├── assets ├── q └── toolchanger.jpg ├── doc ├── 1589F0.png ├── c5f015.png ├── f03c15.png └── command_ref.md ├── config ├── optional_macros │ ├── G10.cfg │ ├── M107.cfg │ ├── M116.cfg │ ├── M204.cfg │ ├── M104.cfg │ ├── M106.cfg │ ├── M109.cfg │ ├── M568.cfg │ └── readme.md ├── example_simple │ ├── readme.md │ └── tools.cfg ├── example_complex │ ├── readme.md │ ├── tool_macro.cfg │ └── tools.cfg ├── SuperSlicer_Custom_Gcode.md └── readme.md ├── klipper_macros ├── G10.cfg ├── M107.cfg ├── M116.cfg ├── M204.cfg ├── M566.cfg ├── M104.cfg ├── M106.cfg ├── M109.cfg ├── M568.cfg └── readme.md ├── install.sh ├── toolgroup.py ├── README.md ├── toollock.py ├── LICENSE └── ktcclog.py /assets/q: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /doc/1589F0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/Klipper_ToolChanger/HEAD/doc/1589F0.png -------------------------------------------------------------------------------- /doc/c5f015.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/Klipper_ToolChanger/HEAD/doc/c5f015.png -------------------------------------------------------------------------------- /doc/f03c15.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/Klipper_ToolChanger/HEAD/doc/f03c15.png -------------------------------------------------------------------------------- /assets/toolchanger.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TypQxQ/Klipper_ToolChanger/HEAD/assets/toolchanger.jpg -------------------------------------------------------------------------------- /config/optional_macros/G10.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro G10] 2 | description: See M568. Passtrough to M568. 3 | gcode: 4 | M568 {rawparams} 5 | -------------------------------------------------------------------------------- /klipper_macros/G10.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro G10] 2 | description: See M568. Passtrough to M568. 3 | gcode: 4 | M568 {rawparams} 5 | -------------------------------------------------------------------------------- /config/example_simple/readme.md: -------------------------------------------------------------------------------- 1 | # Simple examples 2 | 3 | This are basic example file to get you started. 4 | 5 | the files should be added to your printer.cfg like: 6 | 7 | `[include custom/tools.cfg]` 8 | 9 | This is for use with a Jubilee style printer. 10 | -------------------------------------------------------------------------------- /config/optional_macros/M107.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M107] 2 | description: Pnnn 3 | Turn off fan. 4 | P = Tool (optional and defaults to the currently selected tool) 5 | gcode: 6 | # P= Tool number and optional T. 7 | {% if params.P is defined %} 8 | {% set p = " P"~params.P %} 9 | {% elif params.T is defined %} 10 | {% set p = " P"~params.T %} 11 | {% endif %} 12 | 13 | M106 {p|default("")} S0 14 | 15 | -------------------------------------------------------------------------------- /klipper_macros/M107.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M107] 2 | description: Pnnn 3 | Turn off fan. 4 | P = Tool (optional and defaults to the currently selected tool) 5 | gcode: 6 | # P= Tool number and optional T. 7 | {% if params.P is defined %} 8 | {% set p = " P"~params.P %} 9 | {% elif params.T is defined %} 10 | {% set p = " P"~params.T %} 11 | {% endif %} 12 | 13 | M106 {p|default("")} S0 14 | 15 | -------------------------------------------------------------------------------- /config/example_complex/readme.md: -------------------------------------------------------------------------------- 1 | # More complex example 2 | 3 | This are example files with macros to get you started. 4 | * It uses T0 as a physical tool having T1-T8 as virtual tools. 5 | * T9 and T10 are physical tools without virtual tools. 6 | * T49 is a physical tool without a heater, fan or extruder. Only has a Z probe. 7 | 8 | The files should be added to your printer.cfg like: 9 | 10 | ``` 11 | [include custom/tools.cfg] 12 | [include custom/tools.cfg] 13 | ``` 14 | 15 | This is for use with a Jubilee style printer. 16 | -------------------------------------------------------------------------------- /config/optional_macros/M116.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M116] 2 | description: T P H S W 3 | Alias for M109. 4 | Waits for all temperatures, or a specified tool or heater's temperature. 5 | This command can be used without any additional parameters. 6 | Without parameters it waits for bed and current extruder. 7 | 8 | Tnnn Tool number. 9 | Pnnn Alternative to T. 10 | Hnnn Heater number. 11 | Snnn Temperature 12 | Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 13 | 14 | gcode: 15 | M109 {rawparams} -------------------------------------------------------------------------------- /klipper_macros/M116.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M116] 2 | description: T P H S W 3 | Alias for M109. 4 | Waits for all temperatures, or a specified tool or heater's temperature. 5 | This command can be used without any additional parameters. 6 | Without parameters it waits for bed and current extruder. 7 | 8 | Tnnn Tool number. 9 | Pnnn Alternative to T. 10 | Hnnn Heater number. 11 | Snnn Temperature 12 | Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 13 | 14 | gcode: 15 | M109 {rawparams} -------------------------------------------------------------------------------- /config/optional_macros/M204.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M204] 2 | rename_existing: M204.1 3 | description: Snnn / Pnnn Tnnn 4 | Set acceleration either S or P and T must be provided. 5 | If P and T provided then will use the lower of the two. 6 | gcode: 7 | 8 | {% if params.S is defined %} 9 | {% set accel = params.S|float %} 10 | {% elif params.P is defined or params.T is defined %} 11 | {% set p = params.P|default(999999)|int %} 12 | {% set t = params.T|default(999999)|int %} 13 | {% if p < t %} 14 | {% set accel = p %} 15 | {% else %} 16 | {% set accel = t %} 17 | {% endif %} 18 | {% else %} 19 | { action_raise_error("M204: Must provide S, P or T parameter.") } 20 | {% endif %} 21 | 22 | SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel*0.5} 23 | 24 | -------------------------------------------------------------------------------- /klipper_macros/M204.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M204] 2 | rename_existing: M204.1 3 | description: Snnn / Pnnn Tnnn 4 | Set acceleration either S or P and T must be provided. 5 | If P and T provided then will use the lower of the two. 6 | gcode: 7 | 8 | {% if params.S is defined %} 9 | {% set accel = params.S|float %} 10 | {% elif params.P is defined or params.T is defined %} 11 | {% set p = params.P|default(999999)|int %} 12 | {% set t = params.T|default(999999)|int %} 13 | {% if p < t %} 14 | {% set accel = p %} 15 | {% else %} 16 | {% set accel = t %} 17 | {% endif %} 18 | {% else %} 19 | { action_raise_error("M204: Must provide S, P or T parameter.") } 20 | {% endif %} 21 | 22 | SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel*0.5} 23 | 24 | -------------------------------------------------------------------------------- /klipper_macros/M566.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M566] 2 | description: Xnnn Ynnn 3 | Set Square Corner Velocity in RRF style. 4 | Only the lower of required X or Y will be used. 5 | gcode: 6 | # RESPOND MSG="M566: Seting new Square Corner Velocity." #: {rawparams}. 7 | # { action_respond_info("M566: Seting new Square Corner Velocity: "~rawparams) } 8 | 9 | {% if params.X is defined or params.Y is defined %} 10 | {% set x = params.X|default(999999)|int %} 11 | {% set y = params.Y|default(999999)|int %} 12 | {% if x < y %} 13 | {% set square_corenr_velocity = x %} 14 | {% else %} 15 | {% set square_corenr_velocity = y %} 16 | {% endif %} 17 | gcode: SQUARE_CORNER_VELOCITY={square_corenr_velocity/60} 18 | {% else %} 19 | { action_raise_error("M566: At least X or Y must be defined.") } 20 | {% endif %} 21 | 22 | 23 | -------------------------------------------------------------------------------- /config/optional_macros/M104.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M104] 2 | rename_existing: M104.1 3 | description: [T] [S] 4 | Set tool temperature. 5 | T= Tool number, optional. If this parameter is not provided, the current tool is used. 6 | S= Active temperature(s), optional 7 | gcode: 8 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 9 | 10 | # P= Tool number and optional T. 11 | {% if params.P is defined %} 12 | {% set newparameters = newparameters ~ " P="~params.P %} 13 | {% elif params.T is defined %} 14 | {% set newparameters = newparameters ~ " P="~params.T %} 15 | {% endif %} 16 | 17 | # S= Active temperature 18 | {% if params.S is defined %} 19 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} 20 | {% endif %} 21 | 22 | KTCC_SET_TOOL_TEMPERATURE{newparameters} 23 | -------------------------------------------------------------------------------- /klipper_macros/M104.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M104] 2 | rename_existing: M104.1 3 | description: [T] [S] 4 | Set tool temperature. 5 | T= Tool number, optional. If this parameter is not provided, the current tool is used. 6 | S= Active temperature(s), optional 7 | gcode: 8 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 9 | 10 | # P= Tool number and optional T. 11 | {% if params.P is defined %} 12 | {% set newparameters = newparameters ~ " P="~params.P %} 13 | {% elif params.T is defined %} 14 | {% set newparameters = newparameters ~ " P="~params.T %} 15 | {% endif %} 16 | 17 | # S= Active temperature 18 | {% if params.S is defined %} 19 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} 20 | {% endif %} 21 | 22 | KTCC_SET_TOOL_TEMPERATURE{newparameters} 23 | -------------------------------------------------------------------------------- /config/optional_macros/M106.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M106] 2 | variable_fan_speed: 0 3 | description: Snnn Pnnn 4 | Set fan speed. A KTCC tool must be configured for this to work. 5 | S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 6 | P: Tool (optional, defaults to the currently selected tool) 7 | The P parameter specifies tool instead of fan number as in RRF. 8 | gcode: 9 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 10 | 11 | # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 12 | {% if params.S is defined %} 13 | {% set newparameters = newparameters ~ " S="~params.S %} 14 | {% endif %} 15 | 16 | # P= Tool number and optional T. 17 | {% if params.P is defined %} 18 | {% set newparameters = newparameters ~ " P="~params.P %} 19 | {% elif params.T is defined %} 20 | {% set newparameters = newparameters ~ " P="~params.T %} 21 | {% endif %} 22 | 23 | KTCC_SET_AND_SAVE_PARTFAN_SPEED{newparameters} 24 | -------------------------------------------------------------------------------- /klipper_macros/M106.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M106] 2 | variable_fan_speed: 0 3 | description: Snnn Pnnn 4 | Set fan speed. A KTCC tool must be configured for this to work. 5 | S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 6 | P: Tool (optional, defaults to the currently selected tool) 7 | The P parameter specifies tool instead of fan number as in RRF. 8 | gcode: 9 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 10 | 11 | # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 12 | {% if params.S is defined %} 13 | {% set newparameters = newparameters ~ " S="~params.S %} 14 | {% endif %} 15 | 16 | # P= Tool number and optional T. 17 | {% if params.P is defined %} 18 | {% set newparameters = newparameters ~ " P="~params.P %} 19 | {% elif params.T is defined %} 20 | {% set newparameters = newparameters ~ " P="~params.T %} 21 | {% endif %} 22 | 23 | KTCC_SET_AND_SAVE_PARTFAN_SPEED{newparameters} 24 | -------------------------------------------------------------------------------- /install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Constants 3 | EXTENSION_NAME="klipper_toolchanger" 4 | 5 | # Force script to exit if an error occurs 6 | set -e 7 | 8 | # Find SRCDIR from the pathname of this script 9 | SRCDIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )"/ && pwd )" 10 | 11 | KLIPPER_PATH="${HOME}/klipper" 12 | # Parse command line arguments to allow KLIPPER_PATH override 13 | while getopts "k:" arg; do 14 | case $arg in 15 | k) KLIPPER_PATH=$OPTARG;; 16 | esac 17 | done 18 | 19 | # Verify conditions for the install to take place 20 | check_preconditions() 21 | { 22 | if [ "$EUID" -eq 0 ]; then 23 | echo "This script must not run as root" 24 | exit -1 25 | fi 26 | 27 | if [ "$(sudo systemctl list-units --full -all -t service --no-legend | grep -F "klipper.service")" ]; then 28 | echo "Klipper service found!" 29 | else 30 | echo "Klipper service not found, please install Klipper first" 31 | exit -1 32 | fi 33 | } 34 | 35 | # Step 2: create a symlinks to the extension files in the klippy/extras directory 36 | link_extension() 37 | { 38 | echo "Linking ${EXTENSION_NAME} to Klippy extras..." 39 | ln -sf ${SRCDIR}/*.py ${KLIPPER_PATH}/klippy/extras/ 40 | } 41 | 42 | # Step 3: restarting Klipper 43 | restart_klipper() 44 | { 45 | echo "Restarting Klipper..." 46 | sudo systemctl restart klipper 47 | } 48 | 49 | # Installation steps: 50 | check_preconditions 51 | link_extension 52 | restart_klipper 53 | -------------------------------------------------------------------------------- /config/optional_macros/M109.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M109] 2 | rename_existing: M109.1 3 | description: T P H S W 4 | Waits for all temperatures, or a specified tool or heater's temperature. 5 | This command can be used without any additional parameters. 6 | Without parameters it waits for bed and current extruder. 7 | 8 | Tnnn Tool number. 9 | Pnnn Alternative to T. 10 | Hnnn Heater number. 11 | Snnn Temperature 12 | Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 13 | 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 ~ " TOOL=" ~ params.P %} 25 | {% elif params.T is defined %} 26 | {% set newparameters = newparameters ~ " TOOL=" ~ 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 | KTCC_SET_TOOL_TEMPERATURE{newTempParameters} 33 | {% endif %} 34 | 35 | {% if params.W is defined %} 36 | {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.W %} # Set Tolerance to new parameters. 37 | {% else %} 38 | {% set newparameters = newparameters ~ " TOLERANCE=1" %} # Set Tolerance to default of 1. 39 | {% endif %} 40 | 41 | KTCC_TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} 42 | -------------------------------------------------------------------------------- /klipper_macros/M109.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M109] 2 | rename_existing: M109.1 3 | description: T P H S W 4 | Waits for all temperatures, or a specified tool or heater's temperature. 5 | This command can be used without any additional parameters. 6 | Without parameters it waits for bed and current extruder. 7 | 8 | Tnnn Tool number. 9 | Pnnn Alternative to T. 10 | Hnnn Heater number. 11 | Snnn Temperature 12 | Wnnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 13 | 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 ~ " TOOL=" ~ params.P %} 25 | {% elif params.T is defined %} 26 | {% set newparameters = newparameters ~ " TOOL=" ~ 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 | KTCC_SET_TOOL_TEMPERATURE{newTempParameters} 33 | {% endif %} 34 | 35 | {% if params.W is defined %} 36 | {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.W %} # Set Tolerance to new parameters. 37 | {% else %} 38 | {% set newparameters = newparameters ~ " TOLERANCE=1" %} # Set Tolerance to default of 1. 39 | {% endif %} 40 | 41 | KTCC_TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} 42 | -------------------------------------------------------------------------------- /config/optional_macros/M568.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M568] 2 | description: Pnnn Tnnn Rnnn Snnn An Nnnn Mnnn 3 | Set tool temperature. 4 | P= Tool number, optional. If this parameter is not provided, the current tool is used. 5 | T= Alternative to P. 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 when standby temperature is lower than tool temperature. 10 | Use for example 0.1 to change immediately to standby temperature. 11 | O = Time in seconds to wait from docking tool to shutting off the heater, optional. 12 | Use for example 86400 to wait 24h if you want to disable shutdown timer. 13 | gcode: 14 | # RESPOND MSG="M568: Seting new temperature: {rawparams}" 15 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 16 | 17 | # P= Tool number 18 | {% if params.P is defined %} 19 | {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} 20 | {% elif params.T is defined %} 21 | {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} 22 | {% endif %} 23 | 24 | # R= Standby temperature 25 | {% if params.R is defined %} 26 | {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. 27 | {% endif %} 28 | 29 | # S= Active temperature 30 | {% if params.S is defined %} 31 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. 32 | {% endif %} 33 | 34 | # N = Time in seconds to wait from docking tool to putting the heater in standy 35 | {% if params.N is defined %} 36 | {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. 37 | {% endif %} 38 | 39 | # M = Time in seconds to wait from docking tool to shuting off the heater 40 | {% if params.O is defined %} 41 | {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. 42 | {% endif %} 43 | 44 | # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature 45 | {% if params.A is defined %} 46 | {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. 47 | {% endif %} 48 | 49 | # {action_respond_info("M568: Running: KTCC_SET_TOOL_TEMPERATURE"~newparameters)} 50 | KTCC_SET_TOOL_TEMPERATURE{newparameters} 51 | -------------------------------------------------------------------------------- /klipper_macros/M568.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro M568] 2 | description: Pnnn Tnnn Rnnn Snnn An Nnnn Mnnn 3 | Set tool temperature. 4 | P= Tool number, optional. If this parameter is not provided, the current tool is used. 5 | T= Alternative to P. 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 when standby temperature is lower than tool temperature. 10 | Use for example 0.1 to change immediately to standby temperature. 11 | O = Time in seconds to wait from docking tool to shutting off the heater, optional. 12 | Use for example 86400 to wait 24h if you want to disable shutdown timer. 13 | gcode: 14 | # RESPOND MSG="M568: Seting new temperature: {rawparams}" 15 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 16 | 17 | # P= Tool number 18 | {% if params.P is defined %} 19 | {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} 20 | {% elif params.T is defined %} 21 | {% set newparameters = newparameters ~ " TOOL=" ~ params.T %} 22 | {% endif %} 23 | 24 | # R= Standby temperature 25 | {% if params.R is defined %} 26 | {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. 27 | {% endif %} 28 | 29 | # S= Active temperature 30 | {% if params.S is defined %} 31 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. 32 | {% endif %} 33 | 34 | # N = Time in seconds to wait from docking tool to putting the heater in standy 35 | {% if params.N is defined %} 36 | {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. 37 | {% endif %} 38 | 39 | # M = Time in seconds to wait from docking tool to shuting off the heater 40 | {% if params.O is defined %} 41 | {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. 42 | {% endif %} 43 | 44 | # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature 45 | {% if params.A is defined %} 46 | {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. 47 | {% endif %} 48 | 49 | # {action_respond_info("M568: Running: KTCC_SET_TOOL_TEMPERATURE"~newparameters)} 50 | KTCC_SET_TOOL_TEMPERATURE{newparameters} 51 | -------------------------------------------------------------------------------- /config/SuperSlicer_Custom_Gcode.md: -------------------------------------------------------------------------------- 1 | Here are the custom G-codes I use in SuperSlicer on my ToolChanger as an example. 2 | 3 | Start G-code: 4 | - I don't heat the tools before actually using them so I don't degrade filament. 5 | - Using e3d Revo the heatup times for the tools are verry fast. 6 | ``` 7 | KTCC_INIT_PRINT_STATS 8 | 9 | ; Don't heat the tools yet. (Using G10 so SuperSlicer and PrusaSlicer recognizes we set a tool temperature) 10 | G10 P0 R0 S0 A0 ; Don't heat the tools yet. (Using G10 so SuperSlicer and PrusaSlicer recognizes we set a tool temperature) 11 | G10 P1 R0 S0 A0 ; Don't heat the tools yet 12 | G10 P2 R0 S0 A0 ; Don't heat the tools yet 13 | ; Heat the bed first 14 | M140 S[first_layer_bed_temperature] 15 | ; Wait for bed to reach temperature with 2 degrees tolerance 16 | M116 H0 S2 ; Wait for bed to reach temperature with 2 degrees tolerance 17 | 18 | M568 P[initial_extruder] R{filament_toolchange_temp[initial_extruder]} S{first_layer_temperature[initial_extruder]+extruder_temperature_offset[initial_extruder]} A1 19 | G28 20 | 21 | ;Custom Mesh only on print area 22 | BED_MESH_CALIBRATE AREA_START={first_layer_print_min[0]},{first_layer_print_min[1]} AREA_END={first_layer_print_max[0]},{first_layer_print_max[1]} 23 | 24 | G0 Z3 F5000 ; Ensure nozzle is at 3mm over the bed 25 | SAVE_POSITION X={first_layer_print_max[0]} Y={first_layer_print_min[1]} 26 | T[initial_extruder] ; Mount extruder first used (even if only one extruder used). Waits for temperature inside the script. 27 | 28 | ;G0 Z3 F5000 ; Ensure nozzle is at 3mm over the bed 29 | G0 X{first_layer_print_max[0]} Y{first_layer_print_min[1]} Z3 F30000 30 | ``` 31 | 32 | End G-code 33 | ``` 34 | ; Custom gcode to run at end of print 35 | M104 S0 ; turn off temperature 36 | G10 P0 S0 R0 A0 ; turn off extruder 0 37 | G10 P1 S0 R0 A0 ; turn off extruder 1 38 | G10 P2 S0 R0 A0 ; turn off extruder 2 39 | M140 S0 ; turn off bed 40 | T_1 ; dropoff current tool 41 | G91 ; relative moves 42 | G0 Z20 ; move bed down another 30mm 43 | G90 ; absolute moves 44 | G0 X1 Y1 F30000 ; Move toolhead out of the way 45 | SAVE_POSITION ; Reset saved position. 46 | KTCC_DUMP_PRINT_STATS ; Print statistics to console. 47 | ``` 48 | 49 | ToolChange G-code 50 | - Sets the temperature before activating the tool in case this is the first time the tool is selected. 51 | - On first layer it sets the temperature for the next tool to first layer temperature. 52 | ``` 53 | {if layer_num < 2}M568 P[next_extruder] R{filament_toolchange_temp[next_extruder]} S{first_layer_temperature[next_extruder]+extruder_temperature_offset[next_extruder]} A2 ;First layer temperature for next extruder 54 | {else}M568 P[next_extruder] R{filament_toolchange_temp[next_extruder]} S{temperature[next_extruder]+extruder_temperature_offset[next_extruder]} A2 ;Other layer temperature for next extruder 55 | {endif} 56 | T{next_extruder}``` 57 | -------------------------------------------------------------------------------- /toolgroup.py: -------------------------------------------------------------------------------- 1 | # KTCC - Klipper Tool Changer Code 2 | # Toolgroup module, used to group Tools and derived from Tool. 3 | # 4 | # Copyright (C) 2023 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | # 8 | 9 | # To try to keep terms apart: 10 | # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. 11 | # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. 12 | # Pickup: Tool is physically picked up and attached to the toolchanger head. 13 | # Droppoff: Tool is physically parked and dropped of the toolchanger head. 14 | # ToolLock: Toollock is engaged. 15 | # ToolUnLock: Toollock is disengaged. 16 | 17 | 18 | class ToolGroup: 19 | def __init__(self, config): 20 | self.printer = config.get_printer() 21 | self.name = config.get_name().split(' ')[1] 22 | self.config = config 23 | # gcode_macro = self.printer.load_object(config, 'gcode_macro') 24 | 25 | try: 26 | _, name = config.get_name().split(' ', 1) 27 | self.name = int(name) 28 | except ValueError: 29 | raise config.error( 30 | "Name of section '%s' contains illegal characters. Use only integer ToolGroup number." 31 | % (config.get_name())) 32 | 33 | self.is_virtual = config.getboolean( # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent 34 | 'is_virtual', False) 35 | self.physical_parent_id = config.getint( # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. 36 | 'physical_parent', None) 37 | self.lazy_home_when_parking = config.get('lazy_home_when_parking', 0) # (default: 0) - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. 38 | # -1 = none, 1= Only load filament, 2= Wipe in front of carriage, 3= Pebble wiper, 4= First Silicone, then pebble. Defaults to 0. 39 | self.pickup_gcode = config.get('pickup_gcode', '') 40 | self.dropoff_gcode = config.get('dropoff_gcode', '') 41 | self.virtual_toolload_gcode = config.get('virtual_toolload_gcode', '') 42 | self.virtual_toolunload_gcode = config.get('virtual_toolunload_gcode', '') 43 | self.meltzonelength = config.get('meltzonelength', 0) 44 | self.idle_to_standby_time = config.getfloat( 'idle_to_standby_time', 30, minval = 0.1) 45 | self.idle_to_powerdown_time = config.getfloat( 'idle_to_powerdown_time', 600, minval = 0.1) 46 | 47 | self.requires_pickup_for_virtual_load = self.config.getboolean("requires_pickup_for_virtual_load", True) 48 | self.requires_pickup_for_virtual_unload = self.config.getboolean("requires_pickup_for_virtual_unload", True) 49 | self.unload_virtual_at_dropoff = self.config.getboolean("unload_virtual_at_dropoff", True) 50 | 51 | 52 | def get_config(self, config_param, default = None): 53 | return self.config.get(config_param, default) 54 | 55 | def get_status(self, eventtime= None): 56 | status = { 57 | "is_virtual": self.is_virtual, 58 | "physical_parent_id": self.physical_parent_id, 59 | "lazy_home_when_parking": self.lazy_home_when_parking, 60 | "meltzonelength": self.meltzonelength, 61 | "idle_to_standby_time": self.idle_to_standby_time, 62 | "idle_to_powerdown_time": self.idle_to_powerdown_time, 63 | "requires_pickup_for_virtual_load": self.requires_pickup_for_virtual_load, 64 | "requires_pickup_for_virtual_unload": self.requires_pickup_for_virtual_unload, 65 | "unload_virtual_at_dropoff": self.unload_virtual_at_dropoff 66 | } 67 | return status 68 | 69 | def load_config_prefix(config): 70 | return ToolGroup(config) 71 | 72 | 73 | 74 | 75 | -------------------------------------------------------------------------------- /config/optional_macros/readme.md: -------------------------------------------------------------------------------- 1 | # Required and Optional G-code macros 2 | 3 | The required macros change how Klipper uses those commands to make use of the toolchanger. They are all backwards compatible. This macros are highly recommended to be included. 4 | 5 | The optional macros are to add more commands for higher compatibility with for example RRF G-code. 6 | 7 | > [!NOTE] 8 | > You can add the whole directory to the printer.cfg by adding the relative path to the macros directory for example: 9 | 10 | ``` 11 | [include toolchanger/g-code_macros/*.cfg] 12 | ``` 13 | 14 |
15 | 16 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Required macros 17 | 18 | | Command | Description |                                 Parameters                                 | 19 | | ------- | ----------- | ---------- | 20 | | `M104` | Set tool temperature. If Tool number is not provided, current tool is used. If no S parameter is provided it will dump current temperature settings for the tool.| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Active temperature to set. | 21 | | `M106` | Set fan speed. If Tool number is not provided, current tool is used. If no S parameter is provided, set full fan speed. | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S[0-1]` or `S[2-255]` Fan speed 0-1 or 2-255 | 22 | | `M107` | Turn off fan. If Tool number is not provided, current tool is used| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P | 23 | | `M109` | Waits temperature with a tolerance defaulting to +//1. Optional temperature can be defined when tool is defined, setting the tool as active with specified temperature. If heater is defined it will wait for that heater. Optional tolerance can be specified. Only waits if target temperature is >40*C | `H[0..n]` Heater number, optional
`T[0..n]` Tool number
`P[0..n]` Alternative to T
`W[-50]` Tolerance in degC | 24 | 25 |
26 | 27 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Optional macros 28 | 29 | | Command | Description |                                 Parameters                                 | 30 | | ------- | ----------- | ---------- | 31 | | `G10` | Alias to M568 | | 32 | | `M116` | Alias to M109 | | 33 | | `M568` |Set tool temperature. If Tool number is not provided, current tool is used | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Set active temperature, optional
`R...` Set standby temperature, optional
`A...` Set Heater state, optional
(0= off), (1 = standby temperature), (2 = active temperature)
`N...` Standby timeout is the time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time.
`O...` Timer from Standby to off. Used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print. | 34 | | `M204` | Set acceleration to either S or lowest of supplied P and T. | `S...` Acceleration, optional
`P...` Print acceleration, RRF compatible
`T...` Travel acceleration, RRF compatible | 35 | | `M566` | Set Square Corner Velocity in RRF style. Only the lower of required X or Y will be used| `X...` X axis
`Y...` Y axis | 36 | -------------------------------------------------------------------------------- /klipper_macros/readme.md: -------------------------------------------------------------------------------- 1 | # Required and Optional G-code macros 2 | 3 | The required macros change how Klipper uses those commands to make use of the toolchanger. They are all backwards compatible. This macros are highly recommended to be included. 4 | 5 | The optional macros are to add more commands for higher compatibility with for example RRF G-code. 6 | 7 | > [!NOTE] 8 | > You can add the whole directory to the printer.cfg by adding the relative path to the macros directory for example: 9 | 10 | ``` 11 | [include toolchanger/g-code_macros/*.cfg] 12 | ``` 13 | 14 |
15 | 16 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Required macros 17 | 18 | | Command | Description |                                 Parameters                                 | 19 | | ------- | ----------- | ---------- | 20 | | `M104` | Set tool temperature. If Tool number is not provided, current tool is used. If no S parameter is provided it will dump current temperature settings for the tool.| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Active temperature to set. | 21 | | `M106` | Set fan speed. If Tool number is not provided, current tool is used. If no S parameter is provided, set full fan speed. | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S[0-1]` or `S[2-255]` Fan speed 0-1 or 2-255 | 22 | | `M107` | Turn off fan. If Tool number is not provided, current tool is used| `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P | 23 | | `M109` | Waits temperature with a tolerance defaulting to +//1. Optional temperature can be defined when tool is defined, setting the tool as active with specified temperature. If heater is defined it will wait for that heater. Optional tolerance can be specified. Only waits if target temperature is >40*C | `H[0..n]` Heater number, optional
`T[0..n]` Tool number
`P[0..n]` Alternative to T
`W[-50]` Tolerance in degC | 24 | 25 |
26 | 27 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Optional macros 28 | 29 | | Command | Description |                                 Parameters                                 | 30 | | ------- | ----------- | ---------- | 31 | | `G10` | Alias to M568 | | 32 | | `M116` | Alias to M109 | | 33 | | `M568` |Set tool temperature. If Tool number is not provided, current tool is used | `P[0..n]` Tool number, optional
`T[0..n]` Alternative to P.
`S...` Set active temperature, optional
`R...` Set standby temperature, optional
`A...` Set Heater state, optional
(0= off), (1 = standby temperature), (2 = active temperature)
`N...` Standby timeout is the time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time.
`O...` Timer from Standby to off. Used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print. | 34 | | `M204` | Set acceleration to either S or lowest of supplied P and T. | `S...` Acceleration, optional
`P...` Print acceleration, RRF compatible
`T...` Travel acceleration, RRF compatible | 35 | | `M566` | Set Square Corner Velocity in RRF style. Only the lower of required X or Y will be used| `X...` X axis
`Y...` Y axis | 36 | -------------------------------------------------------------------------------- /config/example_simple/tools.cfg: -------------------------------------------------------------------------------- 1 | # Simple sample configuration for getting started with a ToolChanger with 2 tools. 2 | 3 | 4 | # Enables saving of variables between powerdown of machine. Must be configured before [toollock]. 5 | [save_variables] 6 | filename: ~/variables.cfg 7 | 8 | [ktcclog] # Log_level & logfile_level can be set to one of (0 = essential, 1 = info, 2 = debug, 3 = trace) 9 | log_level: 2 10 | logfile_level: 3 11 | 12 | [toollock] 13 | tool_lock_gcode: 14 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set assumed possition as rotated to min 15 | MANUAL_STEPPER STEPPER=tool_lock Move=1 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. 16 | MANUAL_STEPPER STEPPER=tool_lock Move=150 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=1 # Move to max and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. 17 | tool_unlock_gcode: 18 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=180 # Set assumed possition as rotated to max 19 | MANUAL_STEPPER STEPPER=tool_lock Move=179 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. 20 | MANUAL_STEPPER STEPPER=tool_lock Move=0 SPEED=100 STOP_ON_ENDSTOP=1 SYNC=1 # Move to min and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. 21 | MANUAL_STEPPER STEPPER=tool_lock ENABLE=0 # Turn off the stepper while unlocked so it can rest without triggering the endswitch 22 | 23 | [toolgroup 0] 24 | pickup_gcode: 25 | M568 P{myself.name} A2 # Put tool heater in Active mode 26 | 27 | SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of pickup code 28 | G90 29 | 30 | ############## Move in to zone ############## 31 | G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. 32 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 33 | 34 | ############## Move in to parking spot ############## 35 | G0 X{myself.park[0]|float - 15} F40000 # Fast Move near the pickup position for tool. 36 | G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. 37 | 38 | ############## Lock Tool ############## 39 | M400 # Wait for all moves to finish. 40 | TOOL_LOCK # Lock the tool. 41 | SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. 42 | 43 | ############## Wait for heater ############## 44 | {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: 45 | TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. 46 | {% endif %} # / 47 | 48 | ############## Move out to zone ############## 49 | G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. 50 | 51 | ############## Move out to Safe position ############## 52 | G0 X500 F40000 # Fast Move to the safe position for tools. 53 | 54 | ############## Finnish up ############## 55 | M400 # Wait for current moves to finish. 56 | 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. 57 | # Set the toolhead offsets. Z is set and moved before any moves in SUB_TOOL_PICKUP_START. Needs to be after any RESTORE_GCODE_STATE! 58 | SET_GCODE_OFFSET X={myself.offset[0]|float + ktcc.global_offset[0]|float } Y={myself.offset[1]|float + ktcc.global_offset[1]|float } Z={myself.offset[2]|float + ktcc.global_offset[2]|float } MOVE=0 59 | dropoff_gcode: 60 | SUB_TOOL_DROPOFF T={myself.name} 61 | 62 | [tool 0] 63 | tool_group: 0 64 | extruder: extruder 65 | fan: partfan_t0 66 | zone: 550,5 67 | park: 598,5 68 | offset: 11.278,3.766,3.528 69 | meltzonelength: 18 70 | 71 | [tool 1] 72 | tool_group: 0 73 | extruder: extruder1 74 | fan: partfan_t1 75 | zone: 550,100 76 | park: 598,100 77 | offset: -1.447,-0.295,-1.503 78 | meltzonelength: 18 79 | 80 | [gcode_macro SUB_TOOL_DROPOFF] 81 | description: Internal subroutine. Do not use! 82 | # Tnnn: Tool to pickup 83 | gcode: 84 | {%set myself = printer['tool '~params.T]%} 85 | 86 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 87 | SAVE_GCODE_STATE NAME=TOOL_DROPOFF_002 # Save GCode state. 88 | G90 # Absolute positions 89 | 90 | # Fast Move to the general pickup position for tools. 91 | G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. 92 | G0 Y{myself.zone[1]} F40000 # Move Y after X and Z 93 | M400 # Wait for current moves to finish 94 | 95 | G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. 96 | G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. 97 | 98 | M400 # Wait for current moves to finish 99 | TOOL_UNLOCK # Unlock the tool 100 | 101 | G0 X{myself.park[0]|float - 15} F6000 # Slow Move to the pickup position for tool. 102 | G0 X500 F40000 # Fast Move to the general pickup position for tools. 103 | 104 | RESTORE_GCODE_STATE NAME=TOOL_DROPOFF_002 MOVE=0 # Restore Gcode state 105 | SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. 106 | -------------------------------------------------------------------------------- /config/example_complex/tool_macro.cfg: -------------------------------------------------------------------------------- 1 | [gcode_macro TOOL_LOCK_CHECK] 2 | description: Check so the tool is mounted by slightly advancing the lock again until hit endstop, only if endstop not already hit. Do not wait for it to finish. 3 | gcode: 4 | # If endstop is not triggered then try to lock again for safety. Best to check the endstops before calling this. 5 | {% if printer.query_endstops.last_query['manual_stepper tool_lock']|default(0) == 0 %} 6 | SET_TMC_CURRENT STEPPER=tool_lock CURRENT=1.0 7 | MANUAL_STEPPER STEPPER=tool_lock Move=20 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=0 8 | SET_TMC_CURRENT STEPPER=tool_lock CURRENT=0.8 9 | {% endif %} 10 | 11 | 12 | [gcode_macro M106] 13 | variable_fan_speed: 0 14 | description: Snnn Pnnn 15 | Set fan speed. A tool and toollock must be configured for this to work. 16 | S: Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 17 | P: Tool (optional, defaults to the currently selected tool) 18 | The P parameter specifies tool instead of fan number as in RRF. 19 | gcode: 20 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 21 | 22 | # S= Fan speed 0-1 or 2-255 (optional, defult 1, full speed) 23 | {% if params.S is defined %} 24 | {% set newparameters = newparameters ~ " S="~params.S %} # Set heater_standby_temp to new parameters. 25 | {% endif %} 26 | 27 | # P= Tool number 28 | {% if params.P is defined %} 29 | {% set newparameters = newparameters ~ " P="~params.P %} # Set heater_standby_temp to new parameters. 30 | {% endif %} 31 | 32 | SET_AND_SAVE_FAN_SPEED{newparameters} 33 | 34 | [gcode_macro M107] 35 | description: Pnnn 36 | Turn off fan. 37 | P = Tool (optional and defaults to the currently selected tool) 38 | gcode: 39 | {% if params.P is defined %} 40 | {% set p = " P"~params.P %} 41 | {% endif %} 42 | M106 {p|default("")} S0 43 | 44 | [gcode_macro G10] 45 | description: See M568. Passtrough to M568. 46 | gcode: 47 | M568 {rawparams} 48 | 49 | 50 | 51 | [gcode_macro M568] 52 | description: Pnnn Rnnn Snnn An Nnnn Mnnn 53 | Set tool temperature. 54 | P= Tool number, optional. If this parameter is not provided, the current tool is used. 55 | R= Standby temperature(s), optional 56 | S= Active temperature(s), optional 57 | A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). 58 | N = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. 59 | Use for example 0.1 to change immediately to standby temperature. 60 | O = Time in seconds to wait from docking tool to shutting off the heater, optional. 61 | Use for example 86400 to wait 24h if you want to disable shutdown timer. 62 | gcode: 63 | # RESPOND MSG="M568: Seting new temperature: {rawparams}" 64 | {% set newparameters = "" %} # Parameters to be passed to subroutines in new format. 65 | 66 | # P= Tool number 67 | {% if params.P is defined %} 68 | {% set newparameters = newparameters ~ " TOOL="~params.P %} # Set heater_standby_temp to new parameters. 69 | {% endif %} 70 | 71 | # R= Standby temperature 72 | {% if params.R is defined %} 73 | {% set newparameters = newparameters ~ " STDB_TMP="~params.R %} # Set heater_standby_temp to new parameters. 74 | {% endif %} 75 | 76 | # S= Active temperature 77 | {% if params.S is defined %} 78 | {% set newparameters = newparameters ~ " ACTV_TMP="~params.S %} # Set heater_active_temp to new parameters. 79 | {% endif %} 80 | 81 | # N = Time in seconds to wait from docking tool to putting the heater in standy 82 | {% if params.N is defined %} 83 | {% set newparameters = newparameters ~ " STDB_TIMEOUT="~params.N %} # Set idle_to_standby_time to new parameters. 84 | {% endif %} 85 | 86 | # M = Time in seconds to wait from docking tool to shuting off the heater 87 | {% if params.O is defined %} 88 | {% set newparameters = newparameters ~ " SHTDWN_TIMEOUT="~params.O %} # Set idle_to_powerdown_time to new parameters. 89 | {% endif %} 90 | 91 | # A = Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature 92 | {% if params.A is defined %} 93 | {% set newparameters = newparameters ~ " CHNG_STATE="~params.A %} # Set idle_to_powerdown_time to new parameters. 94 | {% endif %} 95 | 96 | {action_respond_info("M568: Running: SET_TOOL_TEMPERATURE"~newparameters)} 97 | SET_TOOL_TEMPERATURE{newparameters} 98 | 99 | [gcode_macro M116] 100 | description: Pnnn Hnnn Snnn 101 | Waits for all temperatures, or a specified tool or heater's temperature. 102 | This command can be used without any additional parameters. 103 | Without parameters it waits for bed and current extruder. 104 | Only one of either P or H may be used. 105 | 106 | Pnnn Tool number. 107 | Hnnn Heater number. 0="heater_bed", 1="extruder", 2="extruder1", etc. 108 | Snnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 109 | 110 | gcode: 111 | {% set newparameters = "" %} # Parameters to be passed to subroutine in new format. 112 | 113 | 114 | {% if params.P is defined %} 115 | {% set newparameters = newparameters ~ " TOOL=" ~ params.P %} # Set Tool to new parameters. 116 | {% endif %} 117 | 118 | {% if params.H is defined %} 119 | {% set newparameters = newparameters ~ " HEATER=" ~ params.H %} # Set Tool to new parameters. 120 | {% endif %} 121 | 122 | {% if params.S is defined %} 123 | {% set newparameters = newparameters ~ " TOLERANCE=" ~ params.S %} # Set Tool to new parameters. 124 | {% endif %} 125 | 126 | TEMPERATURE_WAIT_WITH_TOLERANCE{newparameters} 127 | 128 | 129 | [gcode_macro TOOL_DROPOFF] 130 | gcode: 131 | KTCC_TOOL_DROPOFF_ALL 132 | 133 | [gcode_macro SAVE_ACCELERATION] 134 | variable_max_accel: 0 135 | gcode: 136 | SET_GCODE_VARIABLE MACRO=SAVE_ACCELERATION VARIABLE=max_accel VALUE={printer.toolhead.max_accel} 137 | 138 | [gcode_macro RESTORE_ACCELERATION] 139 | gcode: 140 | {% if printer['gcode_macro SAVE_ACCELERATION'].max_accel|int == 0 %} 141 | { action_respond_info("RESTORE_ACCELERATION: No acceleration saved.") } 142 | {% else %} 143 | M204 S{printer['gcode_macro SAVE_ACCELERATION'].max_accel} 144 | {% endif %} 145 | -------------------------------------------------------------------------------- /config/readme.md: -------------------------------------------------------------------------------- 1 | # Configuration reference 2 | This document is a reference for options available in the Klipper config file when adding the Tools module. 3 | 4 | ## Configuration examples 5 | Can be found in the different subdirectories. 6 | Feel free to add some for reference or send them my way and I will format, comment and add them. 7 | - 8 | 9 | ## Configuration order 10 | 11 | ToolGroups must come before tools that use them. 12 | A Tool that is used as physical_parent must be configured before other virtual tools that use it as a parent. 13 | 14 | ## Configuration requirements 15 | 16 | * `[save_variables]` must be used as described in the Klipper documentation. 17 | * `[input_shaper]` needs to be used for input shaper to work. 18 | 19 | ### [toollock] 20 | 21 | Configures the Locking mechanism and other common configuration for the Tools module. 22 | 23 | ``` 24 | #purge_on_toolchange: True 25 | # Here we can disable all purging. When disabled it overrides all other purge options. 26 | # This can be turned off by a macro for automatic probing hot tools without probing them. 27 | # For example when doing TAMV or ZTATP. The default is True. 28 | #global_offset: 0,0,0 29 | # Optional offset that can be accesed in macros and added to all tools. Can be usefull for diailing in the first layer. 30 | #init_printer_to_last_tool: True 31 | # Initialise as it was turned off, unlock tool if none was loaded or lock if one was 32 | # loaded. Defaults to True 33 | tool_lock_gcode: 34 | # A list of G-Code commands to execute when the tool is locked 35 | # in place by the TOOL_LOCK command. This parameter must 36 | # be provided. This can also call a macro. 37 | tool_unlock_gcode: 38 | # A list of G-Code commands to execute when the tool is unlocked 39 | # in place by the TOOL_UNLOCK command. This parameter must 40 | # be provided. This can also call a macro. 41 | ``` 42 | 43 | ### [toolgroup] 44 | 45 | Can be used for grouping settings common to multiple tools. 46 | At least one (the 0) must be specified and can be empty. 47 | 48 | ``` 49 | [toolgroup 0] 50 | #is_virtual: True 51 | # If True then must have a physical_parent declared and shares extruder, hotend and 52 | # fan with the physical_parent 53 | #physical_parent: 0 54 | # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. 55 | #lazy_home_when_parking: 0 56 | # If the printer is able to home with the tool mounted. 57 | # When set to 1, will home unhomed XY axes if needed and will not move any axis 58 | # if already homed and parked. 2 Will also home Z if not homed. 59 | #meltzonelength:0 60 | #idle_to_standby_time: 30 61 | #idle_to_powerdown_time: 600 62 | #pickup_gcode 63 | #dropoff_gcode 64 | ``` 65 | 66 | ### [tool] 67 | 68 | A tool can be a physical tool on a toolchanger, being picked up and dropped of, or it can be 69 | virtual on a tool. A virtual tool can be a ERCF, a roatating wheel, etc. 70 | 71 | A virtual tool is a second layer of toolchanging. For example if using a physical e3d Revo 72 | with a Bondtech LGX Lite and two fans connected to a 9 port ERCF filament changer. 73 | Then the [Tool 0] to [Tool 9] would have 0 as parent and all be virtual. When changing 74 | from T0 to T2, then only the ERCF script would run. But if changing from T11 to T2, 75 | then first a toolchange and then a ERCF filament change would occur. 76 | 77 | A tool does not have to have a heater, extruder or fan. It can be a simple pen. 78 | 79 | The only mandatory setting is "tool_group". 80 | 81 | A virtual tool can inherit all and any configuration from the parent tool except for 82 | "is_virtual" and "physical_parent". Both can be defined in a group, so basicly only 83 | the group needs to be specified for a group of tools 84 | 85 | ``` 86 | [tool 0] 87 | tool_group: 88 | # The Toolgroup number for this tool 89 | # Must be used and configured before thr tool using it. 90 | #is_virtual: False 91 | # Defines this tool as physical or virtual. 92 | #physical_parent: 93 | # Nr of the physical parent of this tool. Defaults not having one. 94 | #extruder: 95 | # Name of extruder connected to this tool. For example "extruder" 96 | # or "extruder1" without the quotation marks. Defaults to having no extruder. 97 | #fan: 98 | # Name of general fan configuration used as a partcooling fan. 99 | # For example "partfan_t0". Defaults to having no extruder. 100 | #zone: 101 | # Coordinates to when the toolhead is near the tool, used for fas aproach. 102 | # For example "550,5". This would be X550 Y5 in the printer coordinates. 103 | park: 104 | # Coordinates to when the tool is parked, aproach slowly from zone coordinates. 105 | # For example "598,5". This would be X598 Y5 in the printer coordinates. 106 | #offset: 107 | # Offset of the tip of the tool to the coordinates of the head in X,Y,Z 108 | # For example "11.278,3.766,3.528". Defaults to "0,0,0" 109 | #idle_to_standby_time: 0.1 110 | # Time in seconds from the tool being parked to setting temperature to standby 111 | # if the temperature current temperature is above the standby temperature. 112 | # Use 0.1 to change imediatley to standby temperature. Defaults to 0.1 113 | # If you use 0, then it disables the standby temperature. 114 | #idle_to_powerdown_time: 600 115 | # Time in seconds from being parked to turning off the heater, setting temperature to 0. 116 | # Use something like 86400 to wait 24h if you want to disable. Defaults to 600 (10 minutes). 117 | #lazy_home_when_parking: 0 118 | # If the printer is able to home with the tool mounted. 119 | # When set to 1, will home unhomed XY axes if needed and will not move any axis 120 | # if already homed and parked. 2 Will also home Z if not homed. 121 | #meltzonelength: 0 122 | # Length of the meltzone for retracting and inserting filament on toolchange. 18mm for e3d Revo. 123 | #shaper_freq_x: 0 124 | #shaper_freq_y: 0 125 | # Shaper frequency for this tool. For example "116.4". Defaults to "0".. See Klipper documentation for more details. 126 | # shaper_type_x: "mzv" 127 | # shaper_type_y: "mzv" 128 | # Shaper type for this tool. Defaults to "mzv". See Klipper documentation for more details. 129 | #shaper_damping_ratio_x: 0 130 | #shaper_damping_ratio_x: 0 131 | # Damping ratios of vibrations of X and Y axes used by input shaper. 132 | # Defaults to "0.1". See Klipper documentation for more details. 133 | #pickup_gcode: 134 | # A list of G-Code commands to execute when the tool is locked 135 | # in place by the TOOL_LOCK command. This can also call a macro. 136 | #dropoff_gcode: 137 | # A list of G-Code commands to execute when the tool is unlocked 138 | # in place by the TOOL_UNLOCK command. This can also call a macro. 139 | ``` 140 | 141 | Not used yet: 142 | ``` 143 | #HeatMultiplyerAtFullFanSpeed = 1 144 | # Multiplier to be aplied to hotend temperature when fan is at maximum. 145 | # Will be multiplied with fan speed. Ex. 1.1 at 205*C and fan speed of 40% will set temperature to 213*C 146 | ``` 147 | -------------------------------------------------------------------------------- /doc/command_ref.md: -------------------------------------------------------------------------------- 1 | # KTCC - Command Reference 2 | 3 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Basic Toolchanger functionality 4 | 5 | | Command | Description |                                     Parameters                                     | 6 | | ------- | ----------- | ---------- | 7 | | `TOOL_LOCK` | Lock the tool to the toolhead. | | 8 | | `TOOL_UNLOCK` | Unlock the toolhead from tool. | | 9 | | `Tn` | Activates heater, pick up and readyy the tool. If tool is mapped to another one then that tool will be selected instead. | `RESTORE_AXIS=[XYZ]` Restore specified axis position to the latest saved. | 10 | | `TOOL_DROPOFF_ALL` | Unloads and parks the current tool without picking up another tool, leaving the toolhead free and unlocked. Actual active extruder eill still be last used one as Klipper needs an active extruder. | | 11 | | `SET_TOOL_TEMPERATURE` | Set tool temperature. If `TOOL` parameter is omited then current tool is set. | `TOOL=[0..n]` Optional if other than current loaded tool
`ACTV_TMP=...` Set Active temperature, optional
`STDB_TMP =...` Standby temperature, optional
`CHNG_STATE=[0\|1\|2]` Change Heater State, optional:
(0 = Off) \| (1 = Standby) \| (2 = Active)
`SHTDWN_TIMEOUT=...` Time in seconds to wait with the heater in standby before changing it to off, optional.
`STDB_TIMEOUT=...` Time in seconds to linger at Active temp. after setting the heater to standby when the standby temperature is lower than current tool temperature, optional.
`SHTDWN_TIMEOUT` is used for example so a tool used only on first few layers shuts down after 30 minutes of inactivity and won't stay at 175*C standby for the rest of a 72h print.
`STDB_TIMEOUT=` Time to linger at Active temp. after setting the heater to standby. Could be used for a tool with long heatup times and is only put in standby short periods of thme throughout a print and should stay at active temperature longer time. | 12 | | `SET_AND_SAVE_PARTFAN_SPEED` | Set the partcooling fan speed current or specified tool. Fan speed is carried over between toolchanges. | `S=[0-255 \| 0-1]` Fan speed with either a maximum of 255 or 1.
`P=[0-n]` Tool number if not current tool to set fan to. | 13 | | `TEMPERATURE_WAIT_WITH_TOLERANCE` | Waits for all temperatures, or a specified tool or heater's temperature. This command can be used without any additional parameters and then waits for bed and current extruder. Only one of either TOOL or HEATER may be used. Only waits if target temperature is >40*C | `TOOL=[0-n]` Tool number to wait for, optional.
`HEATER=[0-n]` Heater number. 0="heater_bed", 1="extruder", 2="extruder1", 3="extruder2", etc. Only works if named as default, this way, optional.
`TOLERANCE=[0-50]` Tolerance in degC. Defaults to 1*C. Wait will wait until heater is in range of set temperature +/- tolerance. | 14 |
15 | 16 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Offset commands 17 | | Command | Description |                             Parameters                             | 18 | | ------- | ----------- | ---------- | 19 | | `SET_GLOBAL_OFFSET` | Set a global offset that can be applied to all tools. Can use absolute offset or adjust relative to current offset. | `X=...` Set the new offset for the axis.
`Y=...` As above.
`Z=...` As above.
----------
`X_ADJUST=...` Adjust the offset position incramentally.
`Y_ADJUST=...` As above.
`Z_ADJUST=...` As above.
| 20 | | `SET_TOOL_OFFSET` | Set the offset of an individual tool. Can use absolute offset or adjust relative to current offset. | `TOOL=[0-n]` Tool number, optional. If not provided, the current tool is used.
----------
`X=...` Set the new offset for the axis.
`Y=...` As above.
`Z=...` As above.
----------
`X_ADJUST=...` Adjust the offset position incramentally.
`Y_ADJUST=...` As above.
`Z_ADJUST=...` As above.
| 21 | | `KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL` | Sets the Klipper G-Code offset to the one for the current tool. | `MOVE=[0\|1]` Wheteher to move the toolhead to the new offset. ( 0 = Do not move, default ) ( 1 = Move )
| 22 |
23 | 24 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Position saving and restoring commands 25 | | Command | Description |                             Parameters                             | 26 | | ------- | ----------- | ---------- | 27 | | `SAVE_POSITION` | Save the specified G-Code position for later restore. Without parameters it will set to not restoring axis. | `X=...` Set the restore position and set this axis to be restored.
`Y=...` As above.
`Z=...` As above. | 28 | | `SAVE_CURRENT_POSITION` | Save the current G-Code position for later restore. Without parameters it will save previousley saved axis. | `RESTORE_POSITION_TYPE=[XYZ] or [0\|1\|2]` Axis to save or tyoe ( 0 = No restore ), ( 1 = Restore XY ), ( 2 = Restore XYZ ) | 29 | | `RESTORE_POSITION` | Restore a previously saved G-Code position. With no parameters it will Restore to previousley saved type. | `RESTORE_POSITION_TYPE=[XYZ] or [0\|1\|2]` Axis to save or tyoe ( 0 = No restore ), ( 1 = Restore XY ), ( 2 = Restore XYZ ) | 30 |
31 | 32 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Tool remapping commands 33 | | Command | Description | Parameters | 34 | | ------- | ----------- | ---------- | 35 | | `KTCC_DISPLAY_TOOL_MAP` | Dump the current mapping of tools to other KTCC tools. | | 36 | | `KTCC_REMAP_TOOL` | Remap a tool to another one. | `RESET=[0\|1]` If 1 the stored tooö remap will be reset.
`TOOL=[0-n]` The toolnumber to remap.
`SET=[0-n]` The toolnumber to remap to. | 37 |
38 | 39 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Advanced commands, rarely used 40 | | Command | Description | Parameters | 41 | | ------- | ----------- | ---------- | 42 | | `KTCC_SAVE_CURRENT_TOOL` | Set the current loaded tool manually to the specified. When loading a tool manually | `T=[-2-n]` Tool to set as current. ( -2 = Unknown tool ), ( -1 = Toollock unlocked without tool ) | 43 | | `KTCC_SET_PURGE_ON_TOOLCHANGE` | Sets a global variable that can disable all purging (can be used in macros) when loading/unloading tools. For example for automated tool alignement such as TAMV/ZTATP. | `VALUE=[0\|1]` If enabled or disabled. | 44 | | `KTCC_ENDSTOP_QUERY` | Wait for a ENDSTOP untill it is in the specified state indefinitly or for maximum atempts if specified. Checking state once a second. | `ENDSTOP=...` Name of the endstop to wait for.
`TRIGGERED=[0\|1]` If should be waiting for it to be triggered (1) or open (0).
`ATEMPTS=...` Number of atempts to make, indefinitly if not specified. | 45 | | `KTCC_SET_ALL_TOOL_HEATERS_OFF` | Turns off all heaters configured for tools and saves changes made to be resumed later by KTCC_RESUME_ALL_TOOL_HEATERS. This does not affect heated beds or other heaters not defined as aan extruder in tools. | | 46 | | `KTCC_RESUME_ALL_TOOL_HEATERS` | Resumes all heaters previously turned off by KTCC_SET_ALL_TOOL_HEATERS_OFF. | `MSG=...` The message to be sent | 47 |
48 | 49 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Status, Logging and Persisted state 50 | | Command | Description | Parameters | 51 | | ------- | ----------- | ---------- | 52 | | `KTCC_DUMP_STATS` | Dump the KTCC statistics to console. | | 53 | | `KTCC_RESET_STATS` | Reset all the KTCC statistics. | `SUERE=[yes\|no]` If "yes" the stored statistics will be reset. | 54 | | `KTCC_INIT_PRINT_STATS` | Run at start of a print to initialize and reset the KTCC print statistics | | 55 | | `KTCC_DUMP_PRINT_STATS` | Run at end of a print to dump statistics since last print reset to console. | | 56 | | `KTCC_SET_LOG_LEVEL` | Set the log level for the KTCC | `LEVEL=[0-3]` How much to log to console: ( 0 = Only the Always messages ) ( 1 = Info messages and above ) ( 2 = Debug messages and above ) ( 3 = Trace messages and above )
`LOGFILE=[0-3]` How much to log to file. Levels as above. | 57 | | `KTCC_LOG_TRACE` | Send a message to log at this logging level | `MSG=...` The message to be sent | 58 | | `KTCC_LOG_DEBUG` | Send a message to log at this logging level | `MSG=...` The message to be sent | 59 | | `KTCC_LOG_INFO` | Send a message to log at this logging level | `MSG=...` The message to be sent | 60 | | `KTCC_LOG_ALWAYS` | Send a message to log at this logging level | `MSG=...` The message to be sent | 61 |
62 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 |

2 | A Toolchenager 3 |

Tools for klipper (KTCC - Klipper Tool Changer Code)

4 |

5 | 6 |

7 | Universal Toolchanger driver for Klipper 8 |

9 | 10 | This are python modules, macros and example config for the 11 | [Klipper 3D printer firmware](https://github.com/Klipper3d/klipper) to be able to work as a toolchanger. 12 |

13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 |

26 | 27 | Klipper Tool Changer code v.2 is now released for preview: 28 | https://github.com/TypQxQ/KTC 29 | 30 | At it's simplest you need to specify extruder, fan, offset for each extruder tool. 31 | Then add your macros for pickup, dropoff, toollock and toolunlock. 32 | 33 | It doesn't matter if you lock the tool by a servo, stepper or moving the toolhead in a special way. Just as long as it can be written in GCODE. 34 | Pickups are also custom Gcode. You can uses the parameters stored for each tool to aproach he ZONE fast, slow in 35 | to PARKING place and lock. Or it have a robotic arm place the tool. It's all posible. :D 36 | 37 | [This](https://www.youtube.com/watch?v=cbRXn7R7JZM&t=52s) is a more complex example of it running on a toolchanger with an aditional ERCF under one tool. T0-8 uses first tool with virtual tools for the ERCF, calling the toolchanges recursively. 38 | 39 | Inspiration comes mainly from how RRF enables toolchanging and from the HappyHare project. 40 | I welcome any and all input and contributions. Don't be afraid to make a pull request :D 41 | 42 | Thank you! 43 | 44 | ## Readme Table of Contents 45 | **[Major feature](#---major-features)**
46 | **[Installation](#---installation)**
47 | \- [1-Install with Moonraker Autoupdate Support](#1-install-with-moonraker-autoupdate-support)
48 | \- [2-Manual Install](#2-manual-install)
49 | **[Configuration requirements](#---configuration-requirements)**
50 | **[G-Code commands](#---g-code-commands)**
51 | **[Values accesible from Macro for each object](#---values-accesible-from-macro-for-each-object)**
52 | **[Example configuration](#---example-configuration)**
53 | 54 | #### Other Docs: 55 | 56 | **[Command Reference](./doc/command_ref.md)**
57 | **[Required and Optional Macros](./klipper_macros/readme.md)**
58 | **[Configuration Reference](./config/readme.md)**
59 | 60 |
61 | 62 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Major features: 63 |
    64 |
  • Support any type of toolchanger and any type of tool
    • 65 |
  • Tools don't need to be extruders/hotends, can be anything.
    • 66 |
  • Each Tool is treated as an object and has it's own configuration having configurable coordinates for parking, tool offset, extruder, part cooling fan, etc.
    • 67 |
  • Tools don't need to be extruders/hotends, can be anything.
    • 68 |
  • Virtual tools - One tool can have multiple tools. Your T0-T8 can be on same extruder, fan and heater but having an MMU while T9 is another extruder and T10-T12 is another tool with 3 markers that can switched by a servo and finally T13 is a pick and place tool.
    • 69 |
  • Multiple tools can be grouped in ToolGroup. -Most configuration can be inherited from the group and overwritten when needed by the tool config section.
    • 70 |
  • Partcooling Fan speed is carried over on toolchange if the tool has a fan. M106/M107 defaults to fan of current_tool but can also specify another tool.
    • 71 |
  • Extensive extruder temperature control:
    • 72 |
      73 |
    • A tool heater can be set as Active, Standby or Off mode
      • 74 |
    • Diffrent Active and Standby temperatures for any tool. Switches to Active when selected and to Standby when Parked.
      • 75 |
    • Configurable delay from Standby to off when parked. If tool isn't used for 30 minutes it cools down until used again.
      • 76 |
    • Wait to reach temperature with configurable tolerance.
      • 77 |
    • Position prior to toolchange can optionaly be saved and restored after toolchange. Configurable axis.
      • 78 |
    79 |
  • Current Tool persists at powerdown. Default but optional.
    • 80 |
  • Tool remaping. Remap a tool to another, no need to reslice.
    • 81 |
  • Sophisticated logging options (console and ktcc.log file)
    • 82 |
  • Moonraker update-manager support
    • 83 |
  • Persitance of state and statistics across restarts.
    • 84 |
  • Vast customization options!
    • 85 |
86 | 87 |
88 | 89 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Installation 90 | 91 | ### 1\. Install with Moonraker Autoupdate Support 92 | This plugin assumes that you installed Klipper into your home directory (usually `/home/pi`). 93 | 94 | 1) Clone this repo into your home directory where Klipper is installed: 95 | ``` 96 | cd ~ 97 | git clone https://github.com/TypQxQ/Klipper_ToolChanger.git 98 | ``` 99 | 100 | 2) Edit `moonraker.conf` by adding the following entry: 101 | ``` 102 | [update_manager client klipper_toolchanger] 103 | type: git_repo 104 | path: ~/Klipper_ToolChanger 105 | origin: https://github.com/TypQxQ/Klipper_ToolChanger.git 106 | install_script: install.sh 107 | is_system_service: False 108 | ``` 109 | 110 | 3) Run the `install.sh` script 111 | ``` 112 | ~/Klipper_ToolChanger/install.sh 113 | ``` 114 | 115 | Klipper_ToolChanger will show up in the update the next time you restart moonraker, or you can restart mooraker right away with: `sudo systemctl restart moonraker`. 116 | If you encouter errors after an automatic Klipper update you can safetly run the `install.sh` scipt again to repair the links to the extension. 117 | 118 | ### 2\. Manual Install 119 | Copy the python (`*.py`) files into the `\klipper\klipper\extras` directory. Assuming Klipper is installed in your home directory: 120 | ``` 121 | cp ./*.py ~/klipper/klippy/extras/ 122 | ``` 123 | Then restart Klipper to pick up the extensions. 124 | 125 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Configuration requirements 126 | * `[input_shaper]` needs to be used for input shaper to wordk. 127 | 128 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) G-Code commands: 129 | Reffer to the [Command Reference](./doc/command_ref.md).
130 | 131 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Values accesible from Macro for each object 132 | - **Toollock** 133 | - `global_offset` - Global offset. 134 | - `tool_current` - -2: Unknown tool locked, -1: No tool locked, 0: and up are toolnames. 135 | - `saved_fan_speed` - Speed saved at each fanspeedchange to be recovered at Toolchange. 136 | - `purge_on_toolchange` - For use in macros to enable/disable purge/wipe code globaly. 137 | - `restore_axis_on_toolchange` - The axis to restore position: 138 | - : No restore 139 | - XY: Restore XY 140 | - XYZ: Restore XYZ 141 | - Etc 142 | - `saved_position` - The position saved when the latest T# command had a RESTORE_POSITION parameter to other than 0 143 | - **Tool** - The tool calling this macro is referenced as `myself` in macros. When running for example `T3` to pickup the physical tool, in `pickup_gcode:` of one can write `{myself.name}` which would return `3`. 144 | - `name` - id. 0, 1, 2, etc. 145 | - `is_virtual` - If this tool has another layer of toolchange possible. 146 | - `physical_parent_id` - Parent physical tool that holds tool coordinates. Can be same as this. 147 | - `extruder` - extruder name as configured. 148 | - `fan` - fan name. 149 | - `lazy_home_when_parking` - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. 150 | - `meltzonelength` - Meltzonelength to unload/load filament at toolpak. See e3d documentation. 151 | - `zone` - Fast aproach coordinates when parking 152 | - `park` - Parking spot, slow aproach. 153 | - `offset` - Tool offset. 154 | - `heater_state` - 0 = off, 1 = standby temperature, 2 = active temperature. Placeholder. 155 | - `heater_active_temp` - Temperature to set when in active mode. 156 | - `heater_standby_temp` - Temperature to set when in standby mode. 157 | - `idle_to_standby_time` - Time in seconds from being parked to setting temperature to standby the temperature above. Use 0.1 to change imediatley to standby temperature. 158 | - `idle_to_powerdown_time` - Time in seconds from being parked to setting temperature to 0. Use something like 86400 to wait 24h if you want to disable. Requred on Physical tool. 159 | - **ToolGroup** 160 | - `is_virtual` - As above 161 | - `physical_parent_id` - As above 162 | - `lazy_home_when_parking` - As above 163 | 164 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Example configuration 165 | My corrent configuration is for v.2 where work progresses fast. 166 | 167 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 21/09/2023 168 | Added individual axis to position saving and restoring commands. Commited by viesturz. 169 | 170 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 09/03/2023 171 | Added Tool Remap. Point one or more tools to another one. Including fan and temperature. This is persistent at reboot. 172 | * `KTCC_DISPLAY_TOOL_MAP` - Display the current mapping of tools to other KTCC tools. 173 | * `KTCC_REMAP_TOOL` - The command to remap a tool or reset the remaping. 174 | * `KTCC_CHECK_TOOL_REMAP` - Display all tool remaps. 175 | 176 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 08/03/2023 177 | Added per print statistics and a wrapper around G28 to disable saving statistics while homing. 178 | The latter led to MCU Timer to close error when loading a tool at homing. 179 | * `KTCC_INIT_PRINT_STATS` - Run at start of a print to reset the KTCC print statistics. 180 | * `KTCC_DUMP_PRINT_STATS` - Run at end of a print to list statistics since last print reset. 181 | 182 | ## ![#f03c15](/doc/f03c15.png) ![#c5f015](/doc/c5f015.png) ![#1589F0](/doc/1589F0.png) Updates 22/02/2023 183 | This is not a simple upgrade, it has some configuration updates. 184 | A namechange to KTCC (Klipper Tool Changer Code) is also in the works). 185 | 186 | - **News:** 187 | - Virtual Tools 188 | - Logfile 189 | - Statistics 190 | 191 | - **Changes to Configuration:** 192 | - LogLevel under ToolLock is deprecated. 193 | - Must include new section ```[ktcclog]``` before all other Toollock, tool, and the others.. 194 | - New ```virtual_toolload_gcode:`` parameter to tools. 195 | - New ```virtual_toolunload_gcode:`` parameter to tools. 196 | 197 | - **Changes to commands:** 198 | - T_1 => KTCC_TOOL_DROPOFF_ALL 199 | - T# => KTCC_T# (ex. T0 => KTCC_T0) 200 | 201 | - **New commands:** 202 | - KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL 203 | - KTCC_LOG_TRACE 204 | - KTCC_LOG_DEBUG 205 | - KTCC_LOG_INFO 206 | - KTCC_LOG_ALWAYS 207 | - KTCC_SET_LOG_LEVEL 208 | - KTCC_DUMP_STATS 209 | - KTCC_RESET_STATS 210 | -------------------------------------------------------------------------------- /config/example_complex/tools.cfg: -------------------------------------------------------------------------------- 1 | # Config order: ToolGroups must come before tools that use them. Tool that are used as physical_parent must be configured before other virtual tools that use that as parent. 2 | 3 | 4 | # Enables saving of variables between powerdown of machine. Must be configured before [toollock]. 5 | [save_variables] 6 | filename: ~/variables.cfg 7 | 8 | [ktcclog] # Log_level & logfile_level can be set to one of (0 = essential, 1 = info, 2 = debug, 3 = trace) 9 | log_level: 2 10 | logfile_level: 3 11 | 12 | [toollock] 13 | purge_on_toolchange = True # Here we can disable all purging. When disabled it overrides all other purge options. Defaults to true. This can be turned off by a macro for automatic probing hot tools without probing them. For example when doing TAMV or ZTATP. 14 | global_offset = 0,0,0 15 | #init_printer_to_last_tool = True #Initialise as it was turned off, unlock tool if none was loaded or lock if one was loaded. Defaults to True 16 | tool_lock_gcode: 17 | SAVE_GCODE_STATE NAME=tool_unlock_state # Save gcode state 18 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set assumed possition as rotated to min 19 | MANUAL_STEPPER STEPPER=tool_lock Move=1 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. 20 | SET_TMC_CURRENT STEPPER=tool_lock CURRENT=1.0 # Raise current of stepper temporarily 21 | MANUAL_STEPPER STEPPER=tool_lock Move=150 SPEED=50 STOP_ON_ENDSTOP=1 SYNC=1 # Move to max and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. 22 | M400 23 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set manual extruder position as 0 24 | SET_TMC_CURRENT STEPPER=tool_lock CURRENT=0.7 # Decrease current to standard current. 25 | RESTORE_GCODE_STATE NAME=tool_unlock_state MOVE=0 # Restore gcode state 26 | M117 "Unknown tool Loaded" # Tool Loaded Message that stays on display. 27 | 28 | tool_unlock_gcode: 29 | SAVE_GCODE_STATE NAME=tool_lock_state # Save gcode state 30 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=180 # Set assumed possition as rotated to max 31 | MANUAL_STEPPER STEPPER=tool_lock Move=179 SPEED=30 STOP_ON_ENDSTOP=-1 SYNC=1 # Move until no longer endstop is triggered, max 1degree. If Endstop is not untriggered then raise an error. Wait for the movement before continuing. 32 | MANUAL_STEPPER STEPPER=tool_lock Move=0 SPEED=100 STOP_ON_ENDSTOP=1 SYNC=1 # Move to min and stop on endstop. If Endstop is not triggered then raise an error. Wait for the movement before continuing. 33 | M400 34 | MANUAL_STEPPER STEPPER=tool_lock SET_POSITION=0 # Set manual extruder position as 0 35 | MANUAL_STEPPER STEPPER=tool_lock ENABLE=0 # Turn off the stepper while unlocked so it can rest without triggering the endswitch 36 | RESTORE_GCODE_STATE NAME=tool_lock_state MOVE=0 # Restore gcode state 37 | M117 Tool Unloaded # Tool UnLoaded Message that stays on display. 38 | 39 | [toolgroup 0] 40 | is_virtual: True # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent 41 | physical_parent: 0 # Tool used as a Physical parent for all toos of this group. Only used if the tool i virtual. 42 | #idle_to_standby_time: 30 43 | #idle_to_powerdown_time: 600 44 | virtual_toolload_gcode: 45 | # Because the virtual tools match the number on ERCF I just call that. 46 | SUB_VIRTUALTOOL_LOAD T={myself.name} 47 | virtual_toolunload_gcode: 48 | SUB_VIRTUALTOOL_UNLOAD T={myself.name} 49 | 50 | 51 | # Used to group several tools with similar settings. 52 | [toolgroup 1] 53 | is_virtual: False # If True then must have a physical_parent declared and shares extruder, hotend and fan with the physical_parent 54 | pickup_gcode: 55 | SUB_TOOL_PICKUP_START T={myself.name} 56 | SUB_TOOL_PICKUP_END T={myself.name} 57 | dropoff_gcode: 58 | SUB_TOOL_DROPOFF_START T={myself.name} 59 | SUB_TOOL_DROPOFF_END T={myself.name} 60 | 61 | ##### Selectable tool. Must be configured after [toolgroup n]. 62 | [tool 0] 63 | tool_group: 0 # Must be used and configured before this tool 64 | ##### Following can be inherited from Physical parent if not specified for this tool. Needed only by physical tools. 65 | extruder: extruder 66 | fan: partfan_t0 67 | zone: 550,5 68 | park: 598,5 69 | offset: 11.406,3.778,3.537 70 | ##### 71 | ##### Following can be inherited from ToolGroup if not specified for this tool or inherited from a Physical parent. 72 | #physical_parent: # Defaults to None. 73 | #is_virtual: False # Defaults to False 74 | meltzonelength: 14 #18 # Defaults to 0 75 | ##### 76 | ##### Options below have no effect on Virtual tools. 77 | idle_to_standby_time: 0.1 # Time in seconds from being parked to setting temperature to standby the temperature above. Use 0.1 to change imediatley to standby temperature. Defaults to 30 78 | #idle_to_powerdown_time: 600 # Time in seconds from being parked to setting temperature to 0. Use something like 86400 to wait 24h if you want to disable. Defaults to 600 79 | lazy_home_when_parking: 1 # (default: 0 - disabled) - When set to 1, will home unhomed XY axes if needed and will not move any axis if already homed and parked. 2 Will also home Z if not homed. 80 | shaper_freq_x: 137.2 81 | shaper_freq_y: 116.4 82 | shaper_type_x: 2hump_ei 83 | shaper_type_y: 2hump_ei 84 | 85 | #pickup_gcode= The code that is run when picking up the physical tool. Variable {myself} refers to the tool calling this code. 86 | pickup_gcode: 87 | SUB_TOOL_PICKUP_START T={myself.name} 88 | SUB_TOOL_PICKUP_END T={myself.name} 89 | dropoff_gcode: 90 | RESPOND MSG="dropoff_gcode. in t0" 91 | SUB_TOOL_DROPOFF_START T={myself.name} 92 | SUB_TOOL_DROPOFF_END T={myself.name} 93 | 94 | [tool 1] 95 | tool_group: 0 96 | 97 | [tool 2] 98 | tool_group: 0 99 | [tool 3] 100 | tool_group: 0 101 | [tool 4] 102 | tool_group: 0 103 | [tool 5] 104 | tool_group: 0 105 | [tool 6] 106 | tool_group: 0 107 | [tool 7] 108 | tool_group: 0 109 | [tool 8] 110 | tool_group: 0 111 | 112 | # End of Tool 0 virtual tools. 113 | 114 | [tool 9] 115 | tool_group: 1 116 | extruder: extruder1 117 | fan: partfan_t9 118 | zone: 550,100 119 | park: 598,100 120 | offset: -1.046,-0.220,-1.510 121 | meltzonelength: 14 #18 122 | idle_to_standby_time: 0.1 123 | shaper_freq_x: 126.8 124 | shaper_freq_y: 128.6 125 | shaper_type_x: 3hump_ei 126 | shaper_type_y: 3hump_ei 127 | 128 | [tool 10] 129 | tool_group: 1 130 | extruder: extruder2 131 | fan: partfan_t10 132 | zone: 550,200 133 | park: 598,200 134 | offset: 12.069,4.472,3.180 135 | meltzonelength: 14 #18 136 | idle_to_standby_time: 0.1 137 | shaper_freq_x: 119.8 138 | shaper_freq_y: 126.6 139 | shaper_type_x: mzv 140 | shaper_type_y: 2hump_ei 141 | 142 | [tool 49] 143 | tool_group: 1 144 | zone: 560,515 145 | park: 598,515 146 | offset: 0,0,0 147 | # Just to reset the input shaper. 148 | #shaper_freq_x: 0 149 | #shaper_freq_y: 0 150 | #shaper_type_x: mzv 151 | #shaper_type_y: mzv 152 | 153 | [gcode_macro SUB_TOOL_PICKUP_START] 154 | description: Internal subroutine. Do not use! 155 | # Tnnn: Tool to pickup 156 | gcode: 157 | {%set myself = printer['tool '~params.T]%} 158 | 159 | M568 P{myself.name} A2 # Put tool heater in Active mode 160 | 161 | SAVE_ACCELERATION # Save current acceleration value. 162 | M204 S8000 # Set high acceleration for toolchanging 163 | 164 | SAVE_GCODE_STATE NAME=TOOL_PICKUP # Save GCODE state. Will be restored at the end of SUB_TOOL_PICKUP_END 165 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X-max endstop as EmergencyStop. 166 | G90 167 | 168 | ############## Move in to zone ############## 169 | {% if printer.toolhead.position.x < 500 %} # If Printer inside safezone: 170 | G0 X500 Y{myself.zone[1]} F40000 # Fast move XY inside the safezone. 171 | {% else %} # Else, outside of safezone: 172 | G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. 173 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 174 | {% endif %} # / 175 | 176 | ############## Move in to parking spot ############## 177 | G0 X{myself.park[0]|int - 15} F40000 # Fast Move near the pickup position for tool. 178 | G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. 179 | 180 | ############## Lock Tool ############## 181 | M400 # Wait for all moves to finish. 182 | TOOL_LOCK # Lock the tool. 183 | SET_GCODE_OFFSET Z={myself.offset[2]} MOVE=1 # Set and move the Z offset. Avoid crashing into bed when moving out later. 184 | 185 | ############## Wait for heater ############## 186 | {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: 187 | M116 P{myself.name} # Wait for tool to reach target temperature. 188 | {% endif %} # / 189 | 190 | ############## Move out to zone ############## 191 | G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. 192 | 193 | [gcode_macro SUB_TOOL_PICKUP_END] 194 | description: Internal subroutine. Do not use! 195 | # Tnnn: Tool to pickup 196 | gcode: 197 | {%set myself = printer['tool '~params.T]%} 198 | {%set ktcc = printer['ktcc_toolchanger']%} 199 | ############## Move out to Safe position ############## 200 | G0 X500 F40000 # Fast Move to the safe position for tools. 201 | 202 | ############## Check Tool Lock ############## 203 | QUERY_ENDSTOPS # Check the endstops and save the state to be retrieved in the macro below. 204 | TOOL_LOCK_CHECK # MAcro to check so the tool is mounted by slightly advancing the lock again until hit endstop, only if endstop not already hit. Do not wait for it to finish. 205 | 206 | ############## Finnish up ############## 207 | M400 # Wait for current moves to finish. 208 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. 209 | 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. 210 | # Set the toolhead offsets. Z is set and moved before any moves in SUB_TOOL_PICKUP_START. Needs to be after any RESTORE_GCODE_STATE! 211 | SET_GCODE_OFFSET X={myself.offset[0]|float + ktc.global_offset[0]|float } Y={myself.offset[1]|float + ktc.global_offset[1]|float } Z={myself.offset[2]|float + ktc.global_offset[2]|float } MOVE=0 212 | 213 | ############## Return to saved position ############## 214 | G1 F40000 215 | RESTORE_POSITION 216 | 217 | SAVE_GCODE_STATE NAME=TOOL_PICKUP2 # Save state for priming nozzle 218 | # RESPOND MSG="First if:{myself.extruder|default("none")|lower}" 219 | 220 | ############## Prime the filament, asume it was retracted as per e3d Revo documentation ############## 221 | {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: 222 | # RESPOND MSG="First if1:{myself.extruder|default("none")|lower}" 223 | # RESPOND MSG="Second if:{printer[myself.extruder].can_extrude|default("false")|lower}" 224 | # RESPOND MSG="Second if1:{printer.toollock.purge_on_toolchange}" 225 | # If can extrude and global purge is active: 226 | {% if printer[myself.extruder].can_extrude|default("false")|lower == 'true' and printer.toollock.purge_on_toolchange %} 227 | # RESPOND MSG="Second if2:{printer[myself.extruder].can_extrude|default("false")|lower}" 228 | # RESPOND MSG="Second if3:{printer.toollock.purge_on_toolchange}" 229 | M83 # Relative extrusion 230 | G1 E{myself.meltzonelength|float - 2} F1300 # DeRetract filament from meltzone 231 | G1 E2 F400 # DeRetract filament from meltzone 232 | {% endif %} 233 | {% endif %} 234 | RESTORE_GCODE_STATE NAME=TOOL_PICKUP2 # Restore state after priming nozzle 235 | G1 F30000 236 | RESTORE_ACCELERATION # Restore saved acceleration value. 237 | 238 | 239 | 240 | [gcode_macro SUB_TOOL_DROPOFF_START] 241 | description: Internal subroutine. Do not use! 242 | # Tnnn: Tool to pickup 243 | gcode: 244 | {%set myself = printer['tool '~params.T]%} 245 | 246 | SAVE_ACCELERATION # Save current acceleration value. 247 | M204 S8000 # Set high acceleration for toolchanging 248 | 249 | {% if myself.name|int != printer.toollock.tool_current|int %} 250 | { action_raise_error("SUB_TOOL_DROPOFF_START: Wrong tool. Asked to dropoff T" ~ myself.name ~ " while current is T" ~ printer.toollock.tool_current ~ ".") } 251 | {% endif %} 252 | 253 | ############## Retract the filament as per e3d Revo documentation ############## 254 | {% if myself.extruder|default("none")|lower !="none" %} # If the tool has an extruder: 255 | M568 P{myself.name} A1 # Put tool heater in standby 256 | 257 | {% if printer[myself.extruder].can_extrude|default("false")|lower == 'true' and printer.toollock.purge_on_toolchange %} 258 | M83 # Relative extrusion 259 | G1 E-4 F2700 # retract filament from meltzone 260 | G1 E2 F800 # Extrude slightly to form a tip 261 | G1 E-{myself.meltzonelength|float - 2} F800 # Retract filament from meltzone 262 | {% endif %} 263 | {% endif %} 264 | 265 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 266 | SAVE_GCODE_STATE NAME=TOOL_DROPOFF_002 # Save GCode state. 267 | G90 # Absolute positions 268 | 269 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X max as EmergencyStop. 270 | 271 | # Fast Move to the general pickup position for tools. 272 | {% if printer.toolhead.position.x|float < 500 %} 273 | G0 X500 Y{myself.zone[1]} F40000 # Move near pickup and lift z so we don't crash the bed later. 274 | {% else %} 275 | G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. 276 | G0 Y{myself.zone[1]} F40000 # Move Y after X and Z 277 | {% endif %} 278 | M400 # Wait for current moves to finish 279 | 280 | G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. 281 | G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool. 282 | 283 | 284 | [gcode_macro SUB_TOOL_DROPOFF_END] 285 | description: Internal subroutine. Do not use! 286 | # Tnnn: Tool to pickup 287 | gcode: 288 | {%set myself = printer['tool '~params.T]%} 289 | 290 | M400 # Wait for current moves to finish 291 | TOOL_UNLOCK # Unlock the tool 292 | 293 | G0 X{myself.park[0]|float - 15} F6000 # Slow Move to the pickup position for tool. 294 | G0 X500 F40000 # Fast Move to the general pickup position for tools. 295 | M400 296 | 297 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. 298 | RESTORE_GCODE_STATE NAME=TOOL_DROPOFF_002 MOVE=0 # Restore Gcode state 299 | RESTORE_ACCELERATION # Restore saved acceleration value. 300 | 301 | [gcode_macro SUB_VIRTUALTOOL_LOAD] 302 | description: Internal subroutine. Do not use! 303 | # Tnnn: Tool to load 304 | gcode: 305 | {%set myself = printer['tool '~params.T]%} 306 | 307 | SET_TOOL_TEMPERATURE TOOL={myself.name} CHNG_STATE=2 # Put tool heater in Active mode 308 | 309 | SAVE_ACCELERATION # Save current acceleration value. 310 | M204 S8000 # Set high acceleration for toolchanging 311 | 312 | SAVE_GCODE_STATE NAME=VIRTUALTOOL_LOAD # Save GCODE state. Will be restored at the end of SUB_TOOL_PICKUP_END 313 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X-max endstop as EmergencyStop. 314 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 315 | G90 # Absolute positions 316 | 317 | ############## Move in to zone ############## 318 | {% if printer.toolhead.position.x < 500 %} # If Printer inside safezone: 319 | G0 X500 Y{myself.zone[1]} F40000 # Fast move XY inside the safezone. 320 | {% else %} # Else, outside of safezone: 321 | G0 X500 F40000 # Fast move X inside the safezone, so we don't crash into other tools. 322 | G0 Y{myself.zone[1]} F40000 # Fast move Y in front of parking spot. 323 | {% endif %} # / 324 | G0 X{myself.zone[0]} F40000 # Fast Move to the zone position for tool. 325 | 326 | ############## Wait for heater ############## 327 | TEMPERATURE_WAIT_WITH_TOLERANCE TOOL={myself.name} # Wait for tool to reach target temperature. 328 | 329 | ############## Load ERCF Tool ############## 330 | M400 # Wait for all moves to finish. 331 | G4 P5000 # Wait 5s so any fiament inside the hotend will get molten before tip forming. 332 | ERCF_CHANGE_TOOL TOOL={myself.name} STANDALONE=1 # Load the ERCF tool. 333 | 334 | ############## Clear the filament by purging ############## 335 | M83 # Relative extrusion 336 | G1 E50 F300 # Purge filament for new. 337 | G1 E25 F300 # Purge filament for new. 338 | G1 E-1 F2400 # Equalize pressure. 339 | 340 | ############## Wipe the nozzle ############## 341 | SUB_TOOL_WIPE T={myself.name} # Wipe the tool at the toolpost. 342 | G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. 343 | 344 | ############## Move in to parking spot ############## 345 | G0 X{myself.park[0]} F3000 # Slow Move to the pickup position for tool. 346 | 347 | ############## Move out to zone ############## 348 | G0 X{myself.zone[0]} F6000 # Slow Move to the zone position for tool. 349 | 350 | ############## Move out to Safe position ############## 351 | G0 X500 F40000 # Fast Move to the safe position for tools. 352 | 353 | ############## Finnish up ############## 354 | M400 # Wait for current moves to finish. 355 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. 356 | RESTORE_GCODE_STATE NAME=VIRTUALTOOL_LOAD MOVE=0 # Restore GCODE state. Was saved at the begining of SUB_VIRTUALTOOL_LOAD_START. No move. 357 | 358 | ############## Return to saved position ############## 359 | G1 F40000 360 | RESTORE_POSITION # This checks if the position is to be restored or not. 361 | RESTORE_ACCELERATION # Restore saved acceleration value. 362 | 363 | [gcode_macro SUB_VIRTUALTOOL_UNLOAD] 364 | description: Internal subroutine. Do not use! 365 | # Tnnn: Tool to unload 366 | gcode: 367 | {%set myself = printer['tool '~params.T]%} 368 | 369 | SAVE_ACCELERATION # Save current acceleration value. 370 | M204 S8000 # Set high acceleration for toolchanging 371 | 372 | SAVE_GCODE_STATE NAME=VIRTUALTOOL_UNLOAD # Save GCode state. 373 | SET_GCODE_OFFSET X=0 Y=0 # Set XY offset to 0 so we park the tool right. 374 | G90 # Absolute positions 375 | 376 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=0 # Don't use the X max as EmergencyStop. 377 | 378 | ############## Move in to zone ############## 379 | {% if printer.toolhead.position.x|int < 500 %} 380 | G0 X500 Y{myself.zone[1]} F40000 # Move near pickup and lift z so we don't crash the bed later. 381 | {% else %} 382 | G0 X500 F40000 # Move X and lift z so we don't crash the bed or into other tools. 383 | G0 Y{myself.zone[1]} F40000 # Move Y after X and Z 384 | {% endif %} 385 | M400 # Wait for current moves to finish 386 | 387 | G0 X{myself.zone[0]} F40000 # Fast Move near the dropoff position for tool. 388 | 389 | ############## Wait for heater ############## 390 | M116 P{myself.name} # Wait for tool to reach target temperature. 391 | 392 | ############## Ejecting filament from ERCF ############## 393 | G4 P5000 # Wait 5s so any fiament inside the hotend will get molten before tip forming. 394 | ERCF_EJECT 395 | 396 | ############## Wipe the nozzle ############## 397 | SUB_TOOL_WIPE T={myself.name} # Wipe the tool at the toolpost. 398 | 399 | ############## Move in to parking spot ############## 400 | G0 X{myself.park[0]} F3000 # Slow Move to the dropoff position for tool to remove any excess filament on tool. 401 | 402 | M400 # Wait for current moves to finish 403 | 404 | G0 X{myself.park[0]|int - 15} F6000 # Slow Move to the pickup position for tool. 405 | G0 X500 F40000 # Fast Move to the general pickup position for tools. 406 | M400 407 | 408 | SET_GCODE_VARIABLE MACRO=HOMING_STATUS VARIABLE=maxx VALUE=1 # Use the X max as EmergencyStop. 409 | RESTORE_GCODE_STATE NAME=VIRTUALTOOL_UNLOAD MOVE=0 # Restore Gcode state 410 | RESTORE_ACCELERATION # Restore saved acceleration value. 411 | 412 | [gcode_macro SUB_TOOL_WIPE] 413 | description: Internal subroutine. Do not use! 414 | # Tnnn: Tool 415 | gcode: 416 | {%set myself = printer['tool '~params.T]%} 417 | ############## Wipe the nozzle ############## 418 | G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. 419 | G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. 420 | G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. 421 | G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. 422 | G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. 423 | G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. 424 | G0 X{myself.park[0]|int - 10} F3000 # Fast Move near the pickup position for tool. 425 | G0 X{myself.zone[0]} F3000 # Fast Move to the zone position for tool. 426 | SET_GCODE_OFFSET Z=0 # Set Z offset to 0 after too is parked. 427 | -------------------------------------------------------------------------------- /toollock.py: -------------------------------------------------------------------------------- 1 | # KTCC - Klipper Tool Changer Code 2 | # Toollock and general Tool support 3 | # 4 | # Copyright (C) 2023 Andrei Ignat 5 | # 6 | # This file may be distributed under the terms of the GNU GPLv3 license. 7 | # 8 | 9 | # To try to keep terms apart: 10 | # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. 11 | # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. 12 | # Pickup: Tool is physically picked up and attached to the toolchanger head. 13 | # Droppoff: Tool is physically parked and dropped of the toolchanger head. 14 | # ToolLock: Toollock is engaged. 15 | # ToolUnLock: Toollock is disengaged. 16 | 17 | class ToolLock: 18 | TOOL_UNKNOWN = -2 19 | TOOL_UNLOCKED = -1 20 | BOOT_DELAY = 1.5 # Delay before running bootup tasks 21 | VARS_KTCC_TOOL_MAP = "ktcc_state_tool_remap" 22 | 23 | def __init__(self, config): 24 | self.printer = config.get_printer() 25 | self.reactor = self.printer.get_reactor() 26 | self.gcode = self.printer.lookup_object('gcode') 27 | gcode_macro = self.printer.load_object(config, 'gcode_macro') 28 | 29 | self.global_offset = config.get('global_offset', "0,0,0") 30 | if isinstance(self.global_offset, str): 31 | offset_list = self.global_offset.split(',') 32 | if len(offset_list) == 3 and all(x.replace('.', '').isdigit() for x in offset_list): 33 | self.global_offset = [float(x) for x in offset_list] 34 | else: 35 | raise ValueError("global_offset is not a string containing 3 float numbers separated by ,") 36 | else: 37 | raise TypeError("global_offset is not a string") 38 | 39 | self.saved_fan_speed = 0 # Saved partcooling fan speed when deselecting a tool with a fan. 40 | self.tool_current = "-2" # -2 Unknown tool locked, -1 No tool locked, 0 and up are tools. 41 | self.init_printer_to_last_tool = config.getboolean( 42 | 'init_printer_to_last_tool', True) 43 | self.purge_on_toolchange = config.getboolean( 44 | 'purge_on_toolchange', True) 45 | self.saved_position = None 46 | self.restore_axis_on_toolchange = '' # string of axis to restore: XYZ 47 | self.log = self.printer.load_object(config, 'ktcclog') 48 | 49 | self.tool_map = {} 50 | self.last_endstop_query = {} 51 | self.changes_made_by_set_all_tool_heaters_off={} 52 | 53 | # G-Code macros 54 | self.tool_lock_gcode_template = gcode_macro.load_template(config, 'tool_lock_gcode', '') 55 | self.tool_unlock_gcode_template = gcode_macro.load_template(config, 'tool_unlock_gcode', '') 56 | 57 | # Register commands 58 | handlers = [ 59 | 'SAVE_CURRENT_TOOL', 'TOOL_LOCK', 'TOOL_UNLOCK', 60 | 'KTCC_TOOL_DROPOFF_ALL', 'SET_AND_SAVE_FAN_SPEED', 'TEMPERATURE_WAIT_WITH_TOLERANCE', 61 | 'SET_TOOL_TEMPERATURE', 'SET_GLOBAL_OFFSET', 'SET_TOOL_OFFSET', 62 | 'SET_PURGE_ON_TOOLCHANGE', 'SAVE_POSITION', 'SAVE_CURRENT_POSITION', 63 | 'RESTORE_POSITION', 'KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL', 64 | 'KTCC_DISPLAY_TOOL_MAP', 'KTCC_REMAP_TOOL', 'KTCC_ENDSTOP_QUERY', 65 | 'KTCC_SET_ALL_TOOL_HEATERS_OFF', 'KTCC_RESUME_ALL_TOOL_HEATERS'] 66 | for cmd in handlers: 67 | func = getattr(self, 'cmd_' + cmd) 68 | desc = getattr(self, 'cmd_' + cmd + '_help', None) 69 | self.gcode.register_command(cmd, func, False, desc) 70 | 71 | self.printer.register_event_handler("klippy:ready", self.handle_ready) 72 | 73 | def handle_ready(self): 74 | # Load persistent Tool remaping. 75 | self.tool_map = self.printer.lookup_object('save_variables').allVariables.get(self.VARS_KTCC_TOOL_MAP, {}) 76 | waketime = self.reactor.monotonic() + self.BOOT_DELAY 77 | self.reactor.register_callback(self._bootup_tasks, waketime) 78 | 79 | def _bootup_tasks(self, eventtime): 80 | try: 81 | if len(self.tool_map) > 0: 82 | self.log.always(self._tool_map_to_human_string()) 83 | self.Initialize_Tool_Lock() 84 | except Exception as e: 85 | self.log.always('Warning: Error booting up KTCC: %s' % str(e)) 86 | 87 | def Initialize_Tool_Lock(self): 88 | if not self.init_printer_to_last_tool: 89 | return None 90 | 91 | # self.log.always("Initialize_Tool_Lock running.") 92 | save_variables = self.printer.lookup_object('save_variables') 93 | try: 94 | self.tool_current = save_variables.allVariables["tool_current"] 95 | except: 96 | self.tool_current = "-1" 97 | save_variables.cmd_SAVE_VARIABLE(self.gcode.create_gcode_command( 98 | "SAVE_VARIABLE", "SAVE_VARIABLE", {"VARIABLE": "tool_current", 'VALUE': self.tool_current })) 99 | 100 | if str(self.tool_current) == "-1": 101 | self.cmd_TOOL_UNLOCK() 102 | self.log.always("ToolLock initialized unlocked") 103 | 104 | else: 105 | t = self.tool_current 106 | self.ToolLock(True) 107 | self.SaveCurrentTool(str(t)) 108 | self.log.always("ToolLock initialized with T%s." % self.tool_current) 109 | 110 | cmd_TOOL_LOCK_help = "Lock the ToolLock." 111 | def cmd_TOOL_LOCK(self, gcmd = None): 112 | self.ToolLock() 113 | 114 | def ToolLock(self, ignore_locked = False): 115 | self.log.trace("TOOL_LOCK running. ") 116 | if not ignore_locked and int(self.tool_current) != -1: 117 | self.log.always("TOOL_LOCK is already locked with tool " + self.tool_current + ".") 118 | else: 119 | self.tool_lock_gcode_template.run_gcode_from_command() 120 | self.SaveCurrentTool("-2") 121 | self.log.trace("Tool Locked") 122 | self.log.increase_statistics('total_toollocks') 123 | 124 | 125 | cmd_KTCC_TOOL_DROPOFF_ALL_help = "Deselect all tools" 126 | def cmd_KTCC_TOOL_DROPOFF_ALL(self, gcmd = None): 127 | self.log.trace("KTCC_TOOL_DROPOFF_ALL running. ")# + gcmd.get_raw_command_parameters()) 128 | if self.tool_current == "-2": 129 | raise self.printer.command_error("cmd_KTCC_TOOL_DROPOFF_ALL: Unknown tool already mounted Can't park unknown tool.") 130 | if self.tool_current != "-1": 131 | self.printer.lookup_object('tool ' + str(self.tool_current)).Dropoff( force_virtual_unload = True ) 132 | 133 | 134 | try: 135 | # Need to check all tools at least once but reload them after each time. 136 | all_checked_once = False 137 | while not all_checked_once: 138 | all_tools = dict(self.printer.lookup_objects('tool')) 139 | all_checked_once =True # If no breaks in next For loop then we can exit the While loop. 140 | for tool_name, tool in all_tools.items(): 141 | # If there is a virtual tool loaded: 142 | if tool.get_status()["virtual_loaded"] > self.TOOL_UNLOCKED: 143 | # Pickup and then unload and drop the tool. 144 | self.log.trace("cmd_KTCC_TOOL_DROPOFF_ALL: Picking up and dropping forced: %s." % str(tool.get_status()["virtual_loaded"])) 145 | self.printer.lookup_object("tool " + str(tool.get_status()["virtual_loaded"])).select_tool_actual() 146 | self.printer.lookup_object("tool " + str(tool.get_status()["virtual_loaded"])).Dropoff( force_virtual_unload = True ) 147 | all_checked_once =False # Do not exit while loop. 148 | break # Break for loop to start again. 149 | 150 | except Exception as e: 151 | raise Exception('cmd_KTCC_TOOL_DROPOFF_ALL: Error: %s' % str(e)) 152 | 153 | cmd_TOOL_UNLOCK_help = "Unlock the ToolLock." 154 | def cmd_TOOL_UNLOCK(self, gcmd = None): 155 | self.log.trace("TOOL_UNLOCK running. ") 156 | self.tool_unlock_gcode_template.run_gcode_from_command() 157 | self.SaveCurrentTool(-1) 158 | self.log.trace("ToolLock Unlocked.") 159 | self.log.increase_statistics('total_toolunlocks') 160 | 161 | 162 | def PrinterIsHomedForToolchange(self, lazy_home_when_parking =0): 163 | curtime = self.printer.get_reactor().monotonic() 164 | toolhead = self.printer.lookup_object('toolhead') 165 | homed = toolhead.get_status(curtime)['homed_axes'].lower() 166 | if all(axis in homed for axis in ['x','y','z']): 167 | return True 168 | elif lazy_home_when_parking == 0 and not all(axis in homed for axis in ['x','y','z']): 169 | return False 170 | elif lazy_home_when_parking == 1 and 'z' not in homed: 171 | return False 172 | 173 | axes_to_home = "" 174 | for axis in ['x', 'y', 'z']: 175 | if axis not in homed: 176 | axes_to_home += axis 177 | self.gcode.run_script_from_command("G28 " + axes_to_home.upper()) 178 | return True 179 | 180 | def SaveCurrentTool(self, t): 181 | self.tool_current = str(t) 182 | save_variables = self.printer.lookup_object('save_variables') 183 | save_variables.cmd_SAVE_VARIABLE(self.gcode.create_gcode_command( 184 | "SAVE_VARIABLE", "SAVE_VARIABLE", {"VARIABLE": "tool_current", 'VALUE': t})) 185 | 186 | cmd_SAVE_CURRENT_TOOL_help = "Save the current tool to file to load at printer startup." 187 | def cmd_SAVE_CURRENT_TOOL(self, gcmd): 188 | t = gcmd.get_int('T', None, minval=-2) 189 | if t is not None: 190 | self.SaveCurrentTool(t) 191 | 192 | cmd_SET_AND_SAVE_FAN_SPEED_help = "Save the fan speed to be recovered at ToolChange." 193 | def cmd_SET_AND_SAVE_FAN_SPEED(self, gcmd): 194 | fanspeed = gcmd.get_float('S', 1, minval=0, maxval=255) 195 | tool_id = gcmd.get_int('P', int(self.tool_current), minval=0) 196 | 197 | # The minval above doesn't seem to work. 198 | if tool_id < 0: 199 | self.log.always("cmd_SET_AND_SAVE_FAN_SPEED: Invalid tool:"+str(tool_id)) 200 | return None 201 | 202 | # self.log.trace("ToolLock.cmd_SET_AND_SAVE_FAN_SPEED: Change fan speed for T%s to %f." % (str(tool_id), fanspeed)) 203 | 204 | # If value is >1 asume it is given in 0-255 and convert to percentage. 205 | if fanspeed > 1: 206 | fanspeed=float(fanspeed / 255.0) 207 | 208 | self.SetAndSaveFanSpeed(tool_id, fanspeed) 209 | 210 | # 211 | # Todo: 212 | # Implement Fan Scale. Inspired by https://github.com/jschuh/klipper-macros/blob/main/fans.cfg 213 | # Can change fan scale for diffrent materials or tools from slicer. Maybe max and min too? 214 | # 215 | def SetAndSaveFanSpeed(self, tool_id, fanspeed): 216 | # Check if the requested tool has been remaped to another one. 217 | tool_is_remaped = self.tool_is_remaped(int(tool_id)) 218 | if tool_is_remaped > -1: 219 | tool_id = tool_is_remaped 220 | 221 | 222 | tool = self.printer.lookup_object("tool " + str(tool_id)) 223 | 224 | if tool.fan is None: 225 | self.log.debug("ToolLock.SetAndSaveFanSpeed: Tool %s has no fan." % str(tool_id)) 226 | else: 227 | self.SaveFanSpeed(fanspeed) 228 | self.gcode.run_script_from_command( 229 | "SET_FAN_SPEED FAN=%s SPEED=%f" % 230 | (tool.fan, 231 | fanspeed)) 232 | 233 | cmd_TEMPERATURE_WAIT_WITH_TOLERANCE_help = "Waits for current tool temperature, or a specified (TOOL) tool or (HEATER) heater's temperature within (TOLERANCE) tolerance." 234 | # Waits for all temperatures, or a specified tool or heater's temperature. 235 | # This command can be used without any additional parameters. 236 | # Without parameters it waits for bed and current extruder. 237 | # Only one of either P or H may be used. 238 | # 239 | # TOOL=nnn Tool number. 240 | # HEATER=nnn Heater number. 0="heater_bed", 1="extruder", 2="extruder1", etc. 241 | # TOLERANCE=nnn Tolerance in degC. Defaults to 1*C. Wait will wait until heater is between set temperature +/- tolerance. 242 | def cmd_TEMPERATURE_WAIT_WITH_TOLERANCE(self, gcmd): 243 | curtime = self.printer.get_reactor().monotonic() 244 | heater_name = None 245 | tool_id = gcmd.get_int('TOOL', None, minval=0) 246 | heater_id = gcmd.get_int('HEATER', None, minval=0) 247 | tolerance = gcmd.get_int('TOLERANCE', 1, minval=0, maxval=50) 248 | 249 | if tool_id is not None and heater_id is not None: 250 | self.log.always("cmd_TEMPERATURE_WAIT_WITH_TOLERANCE: Can't use both P and H parameter at the same time.") 251 | return None 252 | elif tool_id is None and heater_id is None: 253 | tool_id = self.tool_current 254 | if int(self.tool_current) >= 0: 255 | heater_name = self.printer.lookup_object("tool " + self.tool_current).get_status()["extruder"] 256 | #wait for bed 257 | self._Temperature_wait_with_tolerance(curtime, "heater_bed", tolerance) 258 | 259 | else: # Only heater or tool is specified 260 | if tool_id is not None: 261 | # Check if the requested tool has been remaped to another one. 262 | tool_is_remaped = self.tool_is_remaped(int(tool_id)) 263 | if tool_is_remaped > -1: 264 | tool_id = tool_is_remaped 265 | 266 | heater_name = self.printer.lookup_object( # Set the heater_name to the extruder of the tool. 267 | "tool " + str(tool_id)).get_status(curtime)["extruder"] 268 | elif heater_id == 0: # Else If 0, then heater_bed. 269 | heater_name = "heater_bed" # Set heater_name to "heater_bed". 270 | 271 | elif heater_id == 1: # Else If h is 1 then use for first extruder. 272 | heater_name = "extruder" # Set heater_name to first extruder which has no number. 273 | else: # Else is another heater number. 274 | heater_name = "extruder" + str(heater_id - 1) # Because bed is heater_number 0 extruders will be numbered one less than H parameter. 275 | if heater_name is not None: 276 | self._Temperature_wait_with_tolerance(curtime, heater_name, tolerance) 277 | 278 | 279 | def _Temperature_wait_with_tolerance(self, curtime, heater_name, tolerance): 280 | target_temp = int(self.printer.lookup_object( # Get the heaters target temperature. 281 | heater_name).get_status(curtime)["target"] 282 | ) 283 | 284 | if target_temp > 40: # Only wait if set temperature is over 40*C 285 | self.log.always("Wait for heater " + heater_name + " to reach " + str(target_temp) + " with a tolerance of " + str(tolerance) + ".") 286 | self.gcode.run_script_from_command( 287 | "TEMPERATURE_WAIT SENSOR=" + heater_name + 288 | " MINIMUM=" + str(target_temp - tolerance) + 289 | " MAXIMUM=" + str(target_temp + tolerance) ) 290 | self.log.always("Wait for heater " + heater_name + " complete.") 291 | 292 | def _get_tool_id_from_gcmd(self, gcmd): 293 | tool_id = gcmd.get_int('TOOL', None, minval=0) 294 | 295 | if tool_id is None: 296 | tool_id = self.tool_current 297 | if not int(tool_id) > self.TOOL_UNLOCKED: 298 | self.log.always("_get_tool_id_from_gcmd: Tool " + str(tool_id) + " is not valid.") 299 | return None 300 | else: 301 | # Check if the requested tool has been remaped to another one. 302 | tool_is_remaped = self.tool_is_remaped(int(tool_id)) 303 | if tool_is_remaped > self.TOOL_UNLOCKED: 304 | tool_id = tool_is_remaped 305 | return tool_id 306 | 307 | 308 | cmd_SET_TOOL_TEMPERATURE_help = "Waits for all temperatures, or a specified (TOOL) tool or (HEATER) heater's temperature within (TOLERANCE) tolerance." 309 | # Set tool temperature. 310 | # TOOL= Tool number, optional. If this parameter is not provided, the current tool is used. 311 | # STDB_TMP= Standby temperature(s), optional 312 | # ACTV_TMP= Active temperature(s), optional 313 | # CHNG_STATE = Change Heater State, optional: 0 = off, 1 = standby temperature(s), 2 = active temperature(s). 314 | # STDB_TIMEOUT = Time in seconds to wait between changing heater state to standby and setting heater target temperature to standby temperature when standby temperature is lower than tool temperature. 315 | # Use for example 0.1 to change immediately to standby temperature. 316 | # SHTDWN_TIMEOUT = Time in seconds to wait from docking tool to shutting off the heater, optional. 317 | # Use for example 86400 to wait 24h if you want to disable shutdown timer. 318 | def cmd_SET_TOOL_TEMPERATURE(self, gcmd): 319 | tool_id = self._get_tool_id_from_gcmd(gcmd) 320 | if tool_id is None: return 321 | 322 | stdb_tmp = gcmd.get_float('STDB_TMP', None, minval=0) 323 | actv_tmp = gcmd.get_float('ACTV_TMP', None, minval=0) 324 | chng_state = gcmd.get_int('CHNG_STATE', None, minval=0, maxval=2) 325 | stdb_timeout = gcmd.get_float('STDB_TIMEOUT', None, minval=0) 326 | shtdwn_timeout = gcmd.get_float('SHTDWN_TIMEOUT', None, minval=0) 327 | 328 | 329 | if self.printer.lookup_object("tool " + str(tool_id)).get_status()["extruder"] is None: 330 | self.log.trace("cmd_SET_TOOL_TEMPERATURE: T%s has no extruder! Nothing to do." % str(tool_id)) 331 | return None 332 | 333 | tool = self.printer.lookup_object("tool " + str(tool_id)) 334 | set_heater_cmd = {} 335 | 336 | if stdb_tmp is not None: 337 | set_heater_cmd["heater_standby_temp"] = int(stdb_tmp) 338 | if actv_tmp is not None: 339 | set_heater_cmd["heater_active_temp"] = int(actv_tmp) 340 | if stdb_timeout is not None: 341 | set_heater_cmd["idle_to_standby_time"] = stdb_timeout 342 | if shtdwn_timeout is not None: 343 | set_heater_cmd["idle_to_powerdown_time"] = shtdwn_timeout 344 | if chng_state is not None: 345 | set_heater_cmd["heater_state"] = chng_state 346 | # tool.set_heater(heater_state= chng_state) 347 | if len(set_heater_cmd) > 0: 348 | tool.set_heater(**set_heater_cmd) 349 | else: 350 | # Print out the current set of temperature settings for the tool if no changes are provided. 351 | msg = "T%s Current Temperature Settings" % str(tool_id) 352 | msg += "\n Active temperature %s - %d*C - Active to Standby timer: %d seconds" % ( "*" if tool.heater_state == 2 else " ", tool.heater_active_temp, tool.idle_to_standby_time) 353 | msg += "\n Standby temperature %s - %d*C - Standby to Off timer: %d seconds" % ( "*" if tool.heater_state == 1 else " ", tool.heater_standby_temp, tool.idle_to_powerdown_time) 354 | if tool.heater_state != 3: 355 | if tool.timer_idle_to_standby.get_status()["next_wake"] == True: 356 | msg += "\n Will go to standby temperature in in %s seconds." % tool.timer_idle_to_standby.get_status()["next_wake"] 357 | if tool.timer_idle_to_powerdown.get_status()["counting_down"] == True: 358 | msg += "\n Will power down in %s seconds." % tool.timer_idle_to_powerdown.get_status()["next_wake"] 359 | gcmd.respond_info(msg) 360 | 361 | cmd_KTCC_SET_ALL_TOOL_HEATERS_OFF_help = "Turns off all heaters and saves changes made to be resumed by KTCC_RESUME_ALL_TOOL_HEATERS." 362 | def cmd_KTCC_SET_ALL_TOOL_HEATERS_OFF(self, gcmd): 363 | self.set_all_tool_heaters_off() 364 | 365 | def set_all_tool_heaters_off(self): 366 | all_tools = dict(self.printer.lookup_objects('tool')) 367 | self.changes_made_by_set_all_tool_heaters_off = {} 368 | 369 | try: 370 | for tool_name, tool in all_tools.items(): 371 | if tool.get_status()["extruder"] is None: 372 | # self.log.trace("set_all_tool_heaters_off: T%s has no extruder! Nothing to do." % str(tool_name)) 373 | continue 374 | if tool.get_status()["heater_state"] == 0: 375 | # self.log.trace("set_all_tool_heaters_off: T%s already off! Nothing to do." % str(tool_name)) 376 | continue 377 | self.log.trace("set_all_tool_heaters_off: T%s saved with heater_state: %str." % ( str(tool_name), str(tool.get_status()["heater_state"]))) 378 | self.changes_made_by_set_all_tool_heaters_off[tool_name] = tool.get_status()["heater_state"] 379 | tool.set_heater(heater_state = 0) 380 | except Exception as e: 381 | raise Exception('set_all_tool_heaters_off: Error: %s' % str(e)) 382 | 383 | cmd_KTCC_RESUME_ALL_TOOL_HEATERS_help = "Resumes all heaters previously turned off by KTCC_SET_ALL_TOOL_HEATERS_OFF." 384 | def cmd_KTCC_RESUME_ALL_TOOL_HEATERS(self, gcmd): 385 | self.resume_all_tool_heaters() 386 | 387 | def resume_all_tool_heaters(self): 388 | try: 389 | # Loop it 2 times, first for all heaters standby and then the active. 390 | 391 | for tool_name, v in self.changes_made_by_set_all_tool_heaters_off.items(): 392 | if v == 1: 393 | self.printer.lookup_object(str(tool_name)).set_heater(heater_state = v) 394 | 395 | for tool_name, v in self.changes_made_by_set_all_tool_heaters_off.items(): 396 | if v == 2: 397 | self.printer.lookup_object(str(tool_name)).set_heater(heater_state = v) 398 | 399 | except Exception as e: 400 | raise Exception('set_all_tool_heaters_off: Error: %s' % str(e)) 401 | 402 | 403 | cmd_SET_TOOL_OFFSET_help = "Set an individual tool offset" 404 | def cmd_SET_TOOL_OFFSET(self, gcmd): 405 | tool_id = self._get_tool_id_from_gcmd(gcmd) 406 | if tool_id is None: return 407 | 408 | x_pos = gcmd.get_float('X', None) 409 | x_adjust = gcmd.get_float('X_ADJUST', None) 410 | y_pos = gcmd.get_float('Y', None) 411 | y_adjust = gcmd.get_float('Y_ADJUST', None) 412 | z_pos = gcmd.get_float('Z', None) 413 | z_adjust = gcmd.get_float('Z_ADJUST', None) 414 | 415 | tool = self.printer.lookup_object("tool " + str(tool_id)) 416 | set_offset_cmd = {} 417 | 418 | if x_pos is not None: 419 | set_offset_cmd["x_pos"] = x_pos 420 | elif x_adjust is not None: 421 | set_offset_cmd["x_adjust"] = x_adjust 422 | if y_pos is not None: 423 | set_offset_cmd["y_pos"] = y_pos 424 | elif y_adjust is not None: 425 | set_offset_cmd["y_adjust"] = y_adjust 426 | if z_pos is not None: 427 | set_offset_cmd["z_pos"] = z_pos 428 | elif z_adjust is not None: 429 | set_offset_cmd["z_adjust"] = z_adjust 430 | if len(set_offset_cmd) > 0: 431 | tool.set_offset(**set_offset_cmd) 432 | 433 | cmd_SET_GLOBAL_OFFSET_help = "Set the global tool offset" 434 | def cmd_SET_GLOBAL_OFFSET(self, gcmd): 435 | x_pos = gcmd.get_float('X', None) 436 | x_adjust = gcmd.get_float('X_ADJUST', None) 437 | y_pos = gcmd.get_float('Y', None) 438 | y_adjust = gcmd.get_float('Y_ADJUST', None) 439 | z_pos = gcmd.get_float('Z', None) 440 | z_adjust = gcmd.get_float('Z_ADJUST', None) 441 | 442 | if x_pos is not None: 443 | self.global_offset[0] = float(x_pos) 444 | elif x_adjust is not None: 445 | self.global_offset[0] = float(self.global_offset[0]) + float(x_adjust) 446 | if y_pos is not None: 447 | self.global_offset[1] = float(y_pos) 448 | elif y_adjust is not None: 449 | self.global_offset[1] = float(self.global_offset[1]) + float(y_adjust) 450 | if z_pos is not None: 451 | self.global_offset[2] = float(z_pos) 452 | elif z_adjust is not None: 453 | self.global_offset[2] = float(self.global_offset[2]) + float(z_adjust) 454 | 455 | self.log.trace("Global offset now set to: %f, %f, %f." % (float(self.global_offset[0]), float(self.global_offset[1]), float(self.global_offset[2]))) 456 | 457 | cmd_SET_PURGE_ON_TOOLCHANGE_help = "Set the global variable if the tool should be purged or primed with filament at toolchange." 458 | def cmd_SET_PURGE_ON_TOOLCHANGE(self, gcmd = None): 459 | param = gcmd.get('VALUE', 'FALSE') 460 | 461 | if param.upper() == 'FALSE' or param == '0': 462 | self.purge_on_toolchange = False 463 | else: 464 | self.purge_on_toolchange = True 465 | 466 | def SaveFanSpeed(self, fanspeed): 467 | self.saved_fan_speed = float(fanspeed) 468 | 469 | cmd_SAVE_POSITION_help = "Save the specified G-Code position." 470 | # Sets the Restore type and saves specified position. 471 | # With no parameters it will set Restore type to 0, no restore. 472 | # Othervise will restore what is saved. 473 | def cmd_SAVE_POSITION(self, gcmd): 474 | param_X = gcmd.get_float('X', None) 475 | param_Y = gcmd.get_float('Y', None) 476 | param_Z = gcmd.get_float('Z', None) 477 | self.SavePosition(param_X, param_Y, param_Z) 478 | 479 | def SavePosition(self, param_X = None, param_Y = None, param_Z = None): 480 | self.saved_position = [param_X, param_Y, param_Z] 481 | restore_axis = '' 482 | if param_X is not None: 483 | restore_axis += 'X' 484 | if param_Y is not None: 485 | restore_axis += 'Y' 486 | if param_Z is not None: 487 | restore_axis += 'Z' 488 | self.restore_axis_on_toolchange = restore_axis 489 | 490 | cmd_SAVE_CURRENT_POSITION_help = "Save the current G-Code position." 491 | # Saves current position. 492 | # RESTORE_POSITION_TYPE= Type of restore, optional. If not specified, restore_axis_on_toolchange will not be changed. 493 | # 0: No restore 494 | # 1: Restore XY 495 | # 2: Restore XYZ 496 | # XYZ: Restore specified axis 497 | 498 | def cmd_SAVE_CURRENT_POSITION(self, gcmd): 499 | # Save optional RESTORE_POSITION_TYPE parameter to restore_axis_on_toolchange variable. 500 | restore_axis = parse_restore_type(gcmd, 'RESTORE_POSITION_TYPE') 501 | self.SaveCurrentPosition(restore_axis) 502 | 503 | def SaveCurrentPosition(self, restore_axis = None): 504 | if restore_axis is not None: 505 | self.restore_axis_on_toolchange = restore_axis 506 | gcode_move = self.printer.lookup_object('gcode_move') 507 | self.saved_position = gcode_move._get_gcode_position() 508 | 509 | cmd_RESTORE_POSITION_help = "Restore a previously saved G-Code position if it was specified in the toolchange T# command." 510 | # Restores the previously saved possition according to 511 | # With no parameters it will Restore to previousley saved type. 512 | # RESTORE_POSITION_TYPE= Type of restore, optional. If not specified, previousley saved restore_axis_on_toolchange will be used. 513 | # 0: No restore 514 | # 1: Restore XY 515 | # 2: Restore XYZ 516 | # XYZ: Restore specified axis 517 | def cmd_RESTORE_POSITION(self, gcmd): 518 | self.restore_axis_on_toolchange = parse_restore_type(gcmd, 'RESTORE_POSITION_TYPE', default=self.restore_axis_on_toolchange) 519 | self.log.trace("cmd_RESTORE_POSITION running: " + str(self.restore_axis_on_toolchange)) 520 | speed = gcmd.get_int('F', None) 521 | 522 | if not self.restore_axis_on_toolchange: 523 | return # No axis to restore 524 | if self.saved_position is None: 525 | raise gcmd.error("No previously saved g-code position.") 526 | 527 | try: 528 | p = self.saved_position 529 | cmd = 'G1' 530 | for t in self.restore_axis_on_toolchange: 531 | cmd += ' %s%.3f' % (t, p[XYZ_TO_INDEX[t]]) 532 | if speed: 533 | cmd += " F%i" % (speed,) 534 | # Restore position 535 | self.log.trace("cmd_RESTORE_POSITION running: " + cmd) 536 | self.gcode.run_script_from_command(cmd) 537 | except: 538 | raise gcmd.error("Could not restore position.") 539 | 540 | def get_status(self, eventtime= None): 541 | status = { 542 | "global_offset": self.global_offset, 543 | "tool_current": self.tool_current, 544 | "saved_fan_speed": self.saved_fan_speed, 545 | "purge_on_toolchange": self.purge_on_toolchange, 546 | "restore_axis_on_toolchange": self.restore_axis_on_toolchange, 547 | "saved_position": self.saved_position, 548 | "last_endstop_query": self.last_endstop_query 549 | } 550 | return status 551 | 552 | cmd_KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL_help = "Set G-Code offset to the one of current tool." 553 | # Sets the G-Code offset to the one of the current tool. 554 | # With no parameters it will not move the toolhead. 555 | # MOVE= If should move the toolhead, optional. If not specified, it will not move. 556 | # 0: No move 557 | # 1: Move 558 | def cmd_KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL(self, gcmd): 559 | current_tool_id = int(self.get_status()['tool_current']) # int(self.toollock.get_tool_current()) 560 | 561 | self.log.trace("Setting offsets to those of T" + str(current_tool_id) + ".") 562 | 563 | if current_tool_id <= self.TOOL_UNLOCKED: 564 | msg = "KTCC_SET_GCODE_OFFSET_FOR_CURRENT_TOOL: Unknown tool mounted. Can't set offsets." 565 | self.log.always(msg) 566 | # raise self.printer.command_error(msg) 567 | else: 568 | # If optional MOVE parameter is passed as 0 or 1 569 | param_Move = gcmd.get_int('MOVE', 0, minval=0, maxval=1) 570 | current_tool = self.printer.lookup_object('tool ' + str(current_tool_id)) 571 | self.log.trace("SET_GCODE_OFFSET X=%s Y=%s Z=%s MOVE=%s" % (str(current_tool.offset[0]), str(current_tool.offset[1]), str(current_tool.offset[2]), str(param_Move))) 572 | self.gcode.run_script_from_command("SET_GCODE_OFFSET X=%s Y=%s Z=%s MOVE=%s" % (str(current_tool.offset[0]), str(current_tool.offset[1]), str(current_tool.offset[2]), str(param_Move))) 573 | 574 | 575 | ########################################### 576 | # TOOL REMAPING # 577 | ########################################### 578 | 579 | def _set_tool_to_tool(self, from_tool, to_tool): 580 | #Check first if to_tool is a valid tool. 581 | tools = self.printer.lookup_objects('tool') 582 | if not [item for item in tools if item[0] == ("tool " + str(to_tool))]: 583 | self.log.always("Tool %s not a valid tool" % str(to_tool)) 584 | return False 585 | 586 | # Set the new tool. 587 | self.tool_map[from_tool] = to_tool 588 | self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE='%s'" % (self.VARS_KTCC_TOOL_MAP, self.tool_map)) 589 | 590 | def _tool_map_to_human_string(self): 591 | msg = "Number of tools remaped: " + str(len(self.tool_map)) 592 | 593 | for from_tool, to_tool in self.tool_map.items(): 594 | msg += "\nTool %s-> Tool %s" % ( str(from_tool), str(to_tool)) 595 | 596 | return msg 597 | 598 | def tool_is_remaped(self, tool_to_check): 599 | if tool_to_check in self.tool_map: 600 | return self.tool_map[tool_to_check] 601 | else: 602 | return -1 603 | 604 | def _remap_tool(self, tool, gate, available): 605 | self._set_tool_to_tool(tool, gate) 606 | # self._set_tool_status(gate, available) 607 | 608 | def _reset_tool_mapping(self): 609 | self.log.debug("Resetting Tool map") 610 | self.tool_map = {} 611 | self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE='%s'" % (self.VARS_KTCC_TOOL_MAP, self.tool_map)) 612 | 613 | ### GCODE COMMANDS FOR TOOL REMAP LOGIC ################################## 614 | 615 | cmd_KTCC_DISPLAY_TOOL_MAP_help = "Display the current mapping of tools to other KTCC tools." # Used with endless spool" in the future 616 | def cmd_KTCC_DISPLAY_TOOL_MAP(self, gcmd): 617 | summary = gcmd.get_int('SUMMARY', 0, minval=0, maxval=1) 618 | self.log.always(self._tool_map_to_human_string()) 619 | 620 | cmd_KTCC_REMAP_TOOL_help = "Remap a tool to another one." 621 | def cmd_KTCC_REMAP_TOOL(self, gcmd): 622 | reset = gcmd.get_int('RESET', 0, minval=0, maxval=1) 623 | if reset == 1: 624 | self._reset_tool_mapping() 625 | else: 626 | from_tool = gcmd.get_int('TOOL', -1, minval=0) 627 | to_tool = gcmd.get_int('SET', minval=0) 628 | available = 1 #gcmd.get_int('AVAILABLE', -1, minval=0, maxval=1) #For future endless spool mode. 629 | # if available == -1: 630 | # available = self.tool_status[to_tool] 631 | if from_tool != -1: 632 | self._remap_tool(from_tool, to_tool, available) 633 | # else: 634 | # self._set_tool_status(to_tool, available) 635 | self.log.info(self._tool_map_to_human_string()) 636 | 637 | ### GCODE COMMANDS FOR witing on endstop (Jubilee sytle toollock) ################################## 638 | 639 | cmd_KTCC_ENDSTOP_QUERY_help = "Wait for a ENDSTOP= untill it is TRIGGERED=0/[1] or ATEMPTS=#" 640 | def cmd_KTCC_ENDSTOP_QUERY(self, gcmd): 641 | endstop_name = gcmd.get('ENDSTOP') #'manual_stepper tool_lock' 642 | should_be_triggered = bool(gcmd.get_int('TRIGGERED', 1, minval=0, maxval=1)) 643 | atempts = gcmd.get_int('ATEMPTS', -1, minval=1) 644 | self.query_endstop(endstop_name, should_be_triggered, atempts) 645 | 646 | def query_endstop(self, endstop_name, should_be_triggered=True, atempts=-1): 647 | # Get endstops 648 | endstop = None 649 | query_endstops = self.printer.lookup_object('query_endstops') 650 | for es, name in query_endstops.endstops: 651 | if name == endstop_name: 652 | endstop = es 653 | break 654 | if endstop is None: 655 | raise Exception("Unknown endstop '%s'" % (endstop_name)) 656 | 657 | toolhead = self.printer.lookup_object("toolhead") 658 | eventtime = self.reactor.monotonic() 659 | 660 | dwell = 0.1 661 | if atempts == -1: 662 | dwell = 1.0 663 | 664 | i=0 665 | while not self.printer.is_shutdown(): 666 | i += 1 667 | last_move_time = toolhead.get_last_move_time() 668 | is_triggered = bool(endstop.query_endstop(last_move_time)) 669 | self.log.trace("Check #%d of %s endstop: %s" % (i, endstop_name, ("Triggered" if is_triggered else "Not Triggered"))) 670 | if is_triggered == should_be_triggered: 671 | break 672 | # If not running continuesly then check for atempts. 673 | if atempts > 0 and atempts <= i: 674 | break 675 | eventtime = self.reactor.pause(eventtime + dwell) 676 | # if i > 1 or atempts == 1: 677 | # self.log.debug("Endstop %s is %s Triggered after #%d checks." % (endstop_name, ("" if is_triggered else "Not"), i)) 678 | 679 | self.last_endstop_query[endstop_name] = is_triggered 680 | 681 | # parses legacy type into string of axis names. 682 | # Raises gcode error on fail 683 | def parse_restore_type(gcmd, arg_name, default = None): 684 | type = gcmd.get(arg_name, None) 685 | if type is None: 686 | return default 687 | elif type == '0': 688 | return '' 689 | elif type == '1': 690 | return 'XY' 691 | elif type == '2': 692 | return 'XYZ' 693 | # Validate this is XYZ 694 | for c in type: 695 | if c not in XYZ_TO_INDEX: 696 | raise gcmd.error("Invalid RESTORE_POSITION_TYPE") 697 | return type 698 | 699 | XYZ_TO_INDEX = {'x': 0, 'X':0, 'y':1, 'Y': 1, 'z': 2, 'Z':2} 700 | INDEX_TO_XYZ = ['X','Y','Z'] 701 | 702 | 703 | def load_config(config): 704 | return ToolLock(config) 705 | -------------------------------------------------------------------------------- /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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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 | -------------------------------------------------------------------------------- /ktcclog.py: -------------------------------------------------------------------------------- 1 | # KTCC - Klipper Tool Changer Code 2 | # Log and statistics module 3 | # 4 | # Copyright (C) 2023 Andrei Ignat 5 | # 6 | # Based on and inspired by ERCF-Software-V3 Copyright (C) 2021 moggieuk#6538 (discord) 7 | # 8 | # This file may be distributed under the terms of the GNU GPLv3 license. 9 | # 10 | 11 | # To try to keep terms apart: 12 | # Mount: Tool is selected and loaded for use, be it a physical or a virtual on physical. 13 | # Unmopunt: Tool is unselected and unloaded, be it a physical or a virtual on physical. 14 | # Pickup: Tool is physically picked up and attached to the toolchanger head. 15 | # Droppoff: Tool is physically parked and dropped of the toolchanger head. 16 | # ToolLock: Toollock is engaged. 17 | # ToolUnLock: Toollock is disengaged. 18 | 19 | import logging, logging.handlers, threading, queue, time 20 | import math, os.path, copy 21 | 22 | # Forward all messages through a queue (polled by background thread) 23 | class KtccQueueHandler(logging.Handler): 24 | def __init__(self, queue): 25 | logging.Handler.__init__(self) 26 | self.queue = queue 27 | 28 | def emit(self, record): 29 | try: 30 | self.format(record) 31 | record.msg = record.message 32 | record.args = None 33 | record.exc_info = None 34 | self.queue.put_nowait(record) 35 | except Exception: 36 | self.handleError(record) 37 | 38 | # Poll log queue on background thread and log each message to logfile 39 | class KtccQueueListener(logging.handlers.TimedRotatingFileHandler): 40 | def __init__(self, filename): 41 | logging.handlers.TimedRotatingFileHandler.__init__( 42 | self, filename, when='midnight', backupCount=5) 43 | self.bg_queue = queue.Queue() 44 | self.bg_thread = threading.Thread(target=self._bg_thread) 45 | self.bg_thread.start() 46 | 47 | def _bg_thread(self): 48 | while True: 49 | record = self.bg_queue.get(True) 50 | if record is None: 51 | break 52 | self.handle(record) 53 | 54 | def stop(self): 55 | self.bg_queue.put_nowait(None) 56 | self.bg_thread.join() 57 | 58 | # Class to improve formatting of multi-line KTCC messages 59 | class KtccMultiLineFormatter(logging.Formatter): 60 | def format(self, record): 61 | indent = ' ' * 9 62 | lines = super(KtccMultiLineFormatter, self).format(record) 63 | return lines.replace('\n', '\n' + indent) 64 | 65 | class KtccLog: 66 | TOOL_UNKNOWN = -2 67 | TOOL_UNLOCKED = -1 68 | EMPTY_TOOL_STATS = {'toolmounts_completed': 0, 'toolunmounts_completed': 0, 'toolmounts_started': 0, 'toolunmounts_started': 0, 'time_selected': 0, 'time_heater_active': 0, 'time_heater_standby': 0, 'tracked_start_time_selected':0, 'tracked_start_time_active':0, 'tracked_start_time_standby':0, 'total_time_spent_unmounting':0, 'total_time_spent_mounting':0} 69 | KTCC_TOOL_STATISTICS_PREFIX = "ktcc_statistics_tool" 70 | 71 | def __init__(self, config): 72 | self.config = config 73 | self.gcode = config.get_printer().lookup_object('gcode') 74 | self.printer = config.get_printer() 75 | self.reactor = self.printer.get_reactor() 76 | 77 | self.printer.register_event_handler('klippy:connect', self.handle_connect) 78 | self.printer.register_event_handler("klippy:disconnect", self.handle_disconnect) 79 | self.printer.register_event_handler("klippy:ready", self.handle_ready) 80 | 81 | # Logging 82 | self.log_level = config.getint('log_level', 1, minval=0, maxval=3) 83 | self.logfile_level = config.getint('logfile_level', 3, minval=-1, maxval=4) 84 | self.log_statistics = config.getint('log_statistics', 0, minval=0, maxval=1) 85 | self.log_visual = config.getint('log_visual', 1, minval=0, maxval=2) 86 | 87 | # Logging 88 | self.queue_listener = None 89 | self.ktcc_logger = None 90 | 91 | # Save to file 92 | self.changes_to_save = False 93 | self.save_delay = 10 94 | self.save_active = True 95 | 96 | # Register commands 97 | handlers = [ 98 | 'KTCC_LOG_TRACE', 'KTCC_LOG_DEBUG', 'KTCC_LOG_INFO', 'KTCC_LOG_ALWAYS', 99 | 'KTCC_SET_LOG_LEVEL', 'KTCC_DUMP_STATS', 'KTCC_RESET_STATS', 100 | 'KTCC_INIT_PRINT_STATS', 'KTCC_DUMP_PRINT_STATS'] 101 | for cmd in handlers: 102 | func = getattr(self, 'cmd_' + cmd) 103 | desc = getattr(self, 'cmd_' + cmd + '_help', None) 104 | self.gcode.register_command(cmd, func, False, desc) 105 | 106 | def handle_ready(self): 107 | self.always('KlipperToolChangerCode Ready') 108 | 109 | # Wraping G28 and wait for temperature so we don't try sending gcode commands to save state while the gcode is blocked. 110 | # Need to do it outermost so that any G28 macros are used too. 111 | # When inside a G28 the parser won't run any SAVE_VARIABLE resulting in Klipper 112 | try: 113 | self.toolhead = self.printer.lookup_object('toolhead') 114 | 115 | self.prev_G28 = self.gcode.register_command("G28", None) 116 | self.gcode.register_command("G28", self.cmd_KTCC_G28, desc = self.cmd_KTCC_G28_help) 117 | except Exception as e: 118 | logging.exception('KTCC Warning: Error trying to wrap G28 macro: %s' % str(e)) 119 | 120 | cmd_KTCC_G28_help = "Homing axes." 121 | def cmd_KTCC_G28(self, gcmd): 122 | # self.trace("Starting G28") 123 | self.save_active = False # Don't try to use SAVE_VARIABLE commands. 124 | self.prev_G28(gcmd) 125 | self.save_active = True # Resume to use SAVE_VARIABLE commands. 126 | # self.trace("Ending G28") 127 | 128 | def _save_changes_timer_event(self, eventtime): 129 | try: 130 | if self.save_active and self.changes_to_save: 131 | self.changes_to_save = False 132 | self.trace("Saving state in logs.") 133 | 134 | self._persist_swap_statistics() 135 | self._persist_tool_statistics() 136 | except Exception as e: 137 | self.debug("_save_changes_timer_event:Exception: %s" % (str(e))) 138 | logging.exception("_save_changes_timer_event:Exception: %s" % (str(e))) 139 | nextwake = eventtime + self.save_delay 140 | return nextwake 141 | 142 | def handle_connect(self): 143 | # Load saved variables 144 | self.variables = self.printer.lookup_object('save_variables').allVariables 145 | 146 | # Setup background file based logging before logging any messages 147 | if self.logfile_level >= 0: 148 | logfile_path = self.printer.start_args['log_file'] 149 | dirname = os.path.dirname(logfile_path) 150 | if dirname == None: 151 | ktcc_log = '/tmp/ktcc.log' 152 | else: 153 | ktcc_log = dirname + '/ktcc.log' 154 | self.debug("ktcc_log=%s" % ktcc_log) 155 | self.queue_listener = KtccQueueListener(ktcc_log) 156 | self.queue_listener.setFormatter(KtccMultiLineFormatter('%(asctime)s %(message)s', datefmt='%I:%M:%S')) 157 | queue_handler = KtccQueueHandler(self.queue_listener.bg_queue) 158 | self.ktcc_logger = logging.getLogger('ktcc') 159 | self.ktcc_logger.setLevel(logging.INFO) 160 | self.ktcc_logger.addHandler(queue_handler) 161 | 162 | # Load saved values 163 | self._load_persisted_state() 164 | 165 | # Init persihabele statistics 166 | self._reset_print_statistics() 167 | 168 | # Set up timer to save values when needed 169 | self.timer_save = self.reactor.register_timer( 170 | self._save_changes_timer_event, self.reactor.monotonic() + (self.save_delay)) 171 | 172 | def handle_disconnect(self): 173 | self.always('KTCC Shutdown') 174 | self.reactor.update_timer(self.timer_save, self.reactor.NEVER) 175 | if self.queue_listener != None: 176 | self.queue_listener.stop() 177 | 178 | def _load_persisted_state(self): 179 | swap_stats = self.variables.get("ktcc_statistics_swaps", {}) 180 | try: 181 | if swap_stats is None or swap_stats == {}: 182 | raise Exception("Couldn't find any saved statistics.") 183 | # self.trace("Loading statistics for KTCC: %s" % str(swap_stats)) 184 | # self.total_mounts = swap_stats['total_mounts'] or 0 185 | self.total_time_spent_mounting = swap_stats['total_time_spent_mounting'] or 0 186 | self.total_time_spent_unmounting = swap_stats['total_time_spent_unmounting'] or 0 187 | self.total_toollocks = swap_stats['total_toollocks'] or 0 188 | self.total_toolunlocks = swap_stats['total_toolunlocks'] or 0 189 | self.total_toolmounts = swap_stats['total_toolmounts'] or 0 190 | self.total_toolunmounts = swap_stats['total_toolunmounts'] or 0 191 | except Exception: 192 | # Initializing statistics 193 | self._reset_statistics() 194 | 195 | self.tool_statistics = {} 196 | for tool in self.printer.lookup_objects('tool'): 197 | try: 198 | toolname=str(tool[0]) 199 | toolname=toolname[toolname.rindex(' ')+1:] 200 | self.tool_statistics[toolname] = self.variables.get("%s%s" % (self.KTCC_TOOL_STATISTICS_PREFIX, toolname), self.EMPTY_TOOL_STATS.copy()) 201 | self.tool_statistics[toolname]["tracked_start_time_selected"] = 0 202 | self.tool_statistics[toolname]["tracked_start_time_active"] = 0 203 | self.tool_statistics[toolname]["tracked_start_time_standby"] = 0 204 | self.tool_statistics[toolname]["tracked_unmount_start_time"] = 0 205 | self.tool_statistics[toolname]["tracked_mount_start_time"] = 0 206 | 207 | except Exception as err: 208 | self.debug("Unexpected error in toolstast: %s" % err) 209 | 210 | def _reset_print_statistics(self): 211 | # Init persihabele statistics 212 | self.print_time_spent_mounting = self.total_time_spent_mounting 213 | self.print_time_spent_unmounting = self.total_time_spent_unmounting 214 | self.print_toollocks = self.total_toollocks 215 | self.print_toolunlocks = self.total_toolunlocks 216 | self.print_toolmounts = self.total_toolmounts 217 | self.print_toolunmounts = self.total_toolunmounts 218 | self.print_tool_statistics = copy.deepcopy(self.tool_statistics) 219 | 220 | #################################### 221 | # LOGGING FUNCTIONS # 222 | #################################### 223 | def get_status(self, eventtime): 224 | return {'encoder_pos': "?"} 225 | 226 | def always(self, message): 227 | if self.ktcc_logger: 228 | self.ktcc_logger.info(message) 229 | self.gcode.respond_info(message) 230 | 231 | def info(self, message): 232 | if self.ktcc_logger and self.logfile_level > 0: 233 | self.ktcc_logger.info(message) 234 | if self.log_level > 0: 235 | self.gcode.respond_info(message) 236 | 237 | def debug(self, message): 238 | message = "- DEBUG: %s" % message 239 | if self.ktcc_logger and self.logfile_level > 1: 240 | self.ktcc_logger.info(message) 241 | if self.log_level > 1: 242 | self.gcode.respond_info(message) 243 | 244 | def trace(self, message): 245 | message = "- - TRACE: %s" % message 246 | if self.ktcc_logger and self.logfile_level > 2: 247 | self.ktcc_logger.info(message) 248 | if self.log_level > 2: 249 | self.gcode.respond_info(message) 250 | 251 | # Fun visual display of KTCC state 252 | def _display_visual_state(self): 253 | if self.log_visual > 0 and not self.calibrating: 254 | self.always(self._state_to_human_string()) 255 | 256 | def _log_level_to_human_string(self, level): 257 | log = "OFF" 258 | if level > 2: log = "TRACE" 259 | elif level > 1: log = "DEBUG" 260 | elif level > 0: log = "INFO" 261 | elif level > -1: log = "ESSENTIAL MESSAGES" 262 | return log 263 | 264 | def _visual_log_level_to_human_string(self, level): 265 | log = "OFF" 266 | if level > 1: log = "SHORT" 267 | elif level > 0: log = "LONG" 268 | return log 269 | 270 | 271 | 272 | #################################### 273 | # STATISTICS FUNCTIONS # 274 | #################################### 275 | def _reset_statistics(self): 276 | self.debug("Reseting KTCC statistics.") 277 | # self.total_mounts = 0 278 | self.total_time_spent_mounting = 0 279 | self.total_time_spent_unmounting = 0 280 | self.tracked_mount_start_time = 0 281 | # self.tracked_unmount_start_time = 0 282 | self.pause_start_time = 0 283 | self.total_toollocks = 0 284 | self.total_toolunlocks = 0 285 | self.total_toolmounts = 0 286 | self.total_toolunmounts = 0 287 | 288 | self.tool_statistics = {} 289 | for tool in self.printer.lookup_objects('tool'): 290 | try: 291 | toolname=str(tool[0]) 292 | toolname=toolname[toolname.rindex(' ')+1:] 293 | self.tool_statistics[toolname] = self.EMPTY_TOOL_STATS.copy() 294 | self.tool_statistics[toolname]["tracked_start_time_selected"] = 0 295 | self.tool_statistics[toolname]["tracked_start_time_active"] = 0 296 | self.tool_statistics[toolname]["tracked_start_time_standby"] = 0 297 | self.tool_statistics[toolname]["tracked_unmount_start_time"] = 0 298 | self.tool_statistics[toolname]["tracked_mount_start_time"] = 0 299 | 300 | except Exception as err: 301 | self.debug("Unexpected error in toolstast: %s" % err) 302 | 303 | 304 | def track_mount_start(self, tool_id): 305 | self.trace("track_mount_start: Running for Tool: %s." % (tool_id)) 306 | self._set_tool_statistics(tool_id, 'tracked_mount_start_time', time.time()) 307 | 308 | 309 | def track_mount_end(self, tool_id): 310 | self.trace("track_mount_end: Running for Tool: %s." % (tool_id)) 311 | start_time = self.tool_statistics[str(tool_id)]['tracked_mount_start_time'] 312 | if start_time is not None and start_time != 0: 313 | # self.trace("track_mount_end: start_time is not None for Tool: %s." % (tool_id)) 314 | time_spent = time.time() - start_time 315 | self.increase_tool_statistics(tool_id, 'total_time_spent_mounting', time_spent) 316 | self.total_time_spent_mounting += time_spent 317 | self._set_tool_statistics(tool_id, 'tracked_mount_start_time', 0) 318 | self.changes_to_save = True 319 | 320 | def track_unmount_start(self, tool_id): 321 | self.trace("track_unmount_start: Running for Tool: %s." % (tool_id)) 322 | self._set_tool_statistics(tool_id, 'tracked_unmount_start_time', time.time()) 323 | self.increase_tool_statistics(tool_id, 'toolunmounts_started') 324 | 325 | def track_unmount_end(self, tool_id): 326 | self.trace("track_unmount_end: Running for Tool: %s." % (tool_id)) 327 | start_time = self.tool_statistics[str(tool_id)]['tracked_unmount_start_time'] 328 | if start_time is not None and start_time != 0: 329 | # self.trace("track_unmount_end: start_time is not None for Tool: %s." % (tool_id)) 330 | time_spent = time.time() - start_time 331 | self.increase_tool_statistics(tool_id, 'total_time_spent_unmounting', time_spent) 332 | self.total_time_spent_unmounting += time_spent 333 | self._set_tool_statistics(tool_id, 'tracked_unmount_start_time', 0) 334 | self.increase_tool_statistics(tool_id, 'toolunmounts_completed') 335 | self.increase_statistics('total_toolunmounts') 336 | self.changes_to_save = True 337 | 338 | 339 | def increase_statistics(self, key, count=1): 340 | try: 341 | self.trace("increase_statistics: Running. Provided to record tool stats while key: %s and count: %s" % (str(key), str(count))) 342 | if key == 'total_toolmounts': 343 | self.total_toolmounts += int(count) 344 | elif key == 'total_toolunmounts': 345 | self.total_toolunmounts += int(count) 346 | elif key == 'total_toollocks': 347 | self.total_toollocks += int(count) 348 | elif key == 'total_toolunlocks': 349 | self.total_toolunlocks += int(count) 350 | self.changes_to_save = True 351 | except Exception as e: 352 | self.debug("Exception whilst tracking tool stats: %s" % str(e)) 353 | self.debug("increase_statistics: Error while increasing stats while key: %s and count: %s" % (str(key), str(count))) 354 | 355 | def track_selected_tool_start(self, tool_id): 356 | self.trace("track_selected_tool_start: Running for Tool: %s." % (tool_id)) 357 | self._set_tool_statistics(tool_id, 'tracked_start_time_selected', time.time()) 358 | self.increase_statistics('total_toolmounts') 359 | self.increase_tool_statistics(tool_id, 'toolmounts_completed') 360 | 361 | def track_selected_tool_end(self, tool_id): 362 | self.trace("track_selected_tool_end: Running for Tool: %s." % (tool_id)) 363 | self._set_tool_statistics_time_diff(tool_id, 'time_selected', 'tracked_start_time_selected') 364 | self.changes_to_save = True 365 | 366 | def track_active_heater_start(self, tool_id): 367 | self.trace("track_active_heater_start: Running for Tool: %s." % (tool_id)) 368 | self._set_tool_statistics(tool_id, 'tracked_start_time_active', time.time()) 369 | 370 | def track_active_heater_end(self, tool_id): 371 | self.trace("track_active_heater_end: Running for Tool: %s." % (tool_id)) 372 | self._set_tool_statistics_time_diff(tool_id, 'time_heater_active', 'tracked_start_time_active') 373 | self.changes_to_save = True 374 | 375 | def track_standby_heater_start(self, tool_id): 376 | self.trace("track_standby_heater_start: Running for Tool: %s." % (tool_id)) 377 | self._set_tool_statistics(tool_id, 'tracked_start_time_standby', time.time()) 378 | 379 | def track_standby_heater_end(self, tool_id): 380 | self.trace("track_standby_heater_end: Running for Tool: %s." % (tool_id)) 381 | self._set_tool_statistics_time_diff(tool_id, 'time_heater_standby', 'tracked_start_time_standby') 382 | self.changes_to_save = True 383 | 384 | def _seconds_to_human_string(self, seconds): 385 | result = "" 386 | hours = int(math.floor(seconds / 3600.)) 387 | if hours >= 1: 388 | result += "%d hours " % hours 389 | minutes = int(math.floor(seconds / 60.) % 60) 390 | if hours >= 1 or minutes >= 1: 391 | result += "%d minutes " % minutes 392 | result += "%d seconds" % int((math.floor(seconds) % 60)) 393 | return result 394 | 395 | def _swap_statistics_to_human_string(self): 396 | msg = "KTCC Statistics:" 397 | # msg += "\n%d swaps completed" % self.total_mounts 398 | msg += "\n%s spent mounting tools" % self._seconds_to_human_string(self.total_time_spent_mounting) 399 | msg += "\n%s spent unmounting tools" % self._seconds_to_human_string(self.total_time_spent_unmounting) 400 | msg += "\n%d tool locks completed" % self.total_toollocks 401 | msg += "\n%d tool unlocks completed" % self.total_toolunlocks 402 | msg += "\n%d tool mounts completed" % self.total_toolmounts 403 | msg += "\n%d tool unmounts completed" % self.total_toolunmounts 404 | return msg 405 | 406 | def _swap_print_statistics_to_human_string(self): 407 | msg = "KTCC Statistics for this print:" 408 | # msg += "\n%d swaps completed" % self.total_mounts 409 | msg += "\n%s spent mounting tools" % self._seconds_to_human_string(self.total_time_spent_mounting-self.print_time_spent_mounting) 410 | msg += "\n%s spent unmounting tools" % self._seconds_to_human_string(self.total_time_spent_unmounting-self.print_time_spent_unmounting) 411 | msg += "\n%d tool locks completed" % (self.total_toollocks-self.print_toollocks) 412 | msg += "\n%d tool unlocks completed" % (self.total_toolunlocks-self.print_toolunlocks) 413 | msg += "\n%d tool mounts completed" % (self.total_toolmounts-self.print_toolmounts) 414 | msg += "\n%d tool unmounts completed" % (self.total_toolunmounts-self.print_toolunmounts) 415 | return msg 416 | 417 | def _division(self, dividend, divisor): 418 | try: 419 | return dividend/divisor 420 | except ZeroDivisionError: 421 | return 0 422 | 423 | def _dump_statistics(self, report=False): 424 | if self.log_statistics or report: 425 | msg = "ToolChanger Statistics:\n" 426 | msg += self._swap_statistics_to_human_string() 427 | msg += "\n------------\n" 428 | 429 | msg += "Tool Statistics:\n" 430 | 431 | # First convert to int so we get right order. 432 | res = {int(k):v for k,v in self.tool_statistics.items()} 433 | for tid in res: 434 | tool_id= str(tid) 435 | msg += "Tool#%s:\n" % (tool_id) 436 | msg += "Completed %d out of %d mounts in %s. Average of %s per toolmount.\n" % (self.tool_statistics[tool_id]['toolmounts_completed'], self.tool_statistics[tool_id]['toolmounts_started'], self._seconds_to_human_string(self.tool_statistics[tool_id]['total_time_spent_mounting']), self._seconds_to_human_string(self._division(self.tool_statistics[tool_id]['total_time_spent_mounting'], self.tool_statistics[tool_id]['toolmounts_completed']))) 437 | msg += "Completed %d out of %d unmounts in %s. Average of %s per toolunmount.\n" % (self.tool_statistics[tool_id]['toolunmounts_completed'], self.tool_statistics[tool_id]['toolunmounts_started'], self._seconds_to_human_string(self.tool_statistics[tool_id]['total_time_spent_unmounting']), self._seconds_to_human_string(self._division(self.tool_statistics[tool_id]['total_time_spent_unmounting'], self.tool_statistics[tool_id]['toolunmounts_completed']))) 438 | msg += "%s spent selected." % self._seconds_to_human_string(self.tool_statistics[tool_id]['time_selected']) 439 | tool = self.printer.lookup_object("tool " + str(tool_id)) 440 | if tool.is_virtual != True or tool.name==tool.physical_parent_id: 441 | if tool.extruder is not None: 442 | msg += " %s with active heater and %s with standby heater." % (self._seconds_to_human_string(self.tool_statistics[tool_id]['time_heater_active']), self._seconds_to_human_string(self.tool_statistics[tool_id]['time_heater_standby'])) 443 | msg += "\n------------\n" 444 | 445 | 446 | self.always(msg) 447 | 448 | def _dump_print_statistics(self, report=False): 449 | if self.log_statistics or report: 450 | msg = "ToolChanger Statistics for this print:\n" 451 | msg += self._swap_print_statistics_to_human_string() 452 | msg += "\n------------\n" 453 | 454 | msg += "Tool Statistics for this print:\n" 455 | 456 | # First convert to int so we get right order. 457 | res = {int(k):v for k,v in self.tool_statistics.items()} 458 | for tid in res: 459 | tool_id= str(tid) 460 | ts = self.tool_statistics[tool_id] 461 | pts = self.print_tool_statistics[tool_id] 462 | msg += "Tool#%s:\n" % (tool_id) 463 | msg += "Completed %d out of %d mounts in %s. Average of %s per toolmount.\n" % ((ts['toolmounts_completed']-pts['toolmounts_completed']), (ts['toolmounts_started']-pts['toolmounts_started']), self._seconds_to_human_string(ts['total_time_spent_mounting']-pts['total_time_spent_mounting']), self._seconds_to_human_string(self._division((ts['total_time_spent_mounting']-pts['total_time_spent_mounting']), (ts['toolmounts_completed']-ts['toolmounts_completed'])))) 464 | msg += "Completed %d out of %d unmounts in %s. Average of %s per toolunmount.\n" % (ts['toolunmounts_completed']-pts['toolunmounts_completed'], ts['toolunmounts_started']-pts['toolunmounts_started'], self._seconds_to_human_string(ts['total_time_spent_unmounting']-pts['total_time_spent_unmounting']), self._seconds_to_human_string(self._division(ts['total_time_spent_unmounting']-pts['total_time_spent_unmounting'], ts['toolunmounts_completed']-pts['toolunmounts_completed']))) 465 | msg += "%s spent selected. %s with active heater and %s with standby heater.\n" % (self._seconds_to_human_string(ts['time_selected']-pts['time_selected']), self._seconds_to_human_string(ts['time_heater_active']-pts['time_heater_active']), self._seconds_to_human_string(ts['time_heater_standby']-pts['time_heater_standby'])) 466 | msg += "------------\n" 467 | self.always(msg) 468 | 469 | 470 | 471 | def _persist_swap_statistics(self): 472 | swap_stats = { 473 | # 'total_mounts': self.total_mounts, 474 | 'total_time_spent_mounting': round(self.total_time_spent_mounting, 1), 475 | 'total_time_spent_unmounting': round(self.total_time_spent_unmounting, 1), 476 | 'total_toolunlocks': self.total_toolunlocks, 477 | 'total_toollocks': self.total_toollocks, 478 | 'total_toolmounts': self.total_toolmounts, 479 | 'total_toolunmounts': self.total_toolunmounts 480 | } 481 | self.toolhead.wait_moves() 482 | self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s VALUE=\"%s\"" % ("ktcc_statistics_swaps", swap_stats)) 483 | 484 | def _persist_tool_statistics(self): 485 | for tool in self.tool_statistics: 486 | try: 487 | self.toolhead.wait_moves() 488 | self.gcode.run_script_from_command("SAVE_VARIABLE VARIABLE=%s%s VALUE=\"%s\"" % (self.KTCC_TOOL_STATISTICS_PREFIX, tool, self.tool_statistics[tool])) 489 | except Exception as err: 490 | self.debug("Unexpected error in _persist_tool_statistics: %s" % err) 491 | 492 | def increase_tool_statistics(self, tool_id, key, count=1): 493 | try: 494 | self.trace("increase_tool_statistics: Running for Tool: %s. Provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) 495 | # if self.tool_statistics.get(str(tool_id)) is not None: 496 | if str(tool_id) in self.tool_statistics: 497 | if self.tool_statistics[str(tool_id)][key] is None: 498 | self.tool_statistics[str(tool_id)][key]=0 499 | # self.trace("increase_tool_statistics: Before running for Tool: %s. Key: %s is: %s" % (tool_id, str(key), str(self.tool_statistics[str(tool_id)][key]))) 500 | if isinstance(count, float): 501 | self.tool_statistics[str(tool_id)][key] = round(self.tool_statistics[str(tool_id)][key] + count, 3) 502 | else: 503 | self.tool_statistics[str(tool_id)][key] += count 504 | # self.trace("increase_tool_statistics: After running for Tool: %s. Key: %s is: %s" % (tool_id, str(key), str(self.tool_statistics[str(tool_id)][key]))) 505 | else: 506 | self.debug("increase_tool_statistics: Unknown tool provided to record tool stats: %s" % tool_id) 507 | # self.debug(str(self.tool_statistics)) 508 | except Exception as e: 509 | self.debug("Exception whilst tracking tool stats: %s" % str(e)) 510 | self.debug("increase_tool_statistics: Error while tool: %s provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) 511 | # self.trace("increase_tool_statistics: Tool: %s provided to record tool stats while key: %s and count: %s" % (tool_id, str(key), str(count))) 512 | 513 | def _set_tool_statistics(self, tool_id, key, value): 514 | self.trace("_set_tool_statistics:Running for Tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) 515 | try: 516 | if str(tool_id) in self.tool_statistics: 517 | self.tool_statistics[str(tool_id)][key] = value 518 | else: 519 | self.debug("_set_tool_statistics: Unknown tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) 520 | except Exception as e: 521 | self.debug("Exception whilst tracking tool stats: %s" % str(e)) 522 | self.debug("_set_tool_statistics: Error while tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) 523 | # self.trace("_set_tool_statistics: Tool: %s provided to record tool stats while key: %s and value: %s" % (tool_id, str(key), str(value))) 524 | 525 | def _set_tool_statistics_time_diff(self, tool_id, final_time_key, start_time_key): 526 | try: 527 | if str(tool_id) in self.tool_statistics: 528 | tool_stat= self.tool_statistics[str(tool_id)] 529 | if tool_stat[start_time_key] is not None and tool_stat[start_time_key] != 0: 530 | # self.trace("_set_tool_statistics_time_diff: Tool: %s value before running: final_time_key: %s=%s, start_time_key: %s=%s." % (tool_id, final_time_key, str(tool_stat[final_time_key]), start_time_key, str(tool_stat[start_time_key]))) 531 | if tool_stat[final_time_key] is not None and tool_stat[final_time_key] != 0: 532 | tool_stat[final_time_key] += time.time() - tool_stat[start_time_key] 533 | else: 534 | tool_stat[final_time_key] = time.time() - tool_stat[start_time_key] 535 | tool_stat[start_time_key] = 0 536 | else: 537 | self.debug("_set_tool_statistics_time_diff: Unknown tool: %s provided to record tool stats while final_time_key: %s and start_time_key: %s" % (tool_id, str(final_time_key), str(start_time_key))) 538 | except Exception as e: 539 | self.debug("Exception whilst tracking tool stats: %s" % str(e)) 540 | self.debug("_set_tool_statistics_time_diff: Error while tool: %s provided to record tool stats while final_time_key: %s and start_time_key: %s" % (tool_id, str(final_time_key), str(start_time_key))) 541 | # self.trace("_set_tool_statistics_time_diff: Tool: %s value after running: final_time_key: %s=%s, start_time_key: %s=%s." % (tool_id, final_time_key, str(tool_stat[final_time_key]), start_time_key, str(tool_stat[start_time_key]))) 542 | 543 | ### LOGGING AND STATISTICS FUNCTIONS GCODE FUNCTIONS 544 | 545 | cmd_KTCC_RESET_STATS_help = "Reset the KTCC statistics" 546 | def cmd_KTCC_RESET_STATS(self, gcmd): 547 | param = gcmd.get('SURE', "no") 548 | if param.lower() == "yes": 549 | self._reset_statistics() 550 | self._reset_print_statistics() 551 | self.changes_to_save = True 552 | self._dump_statistics(True) 553 | self.always("Statistics RESET.") 554 | else: 555 | message = "Are you sure you want to reset KTCC statistics?\n" 556 | message += "If so, run with parameter SURE=YES:\n" 557 | message += "KTCC_RESET_STATS SURE=YES" 558 | self.gcode.respond_info(message) 559 | 560 | cmd_KTCC_DUMP_STATS_help = "Dump the KTCC statistics" 561 | def cmd_KTCC_DUMP_STATS(self, gcmd): 562 | self._dump_statistics(True) 563 | 564 | cmd_KTCC_INIT_PRINT_STATS_help = "Run at start of a print to initialize the KTCC print statistics" 565 | def cmd_KTCC_INIT_PRINT_STATS(self, gcmd): 566 | self._reset_print_statistics() 567 | 568 | cmd_KTCC_DUMP_PRINT_STATS_help = "Run at end of a print to list statistics since last print reset." 569 | def cmd_KTCC_DUMP_PRINT_STATS(self, gcmd): 570 | self._dump_print_statistics(True) 571 | 572 | cmd_KTCC_SET_LOG_LEVEL_help = "Set the log level for the KTCC" 573 | def cmd_KTCC_SET_LOG_LEVEL(self, gcmd): 574 | self.log_level = gcmd.get_int('LEVEL', self.log_level, minval=0, maxval=4) 575 | self.logfile_level = gcmd.get_int('LOGFILE', self.logfile_level, minval=0, maxval=4) 576 | self.log_visual = gcmd.get_int('VISUAL', self.log_visual, minval=0, maxval=2) 577 | self.log_statistics = gcmd.get_int('STATISTICS', self.log_statistics, minval=0, maxval=1) 578 | 579 | cmd_KTCC_LOG_ALWAYS_help = "Log allways MSG" 580 | def cmd_KTCC_LOG_ALWAYS(self, gcmd): 581 | msg = gcmd.get('MSG') 582 | self.always(msg) 583 | 584 | cmd_KTCC_LOG_INFO_help = "Log info MSG" 585 | def cmd_KTCC_LOG_INFO(self, gcmd): 586 | msg = gcmd.get('MSG') 587 | self.info(msg) 588 | 589 | cmd_KTCC_LOG_DEBUG_help = "Log debug MSG" 590 | def cmd_KTCC_LOG_DEBUG(self, gcmd): 591 | msg = gcmd.get('MSG') 592 | self.debug(msg) 593 | 594 | cmd_KTCC_LOG_TRACE_help = "Log trace MSG" 595 | def cmd_KTCC_LOG_TRACE(self, gcmd): 596 | msg = gcmd.get('MSG') 597 | self.trace(msg) 598 | 599 | # def _get_print_status(self): 600 | # try: 601 | # # If using virtual sdcard this is the most reliable method 602 | # source = "print_stats" 603 | # print_status = self.printer.lookup_object("print_stats").get_status(self.printer.get_reactor().monotonic())['state'] 604 | # except: 605 | # # Otherwise we fallback to idle_timeout 606 | # source = "idle_timeout" 607 | # if self.printer.lookup_object("pause_resume").is_paused: 608 | # print_status = "paused" 609 | # else: 610 | # idle_timeout = self.printer.lookup_object("idle_timeout").get_status(self.printer.get_reactor().monotonic()) 611 | # if idle_timeout["printing_time"] < 1.0: 612 | # print_status = "standby" 613 | # else: 614 | # print_status = idle_timeout['state'].lower() 615 | # finally: 616 | # self.trace("Determined print status as: %s from %s" % (print_status, source)) 617 | # return print_status 618 | 619 | 620 | # cmd_KTCC_STATUS_help = "Complete dump of current KTCC state and important configuration" 621 | # def cmd_KTCC_STATUS(self, gcmd): 622 | # config = gcmd.get_int('SHOWCONFIG', 0, minval=0, maxval=1) 623 | # msg = "KTCC with %d gates" % (len(self.selector_offsets)) 624 | # msg += " is %s" % ("DISABLED" if not self.is_enabled else "PAUSED/LOCKED" if self.is_paused else "OPERATIONAL") 625 | # msg += " with the servo in a %s position" % ("UP" if self.servo_state == self.SERVO_UP_STATE else "DOWN" if self.servo_state == self.SERVO_DOWN_STATE else "unknown") 626 | # msg += ", Encoder reads %.2fmm" % self._counter.get_distance() 627 | # msg += "\nSelector is %shomed" % ("" if self.is_homed else "NOT ") 628 | # msg += ". Tool %s is selected " % self._selected_tool_string() 629 | # msg += " on gate %s" % self._selected_gate_string() 630 | # msg += ". Toolhead position saved pending resume" if self.saved_toolhead_position else "" 631 | # msg += "\nFilament position: %s" % self._state_to_human_string() 632 | 633 | # if config: 634 | # msg += "\n\nConfiguration:\nFilament homes" 635 | # if self._must_home_to_extruder(): 636 | # if self.homing_method == self.EXTRUDER_COLLISION: 637 | # msg += " to EXTRUDER using COLLISION DETECTION (current %d%%)" % self.extruder_homing_current 638 | # else: 639 | # msg += " to EXTRUDER using STALLGUARD" 640 | # if self._has_toolhead_sensor(): 641 | # msg += " and then" 642 | # msg += " to TOOLHEAD SENSOR" if self._has_toolhead_sensor() else "" 643 | # msg += " after a %.1fmm calibration reference length" % self._get_calibration_ref() 644 | # if self.sync_load_length > 0 or self.sync_unload_length > 0: 645 | # msg += "\nGear and Extruder steppers are synchronized during " 646 | # load = False 647 | # if self._has_toolhead_sensor() and self.sync_load_length > 0: 648 | # msg += "load (up to %.1fmm)" % (self.toolhead_homing_max) 649 | # load = True 650 | # elif self.sync_load_length > 0: 651 | # msg += "load (%.1fmm)" % (self.sync_load_length) 652 | # load = True 653 | # if self.sync_unload_length > 0: 654 | # msg += " and " if load else "" 655 | # msg += "unload (%.1fmm)" % (self.sync_unload_length) 656 | # else: 657 | # msg += "\nGear and Extruder steppers are not synchronized" 658 | # msg += ". Tip forming current is %d%%" % self.extruder_form_tip_current 659 | # msg += "\nSelector homing is %s - blocked gate detection and recovery %s possible" % (("sensorless", "may be") if self.sensorless_selector else ("microswitch", "is not")) 660 | # msg += "\nClog detection is %s" % ("ENABLED" if self.enable_clog_detection else "DISABLED") 661 | # msg += " and EndlessSpool is %s" % ("ENABLED" if self.enable_endless_spool else "DISABLED") 662 | # p = self.persistence_level 663 | # msg += ", %s state is persisted across restarts" % ("All" if p == 4 else "Gate status & TTG map & EndlessSpool groups" if p == 3 else "TTG map & EndlessSpool groups" if p == 2 else "EndlessSpool groups" if p == 1 else "No") 664 | # msg += "\nLogging levels: Console %d(%s)" % (self.log_level, self._log_level_to_human_string(self.log_level)) 665 | # msg += ", Logfile %d(%s)" % (self.logfile_level, self._log_level_to_human_string(self.logfile_level)) 666 | # msg += ", Visual %d(%s)" % (self.log_visual, self._visual_log_level_to_human_string(self.log_visual)) 667 | # msg += ", Statistics %d(%s)" % (self.log_statistics, "ON" if self.log_statistics else "OFF") 668 | # msg += "\n\nTool/gate mapping%s" % (" and EndlessSpool groups:" if self.enable_endless_spool else ":") 669 | # msg += "\n%s" % self._tool_to_gate_map_to_human_string() 670 | # msg += "\n\n%s" % self._swap_statistics_to_human_string() 671 | # self._log_always(msg) 672 | 673 | def load_config(config): 674 | return KtccLog(config) 675 | 676 | --------------------------------------------------------------------------------