 | @property 101 | def state(self): 102 | return self._state 103 | 104 | @state.setter 105 | def state(self, value: HeaterStateType): 106 | self._state = value 107 | _ktc = self._tool._ktc 108 | self._tool._ktc.log.trace( 109 | f"In extr. Setting heater state to {value} " 110 | + f"for tool {self._tool.name}" 111 | ) 112 | 113 | def set_heater_options(self: KtcToolExtruder, heater_settings: KtcHeaterSettings): 114 | heater: KtcHeater = self._tool._ktc.all_heaters[heater_settings.name] 115 | heater.heater_active_temp = heater_settings.temperature_offset + self.active_temp 116 | heater.standby_temp = heater_settings.temperature_offset + self.standby_temp 117 | heater.active_to_standby_delay = self.active_to_standby_delay 118 | heater.standby_to_powerdown_delay = self.standby_to_powerdown_delay 119 | self._tool._ktc.log.trace( 120 | f"Setting heater options for heater {heater.name} " 121 | + f"{heater.heater_active_temp=}, {heater.standby_temp=}, " 122 | + f"{heater.active_to_standby_delay= }, {heater.standby_to_powerdown_delay= }" 123 | ) 124 | 125 | # Allways set active state on all heaters 126 | if value == HeaterStateType.ACTIVE: 127 | self._tool._ktc.log.trace( 128 | "In extr. Setting heater state to ACTIVE " 129 | + f"for tool {self._tool.name}" 130 | + f" with active_temp {self._active_temp}" 131 | ) 132 | for hs in self.heaters: 133 | set_heater_options(self, hs) 134 | self._tool._ktc.all_heaters[hs.name].state = value 135 | self._tool._ktc.log.track_heater_active_start(self._tool) 136 | return 137 | 138 | # For STANDY and OFF, check if the heater is active on another tool. 139 | heaters_active_with_other_tool: list[str] = [] 140 | invalid_tools = ( 141 | self._tool, 142 | self._tool._ktc.TOOL_NONE, 143 | self._tool._ktc.TOOL_UNKNOWN, 144 | None, 145 | ) 146 | for tool in self._tool._ktc.all_tools.values(): 147 | if tool not in invalid_tools: 148 | if tool.extruder.state == HeaterStateType.ACTIVE: 149 | heaters_active_with_other_tool.extend(tool.extruder.heater_names()) 150 | 151 | for hs in self.heaters: 152 | if hs.name not in heaters_active_with_other_tool: 153 | if value == HeaterStateType.STANDBY: 154 | self._tool._ktc.log.trace( 155 | f"Setting heater state to STANDBY for tool {self._tool.name}" 156 | + f" with heater {hs.name}" 157 | ) 158 | set_heater_options(self, hs) 159 | self._tool._ktc.all_heaters[hs.name].state = value 160 | else: 161 | # Can't track standby for tool if heater is in active state on another tool. 162 | self._tool._ktc.log.trace( 163 | f"Tool {self._tool.name} has heater {hs.name} active on another tool. " 164 | ) 165 | self._tool._ktc.log.track_heater_active_end(self._tool) 166 | self._tool._ktc.log.track_heater_standby_end(self._tool) 167 | self._state = HeaterStateType.OFF 168 | 169 | @property 170 | def active_temp(self): 171 | return self._active_temp 172 | 173 | @active_temp.setter 174 | def active_temp(self, value): 175 | self._active_temp = value 176 | if self.state == HeaterStateType.ACTIVE: 177 | for hs in self.heaters: 178 | self._tool._ktc.all_heaters[hs.name].heater_active_temp = ( 179 | value + hs.temperature_offset 180 | ) 181 | 182 | @property 183 | def standby_temp(self): 184 | return self._standby_temp 185 | 186 | @standby_temp.setter 187 | def standby_temp(self, value): 188 | self._standby_temp = value 189 | if self.state == HeaterStateType.STANDBY: 190 | for hs in self.heaters: 191 | self._tool._ktc.all_heaters[hs.name].standby_temp = value 192 | 193 | @property 194 | def active_to_standby_delay(self): 195 | return self._active_to_standby_delay 196 | 197 | @active_to_standby_delay.setter 198 | def active_to_standby_delay(self, value): 199 | self._active_to_standby_delay = value 200 | # If heater is active on only this tool or 201 | # standby on only this tool and the timer is counting down 202 | 203 | if ( 204 | self.state == HeaterStateType.ACTIVE 205 | or self.state == HeaterStateType.STANDBY 206 | ): 207 | for hs in self.heaters: 208 | ht = self._tool._ktc.all_heaters[hs.name] 209 | if ht.state == HeaterStateType.ACTIVE or ( 210 | ht.state == HeaterStateType.STANDBY 211 | and ht.timer_heater_active_to_standby_delay.counting_down 212 | ): 213 | ht.active_to_standby_delay = value 214 | 215 | @property 216 | def standby_to_powerdown_delay(self): 217 | return self._standby_to_powerdown_delay 218 | 219 | @standby_to_powerdown_delay.setter 220 | def standby_to_powerdown_delay(self, value): 221 | self._standby_to_powerdown_delay = value 222 | 223 | self._tool._ktc.log.trace( 224 | f"Setting standby_to_powerdown_delay to {value} for tool {self._tool.name}" 225 | + f" with state {self.state}" 226 | ) 227 | 228 | if self.state == HeaterStateType.STANDBY: 229 | for hs in self.heaters: 230 | if ( 231 | self._tool._ktc.all_heaters[hs.name].state 232 | == HeaterStateType.STANDBY 233 | and self._tool._ktc.all_heaters[ 234 | hs.name 235 | ].timer_heater_standby_to_powerdown_delay.counting_down 236 | ): 237 | self._tool._ktc.all_heaters[hs.name].standby_to_powerdown_delay = ( 238 | value 239 | ) 240 | 241 | 242 | class KtcHeater: 243 | def __init__(self, config: "configfile.ConfigWrapper"): 244 | self.printer: "klippy.Printer" = config.get_printer() 245 | self.name = typing.cast(str, config.get_name().split(" ", 1)[1]) 246 | self.temperature_offset = 0.0 247 | 248 | self._state = HeaterStateType.OFF 249 | # Timer to set temperature to standby temperature 250 | # after heater_active_to_standby_delay seconds. Set if this tool has an heaters. 251 | self.timer_heater_active_to_standby_delay = KtcHeaterTimer( 252 | self.printer, self, HeaterTimerType.TIMER_TO_STANDBY 253 | ) 254 | 255 | # Timer to set temperature to 0 after heater_standby_to_powerdown_delay seconds. 256 | # Set if this tool has an heaters. 257 | self.timer_heater_standby_to_powerdown_delay = KtcHeaterTimer( 258 | self.printer, self, HeaterTimerType.TIMER_TO_SHUTDOWN 259 | ) 260 | 261 | # Temperature to set when in active mode. 262 | # Requred on Physical and virtual tool if any has heaters. 263 | self._heater_active_temp = 0 264 | # Temperature to set when in standby mode. 265 | # Requred on Physical and virtual tool if any has heaters. 266 | self._standby_temp = 0 267 | 268 | self.__active_to_standby_delay = DEFAULT_HEATER_ACTIVE_TO_STANDBY_DELAY 269 | self.__standby_to_powerdown_delay = DEFAULT_HEATER_STANDBY_TO_POWERDOWN_DELAY 270 | 271 | self.klippy_heater = typing.cast( 272 | "klippy_heaters.Heater", 273 | self.printer.lookup_object("heaters").lookup_heater(self.name), 274 | ) 275 | 276 | @property 277 | def active_to_standby_delay(self) -> float: 278 | return self.__active_to_standby_delay 279 | 280 | @active_to_standby_delay.setter 281 | def active_to_standby_delay(self, value: float): 282 | self.__active_to_standby_delay = value 283 | self.printer.lookup_object("ktc_log").trace( 284 | f"Setting heater_active_to_standby_delay to {value} for heater {self.name}" 285 | ) 286 | if self.state == HeaterStateType.STANDBY: 287 | self.printer.lookup_object("ktc_log").trace( 288 | f"Setting timer for active to standby to {value} for heater {self.name}" 289 | ) 290 | self.timer_heater_active_to_standby_delay.set_timer(value) 291 | 292 | @property 293 | def standby_to_powerdown_delay(self) -> float: 294 | return self.__standby_to_powerdown_delay 295 | 296 | @standby_to_powerdown_delay.setter 297 | def standby_to_powerdown_delay(self, value: float): 298 | self.__standby_to_powerdown_delay = value 299 | self.printer.lookup_object("ktc_log").trace( 300 | f"Setting timer for standby to powerdown to {value} for heater {self.name}" 301 | + f" with state {self.state}" 302 | ) 303 | if self.state == HeaterStateType.OFF: 304 | self.printer.lookup_object("ktc_log").trace("State is OFF") 305 | self.timer_heater_standby_to_powerdown_delay.set_timer(value) 306 | 307 | @property 308 | def state(self) -> HeaterStateType: 309 | return self._state 310 | 311 | @state.setter 312 | def state(self, value: HeaterStateType) -> None: 313 | """Set the state of the heater. The state can be OFF, STANDBY or ACTIVE. 314 | Disregard the previous state. 315 | Restart the timers if the state is changed to STANDBY.""" 316 | self.printer.lookup_object("ktc_log").trace( 317 | f"In heater.state.setter. Setting heater state to {value} for heater {self.name}" 318 | ) 319 | 320 | set_timer_to_standby = self.timer_heater_active_to_standby_delay.set_timer 321 | set_timer_to_powerdown = self.timer_heater_standby_to_powerdown_delay.set_timer 322 | 323 | if value == HeaterStateType.ACTIVE: 324 | set_timer_to_standby(NEVER) 325 | set_timer_to_powerdown(NEVER) 326 | # Log the start of the heater 327 | self.printer.lookup_object("ktc_log").trace( 328 | f"Setting heater state to ACTIVE for heater {self.name}" 329 | + f" with klippy heater {self.klippy_heater.name}" 330 | + f" and heater_active_temp {self.heater_active_temp}" 331 | ) 332 | self.klippy_heater.set_temp(self.heater_active_temp) 333 | elif value == HeaterStateType.STANDBY: 334 | if self._state != HeaterStateType.ACTIVE: 335 | self.printer.lookup_object("ktc_log").trace( 336 | "Heater state is set to STANDBY without being ACTIVE first." 337 | + f" State is {self._state} for heater {self.name}" 338 | ) 339 | set_timer_to_standby(NOW) 340 | else: 341 | if self.timer_heater_active_to_standby_delay.counting_down: 342 | self.printer.lookup_object("ktc_log").trace( 343 | "Heater state is set to STANDBY while the active to " 344 | + "standby timer is counting down." 345 | ) 346 | set_timer_to_standby(NOW) 347 | else: 348 | self.printer.lookup_object("ktc_log").trace( 349 | f"Setting heater state to STANDBY for heater {self.name}" 350 | + f" with klippy heater {self.klippy_heater.name}" 351 | + f" and delay {self.active_to_standby_delay}" 352 | ) 353 | set_timer_to_standby(self.active_to_standby_delay) 354 | # set_timer_to_powerdown(self.standby_to_powerdown_delay) 355 | elif value == HeaterStateType.OFF: 356 | set_timer_to_standby(NEVER) 357 | set_timer_to_powerdown(NOW) 358 | self._state = value 359 | 360 | @property 361 | def heater_active_temp(self): 362 | return self._heater_active_temp 363 | 364 | @heater_active_temp.setter 365 | def heater_active_temp(self, value): 366 | self._heater_active_temp = value if value > 0 else 0 367 | if self.state == HeaterStateType.ACTIVE: 368 | self.klippy_heater.set_temp(self._heater_active_temp) 369 | 370 | @property 371 | def standby_temp(self): 372 | return self._standby_temp 373 | 374 | @standby_temp.setter 375 | def standby_temp(self, value): 376 | self._standby_temp = value if value > 0 else 0 377 | if ( 378 | self.state == HeaterStateType.STANDBY 379 | and not self.timer_heater_active_to_standby_delay.counting_down 380 | ): 381 | self.klippy_heater.set_temp(self._standby_temp) 382 | 383 | 384 | class KtcHeaterTimer: 385 | def __init__( 386 | self, printer: "klippy.Printer", heater: KtcHeater, timer_type: HeaterTimerType 387 | ): 388 | self.printer = printer 389 | self.heater = heater 390 | 391 | self.duration = 0.0 392 | self.timer_type = timer_type # 0= Time to shutdown, 1= Time to standby. 393 | 394 | self.reactor: "reactor.Reactor" = self.printer.get_reactor() 395 | self.gcode = typing.cast( 396 | "gcode.GCodeDispatch", self.printer.lookup_object("gcode") 397 | ) 398 | self.timer_handler = None 399 | self.inside_timer = self.repeat = False 400 | self.printer.register_event_handler("klippy:ready", self.__handle_ready) 401 | self.log = typing.cast("ktc_log.KtcLog", self.printer.lookup_object("ktc_log")) 402 | 403 | self.counting_down = False 404 | self.nextwake = self.reactor.NEVER 405 | 406 | def __handle_ready(self): 407 | self.timer_handler = self.reactor.register_timer( 408 | self._temp_timer_event, self.reactor.NEVER 409 | ) 410 | 411 | def _temp_timer_event(self, eventtime): 412 | self.inside_timer = True 413 | self.counting_down = False 414 | self.log.trace( 415 | f"Running heater timer for {self.heater.name}: " 416 | + f"{('Standby' if self.timer_type == HeaterTimerType.TIMER_TO_STANDBY else 'OFF')}" 417 | ) 418 | 419 | try: 420 | if self.timer_type == HeaterTimerType.TIMER_TO_STANDBY: 421 | self.log.track_heater_standby_start_for_standby_tools_having_heater( 422 | self.heater 423 | ) 424 | self.log.track_heater_active_end_for_tools_having_heater(self.heater) 425 | self.heater.klippy_heater.set_temp(self.heater.standby_temp) 426 | self.heater.timer_heater_active_to_standby_delay.set_timer(NEVER) 427 | self.heater.timer_heater_standby_to_powerdown_delay.set_timer( 428 | self.heater.standby_to_powerdown_delay 429 | ) 430 | self.log.trace( 431 | f"Setting temperature to {self.heater.standby_temp} " 432 | + f"for heater {self.heater.name} " 433 | ) 434 | else: 435 | self.heater.klippy_heater.set_temp(0) 436 | self.heater.timer_heater_active_to_standby_delay.set_timer(NEVER) 437 | self.heater.timer_heater_standby_to_powerdown_delay.set_timer(NEVER) 438 | self.log.trace( 439 | f"Setting temperature to 0 for heater {self.heater.name} " 440 | ) 441 | self.log.track_heater_end_for_tools_having_heater(self.heater) 442 | 443 | except Exception as e: 444 | self.log.always( 445 | f"Failed to run {('Standby' if self.timer_type == 1 else 'OFF')} " 446 | + f"timer for heater {self.heater.name}: {str(e)}" 447 | ) 448 | raise Exception( 449 | f"Failed to run{('Standby' if self.timer_type == 1 else 'OFF')} " 450 | + f"timer for heater {self.heater.name}: {str(e)}" 451 | ) from e 452 | 453 | if self.repeat: 454 | self.nextwake = eventtime + self.duration 455 | self.counting_down = True 456 | else: 457 | self.nextwake = self.reactor.NEVER 458 | self.inside_timer = self.repeat = False 459 | return self.nextwake 460 | 461 | def set_timer(self, duration: float): 462 | """Set the timer for the heater and the duration. 463 | If duration is 0, the timer is stopped.""" 464 | self.duration = float(duration) 465 | if self.inside_timer: 466 | self.repeat = self.duration != 0.0 467 | else: 468 | waketime = self.reactor.NEVER 469 | if self.duration: 470 | waketime = self.reactor.monotonic() + self.duration 471 | self.nextwake = waketime 472 | self.reactor.update_timer(self.timer_handler, waketime) 473 | self.log.trace( 474 | f"heatertimer set_timer {self.timer_type}: " 475 | + f"duration: {self.duration}, " 476 | + f"nextwake: {self._time_left()} " 477 | f"counting_down: {self.counting_down}" 478 | ) 479 | if self.duration: 480 | self.counting_down = True 481 | else: 482 | self.counting_down = False 483 | 484 | self.log.trace( 485 | f"Time until heater {str(self.heater.name)} " 486 | + f"changes to {('Standby' if self.timer_type == 1 else 'OFF')}: " 487 | + f"{self._time_left()}" 488 | ) 489 | 490 | def get_status(self, eventtime=None): # pylint: disable=unused-argument 491 | status = { 492 | "timer_type": self.timer_type, 493 | "duration": self.duration, 494 | "counting_down": self.counting_down, 495 | "next_wake": self._time_left(), 496 | } 497 | return status 498 | 499 | def _time_left(self): 500 | if self.nextwake == self.reactor.NEVER: 501 | return "never" 502 | else: 503 | return str(self.nextwake - self.reactor.monotonic()) 504 | 505 | 506 | def load_config_prefix(config): 507 | return KtcHeater(config) 508 | -------------------------------------------------------------------------------- /extensions/ktc_base.py: -------------------------------------------------------------------------------- 1 | # KTC - Klipper Tool Changer code (v.2) 2 | # Base classes and types for KTC to inherit from. 3 | # This file is part of the KTC extension for the Klipper firmware. 4 | # This should not import any other KTC module but can be imported by any KTC module. 5 | # 6 | # Copyright (C) 2024 Andrei Ignat 7 | # 8 | # This file may be distributed under the terms of the GNU GPLv3 license. 9 | # 10 | from __future__ import annotations 11 | import ast, typing, re 12 | import cProfile, pstats, io 13 | from enum import IntEnum, Enum 14 | from .ktc_heater import ( # pylint: disable=relative-beyond-top-level 15 | KtcToolExtruder, 16 | DEFAULT_HEATER_ACTIVE_TO_STANDBY_DELAY, 17 | DEFAULT_HEATER_STANDBY_TO_POWERDOWN_DELAY, 18 | ) 19 | 20 | 21 | # Only import these modules in Dev environment. Consult Dev_doc.md for more info. 22 | if typing.TYPE_CHECKING: 23 | from ...klipper.klippy import configfile, gcode, klippy 24 | from ...klipper.klippy.extras import gcode_macro as klippy_gcode_macro 25 | from . import ktc_log, ktc_toolchanger, ktc_tool, ktc, ktc_persisting 26 | 27 | # Value of Unknown and None tools. 28 | TOOL_NUMBERLESS_N = -3 29 | TOOL_UNKNOWN_N = -2 30 | TOOL_NONE_N = -1 31 | 32 | # Parameters available for inheritance by all tools and their default values. 33 | PARAMS_TO_INHERIT = {"_engage_gcode": "", 34 | "_disengage_gcode": "", 35 | "_init_gcode": "", 36 | "_tool_select_gcode": "", 37 | "_tool_deselect_gcode": "", 38 | "force_deselect_when_parent_deselects": True, 39 | "parent_must_be_selected_on_deselect": True, 40 | "_heaters_config": "", 41 | "fans": "", 42 | "offset": [0.0, 0.0, 0.0], 43 | "requires_axis_homed": "XYZ", 44 | "_heater_active_to_standby_delay_in_config": 45 | DEFAULT_HEATER_ACTIVE_TO_STANDBY_DELAY, 46 | "_heater_standby_to_powerdown_delay_in_config": 47 | DEFAULT_HEATER_STANDBY_TO_POWERDOWN_DELAY, 48 | } 49 | 50 | class KtcConfigurableEnum(Enum): 51 | @classmethod 52 | def get_value_from_configuration(cls, config: 'configfile.ConfigWrapper', value_name: str, 53 | default_name: typing.Optional[str] = None): 54 | val = typing.cast(str, config.get(value_name, default_name)) # type: ignore 55 | val = val.strip().upper() 56 | if val == "": 57 | raise ValueError(f"Value {value_name} not found in configuration.") 58 | if val not in cls.list_valid_values(): 59 | raise ValueError(f"Value {val} not valid for {value_name}" 60 | +f" in configuration for {config.get_name()}." 61 | + f"Valid values are: {cls.list_valid_values()}") 62 | return cls[val] 63 | 64 | @classmethod 65 | def list_valid_values(cls): 66 | return [str(name) for name in cls.__members__] 67 | 68 | def __str__(self): 69 | return f"'{self.name}'" 70 | 71 | class KtcBaseClass: 72 | """Base class for KTC. Contains common methods and properties.""" 73 | def __init__(self, config: "configfile.ConfigWrapper"): # type: ignore 74 | self.config = typing.cast('configfile.ConfigWrapper', config) 75 | self.name: str = "" 76 | 77 | #: To store performance data on startup for later logging. 78 | self.debug_init_profile:str = None # type: ignore 79 | 80 | self.debug_with_profile: bool = False 81 | 82 | # Can contain "X", "Y", "Z" or a combination. 83 | self.requires_axis_homed: str = "" 84 | self._state = self.StateType.NOT_CONFIGURED 85 | 86 | self.force_deselect_when_parent_deselects: bool = None # type: ignore 87 | self.parent_must_be_selected_on_deselect: bool = None # type: ignore 88 | 89 | # If this is a empty object then don't load the config. 90 | if config is None: 91 | return 92 | 93 | self.force_deselect_when_parent_deselects: bool = config.getboolean( 94 | "force_deselect_when_parent_deselects", None) # type: ignore 95 | 96 | self.parent_must_be_selected_on_deselect: bool = config.getboolean( 97 | "parent_must_be_selected_on_deselect", None) # type: ignore 98 | 99 | self.printer : 'klippy.Printer' = config.get_printer() 100 | self.reactor: 'klippy.reactor.Reactor' = self.printer.get_reactor() 101 | self.gcode = typing.cast('gcode.GCodeDispatch', self.printer.lookup_object("gcode")) 102 | self.log: 'ktc_log.KtcLog' = None # type: ignore # We are loading it later. 103 | self._ktc: 'ktc.Ktc' = None # type: ignore # We are loading it later. 104 | 105 | self._state = self.StateType.NOT_CONFIGURED 106 | self.offset: list[float, float, float] = None # type: ignore 107 | 108 | self.params = self.get_params_dict_from_config(config) 109 | # Get inheritable parameters from the config. 110 | # Empty strings are NOT overwritten by the parent object in configure_inherited_params. 111 | # Must be set to None as standard. 112 | # Initalized to default values in KTC as topmost parent. 113 | self._engage_gcode = config.get("engage_gcode", None) # type: ignore 114 | self._disengage_gcode = config.get("disengage_gcode", None) # type: ignore 115 | self._init_gcode = config.get("init_gcode", None) # type: ignore 116 | self._tool_select_gcode = config.get("tool_select_gcode", None) # type: ignore 117 | self._tool_deselect_gcode = config.get("tool_deselect_gcode", None) # type: ignore 118 | 119 | self._heaters_config: str = self.config.get("heater", None) # type: ignore 120 | 121 | # Minimum time is 0.1 seconds. 0 disables the timer thus never changes the temperature. 122 | self._heater_active_to_standby_delay_in_config = self.config.getfloat( 123 | "heater_active_to_standby_delay", None, 0.1) # type: ignore 124 | self._heater_standby_to_powerdown_delay_in_config = self.config.getfloat( 125 | "heater_standby_to_powerdown_delay", None, 0.1) # type: ignore 126 | 127 | # Fans are a list of lists with the first value being the name 128 | # of the fan and the second value being the speed scaling 0-1. 129 | f = typing.cast(str, self.config.get("fans", "")).replace(" ", "") 130 | self.fans = [x.split(":") for x in f.split(",")] if f != "" else [] 131 | fan: list[typing.Any] 132 | for fan in self.fans: 133 | errmsg = ("Invalid fan speed scaling for" + 134 | f" {self.config.get_name()}: {fan[0]}. " + 135 | "Fan speed must be a float between 0 and 1.") 136 | if len(fan) == 1: 137 | fan.append(1.0) 138 | elif not self.is_float(fan[1]): 139 | raise config.error(errmsg) 140 | else: 141 | if fan[1] is not None: 142 | fan[1] = fan[1] 143 | if fan[1] < 0 or fan[1] > 1: 144 | raise config.error(errmsg) 145 | if len(fan) != 2: 146 | raise config.error(f"Fan settings for {self.config.get_name()} are invalid.") 147 | 148 | # requires_axis_homed can contain "X", "Y", "Z" or a combination. Remove all other. 149 | self.requires_axis_homed: str = self.config.get( 150 | "requires_axis_homed", None) # type: ignore 151 | if self.requires_axis_homed is not None and self.requires_axis_homed != "": 152 | self.requires_axis_homed = re.sub(r'[^XYZ]', '', self.requires_axis_homed.upper()) 153 | 154 | # Initiating values are only red once and then saved to the persistent state and 155 | # must be removed from the config file to continue. 156 | self._initiating_config = {} 157 | # Offset as a list of 3 floats. Also valid for global_offset. 158 | init: str = "" 159 | # Check first if the section exists in the configuration, get_prefix_options will fail otherwise. 160 | if config.has_section(config.get_name()): 161 | for init in config.get_prefix_options("init_"): 162 | init = init.strip().lower() 163 | if 'offset' in init: 164 | try: 165 | if init == "init_global_offset" and self.__class__.__name__ != "Ktc": 166 | raise ValueError( 167 | "init_global_offset is only valid for the topmost KTC object.") 168 | elif init != "init_global_offset" or init == "init_offset": 169 | raise ValueError( 170 | f"Invalid initializing option name {init} " 171 | + "for {self.config.get_name()}.") 172 | v = typing.cast(str, config.get(init)).replace(" ", "") 173 | if v: 174 | vl = [float(x) for x in v.split(",")] 175 | if len(vl) != 3: 176 | raise ValueError(f"{init} must be a list of 3 floats.") 177 | self._initiating_config[init.lstrip("init_")] = vl 178 | except Exception as e: 179 | raise self.config.error(f"Invalid {init} for {self.config.get_name()}: {e}") 180 | 181 | def configure_inherited_params(self): 182 | '''Load inherited parameters from instances that this instance inherits from. 183 | This is called after all instances are loaded.''' 184 | # Ref. to the ktc_persisting object. Loaded by ktc_log. 185 | self._ktc_persistent: 'ktc_persisting.KtcPersisting' = ( # type: ignore # pylint: disable=attribute-defined-outside-init 186 | self.printer.lookup_object("ktc_persisting") 187 | ) 188 | 189 | # Check if any initiating values are set. 190 | # offset and global_offset are valid. 191 | if len(self._initiating_config) > 0: 192 | for key in (key for key in self._initiating_config if "offset" in key): 193 | self.persistent_state_set(key, self._initiating_config[key]) 194 | raise self.config.error( 195 | f"{key} for {self.config.get_name()} successfully saved as" 196 | + f" {self._initiating_config[key]}. " 197 | + "Remove the setting from config and restart Klipper to continue.") 198 | 199 | # Check for circular inheritance. 200 | if self.state >= self.StateType.CONFIGURED: 201 | return 202 | elif self.state == self.StateType.CONFIGURING: 203 | raise ValueError("Can't configure inherited parameters while already configuring " 204 | + self.config.get_name()) 205 | # Ref. to ktc objects. 206 | self._ktc = typing.cast('ktc.Ktc', self.printer.lookup_object("ktc")) 207 | self.log = typing.cast('ktc_log.KtcLog', self.printer.lookup_object( 208 | "ktc_log")) # Load the log object. 209 | 210 | if self.debug_init_profile is not None: 211 | self.log.trace("KTC startup profile: " + str(self.debug_init_profile)) 212 | 213 | self.state = self.StateType.CONFIGURING 214 | 215 | # Get Offset from persistent storage 216 | self.offset = self.persistent_state.get("offset", None) 217 | 218 | # Set the parent object 219 | if isinstance(self, KtcBaseToolClass): 220 | parent = self.toolchanger 221 | elif isinstance(self, KtcBaseChangerClass): 222 | parent = self.parent_tool 223 | if parent is None: 224 | parent = typing.cast('ktc.Ktc', self.printer.lookup_object("ktc")) 225 | elif isinstance(self, KtcBaseClass): 226 | parent = self 227 | else: 228 | raise ValueError("Can't configure inherited parameters for object: " + str(type(self))) 229 | 230 | if self != parent: 231 | # Set the parameters from the parent object if they are not set. 232 | for attr, _ in PARAMS_TO_INHERIT.items(): 233 | if getattr(self, attr) is None: 234 | setattr(self, attr, getattr(parent, attr)) 235 | else: 236 | # For top ktc object initialize unused parameters. 237 | for attr, default_value in PARAMS_TO_INHERIT.items(): 238 | if getattr(self, attr) is None: 239 | setattr(self, attr, default_value) 240 | 241 | for v in parent.params: # type: ignore 242 | if v not in self.params: 243 | self.params[v] = parent.params[v] # type: ignore 244 | 245 | @staticmethod 246 | def get_params_dict_from_config(config: 'configfile.ConfigWrapper'): 247 | """Get a dict of atributes starting with params_ from the config.""" 248 | result = {} 249 | 250 | if config is None or not config.has_section(config.get_name()): 251 | return result 252 | 253 | # Get all options that start with "params_" and add them to the result dict. 254 | for option in config.get_prefix_options("params_"): 255 | try: 256 | value : str = config.get(option) 257 | # Boolean: 258 | if value.lower().strip() in ("true", "false"): 259 | result[option] = config.getboolean(option) 260 | # Integer: 261 | elif value.replace("-", "").replace(" ", "").isdigit(): 262 | result[option] = config.getint(option) 263 | # Float: 264 | elif value.replace(".", "").replace("-", "").replace(" ", "").isdigit(): 265 | result[option] = config.getfloat(option) 266 | # List of Integers: 267 | elif value.replace("-", "").replace(" ", "").replace(",", "").isdigit(): 268 | result[option] = [int(x) for x in value.split(",")] 269 | # List of Floats: 270 | elif value.replace(".", "").replace("-", "").replace( 271 | " ", "").replace(",", "").isdigit(): 272 | result[option] = [float(x) for x in value.split(",")] 273 | # String with quotes: 274 | elif value.startswith('"') and value.endswith('"'): 275 | result[option] = ast.literal_eval(value) 276 | # String with single quotes: 277 | elif value.startswith("'") and value.endswith("'"): 278 | result[option] = ast.literal_eval(value) 279 | # Check if it is a valid String: 280 | else: 281 | result[option] = ast.literal_eval('"' + value + '"') 282 | except ValueError as e: 283 | raise config.error( 284 | "Option '%s' in section '%s' is not a valid literal: %s." 285 | % (option, config.get_name(), e) 286 | ) 287 | return result 288 | 289 | class StateType(IntEnum, KtcConfigurableEnum): 290 | """Constants for the status of the toolchanger. 291 | Using dataclasses to allow for easy traversal of the values.""" 292 | ERROR= -50 # Toolchanger or tool is in error state. 293 | NOT_CONFIGURED = -12 # Toolchanger or tool is not configured. 294 | CONFIGURING = -11 # Toolchanger or tool is configuring. 295 | CONFIGURED = -10 # Toolchanger or tool is configured but not initialized. 296 | UNINITIALIZED = -2 # Toolchanger or tool is uninitialized. 297 | INITIALIZING = -1 # Toolchanger or tool is initializing. 298 | INITIALIZED = 0 # Toolchanger or tool is initialized but not ready. 299 | READY = 1 # Toolchanger or tool is ready to be used. 300 | CHANGING = 2 # Toolchanger or tool is changing tool. 301 | ENGAGING = 3 # Toolchanger is engaging. 302 | SELECTING = 3 # Tool is selecting. 303 | DISENGAGING = 4 # Toolchanger or tool is disengaging. 304 | DESELECTING = 4 # Tool is deselecting. 305 | ENGAGED = 5 # Tollchanger or tool is engaged. 306 | SELECTED = 5 # Tool is selected. 307 | ACTIVE = 10 # Tool is active as main engaged tool for ktc. 308 | 309 | @classmethod 310 | def list_valid_values(cls): 311 | return [name for name, _ in cls.__members__] 312 | 313 | def __str__(self): 314 | return f'{self.name}' 315 | 316 | @property 317 | def state(self): 318 | return self._state 319 | @state.setter 320 | def state(self, value): 321 | try: 322 | self._state = self.StateType[str(value).upper()] 323 | except KeyError as e: 324 | raise ValueError("Invalid state value: " + str(value)) from e 325 | 326 | 327 | @property 328 | def persistent_state(self) -> dict: 329 | '''Return the persistent state from file. 330 | Is initialized inside _handle_connect. 331 | Use persistent_state_set to set the state.''' 332 | c = self._get_type_for_persistent_state() 333 | v: dict = self._ktc_persistent.content.get("State", {}) 334 | return v.get(c, {}) 335 | 336 | def persistent_state_set(self, key: str, value: typing.Any): 337 | '''Set the persistent state for the object. Use persistent_state to get the state.''' 338 | c = self._get_type_for_persistent_state() 339 | 340 | state: dict = self._ktc_persistent.content.get("State", {}).get(c, {}) 341 | state[key] = value 342 | 343 | self._ktc_persistent.save_variable(c, str(state), "State", True) 344 | 345 | def _get_type_for_persistent_state(self) -> str: 346 | if self._ktc_persistent is None: 347 | self._ktc_persistent: 'ktc_persisting.KtcPersisting' = ( # type: ignore # pylint: disable=attribute-defined-outside-init 348 | self.printer.lookup_object("ktc_persisting") 349 | ) 350 | if isinstance(self, KtcBaseToolClass): 351 | return "ktc_tool_" + self.name.lower() 352 | elif isinstance(self, KtcBaseChangerClass): 353 | return "ktc_toolchanger_" + self.name.lower() 354 | elif isinstance(self, KtcBaseClass): 355 | return "ktc" 356 | else: 357 | raise ValueError(f"Can't get persistent state for object: {type(self)}") 358 | 359 | @staticmethod 360 | def is_float(value: str) -> bool: 361 | try: 362 | float(value) 363 | return True 364 | except ValueError: 365 | return False 366 | 367 | @staticmethod 368 | def parse_bool(value: str) -> bool: 369 | if value.isnumeric(): 370 | return bool(int(value)) 371 | return value.strip().lower() in ("true", "1", "yes") 372 | 373 | def run_with_profile(self, method, *args, **kwargs): 374 | '''Run a profile on a method. Used for debugging.''' 375 | if not self.run_with_profile: 376 | method(*args, **kwargs) 377 | return 378 | pr = cProfile.Profile() 379 | pr.enable() 380 | method(*args, **kwargs) 381 | pr.disable() 382 | s = io.StringIO() 383 | ps = pstats.Stats(pr, stream=s).sort_stats('cumulative') 384 | ps.print_stats() 385 | stats_string = s.getvalue() 386 | s.close() 387 | 388 | # Trim to 20 lines. 389 | carriage_return_count = stats_string.count('\n') 390 | if carriage_return_count >= 20: 391 | index = -1 392 | for _ in range(20): 393 | index = stats_string.find('\n', index + 1) 394 | # index now contains the index of the 10th carriage return 395 | else: 396 | index = len(stats_string) - 1 397 | 398 | self.log.trace( 399 | f"Performance profile for {method.__name__}:\n" + stats_string[:index]) 400 | 401 | class KtcBaseChangerClass(KtcBaseClass): 402 | '''Base class for toolchangers. Contains common methods and properties.''' 403 | def __init__(self, config: 'configfile.ConfigWrapper'): 404 | super().__init__(config) 405 | self.name: str = str(config.get_name()).split(" ", 1)[1] 406 | # The parent tool of the toolchanger if it is not default changer. 407 | self.parent_tool: 'ktc_tool.KtcTool' = None # type: ignore 408 | # self.selected_tool = KtcConstantsClass.TOOL_NONE 409 | self.tools: dict[str, 'ktc_tool.KtcTool'] = {} 410 | self._engage_gcode_template: klippy_gcode_macro.GCodeMacro = None # type: ignore 411 | self._disengage_gcode_template: klippy_gcode_macro.GCodeMacro = None # type: ignore 412 | 413 | class KtcBaseToolClass(KtcBaseClass): 414 | '''Base class for tools. Contains common methods and properties.''' 415 | def __init__(self, config: "configfile.ConfigWrapper", 416 | name: str = "", number: int = TOOL_NUMBERLESS_N): 417 | super().__init__(config) 418 | 419 | self.name = name # Override the name in case it is supplied. 420 | self.number = number 421 | # Is overridden by the tool object. 422 | self._toolchanger: 'ktc_toolchanger.KtcToolchanger' = None # type: ignore 423 | self.toolchanger: 'ktc_toolchanger.KtcToolchanger' = self._toolchanger # type: ignore 424 | self.extruder = KtcToolExtruder(self) 425 | 426 | @KtcBaseClass.state.setter 427 | def state(self, value): 428 | '''Set state of the tool. If the tool is selected or active then the toolchanger 429 | is also set to the same state.''' 430 | super(KtcBaseToolClass, type(self)).state.fset(self, value) # type: ignore 431 | 432 | # TOOL_UNKNOWN and TOOL_NONE has no _ktc object. 433 | if self in KtcConstantsClass.INVALID_TOOLS: 434 | return 435 | 436 | if self._ktc.propagate_state: 437 | self.toolchanger.state = value 438 | 439 | if value == self.StateType.SELECTED and self._ktc.propagate_state: 440 | self.toolchanger.selected_tool = self # type: ignore # Child class 441 | elif value == self.StateType.ACTIVE and self._ktc.propagate_state: 442 | self.toolchanger.selected_tool = self # type: ignore # Child class 443 | self._ktc.active_tool = self 444 | 445 | if value == self.StateType.ERROR: 446 | self.log.always("KTC Tool %s is now in error state." % self.name) 447 | 448 | def select(self, final_selected=False): 449 | pass 450 | 451 | def deselect(self): 452 | pass 453 | 454 | class KtcConstantsClass: 455 | '''Constants for KTC. These are to be inherited by other classes. 456 | ''' 457 | # Value of Unknown and None tools are set in module scope. 458 | TOOL_NUMBERLESS_N = TOOL_NUMBERLESS_N 459 | TOOL_UNKNOWN_N = TOOL_UNKNOWN_N 460 | TOOL_NONE_N = TOOL_NONE_N 461 | TOOL_UNKNOWN = typing.cast( 462 | 'ktc_tool.KtcTool', 463 | KtcBaseToolClass(name="tool_unknown", 464 | number=TOOL_UNKNOWN_N, 465 | config = None)) # type: ignore 466 | TOOL_NONE = typing.cast( 467 | 'ktc_tool.KtcTool', 468 | KtcBaseToolClass(name="tool_none", 469 | number=TOOL_NONE_N, 470 | config = None)) # type: ignore 471 | TOOL_NONE._state = TOOL_UNKNOWN._state = KtcBaseClass.StateType.CONFIGURED # pylint: disable=protected-access 472 | INVALID_TOOLS = (TOOL_UNKNOWN, TOOL_NONE, None) 473 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------