diff options
Diffstat (limited to 'klippy/extras/palette2.py')
| -rw-r--r-- | klippy/extras/palette2.py | 212 |
1 files changed, 104 insertions, 108 deletions
diff --git a/klippy/extras/palette2.py b/klippy/extras/palette2.py index 4fe72080..1679eec3 100644 --- a/klippy/extras/palette2.py +++ b/klippy/extras/palette2.py @@ -23,19 +23,20 @@ COMMAND_CLEAR = [ "O10 D1 D0 D0 DFFE1", "O10 D2 D0 D0 DFFE1", "O10 D3 D0 D0 DFFE1", - "O10 D4 D0 D0 D0069"] + "O10 D4 D0 D0 D0069", +] COMMAND_FILENAME = "O51" COMMAND_FILENAMES_DONE = "O52" COMMAND_FIRMWARE = "O50" COMMAND_PING = "O31" COMMAND_SMART_LOAD_STOP = "O102 D1" -HEARTBEAT_SEND = 5. -HEARTBEAT_TIMEOUT = (HEARTBEAT_SEND * 2.) + 1. +HEARTBEAT_SEND = 5.0 +HEARTBEAT_TIMEOUT = (HEARTBEAT_SEND * 2.0) + 1.0 SETUP_TIMEOUT = 10 SERIAL_TIMER = 0.1 -AUTOLOAD_TIMER = 5. +AUTOLOAD_TIMER = 5.0 INFO_NOT_CONNECTED = "Palette 2 is not connected, connect first" @@ -45,54 +46,56 @@ class Palette2: self.printer = config.get_printer() self.reactor = self.printer.get_reactor() try: - self.virtual_sdcard = self.printer.load_object( - config, "virtual_sdcard") + self.virtual_sdcard = self.printer.load_object(config, "virtual_sdcard") except config.error: raise self.printer.config_error( "Palette 2 requires [virtual_sdcard] to work," - " please add it to your config!") + " please add it to your config!" + ) try: - self.pause_resume = self.printer.load_object( - config, "pause_resume") + self.pause_resume = self.printer.load_object(config, "pause_resume") except config.error: raise self.printer.config_error( "Palette 2 requires [pause_resume] to work," - " please add it to your config!") - self.gcode_move = self.printer.load_object(config, 'gcode_move') + " please add it to your config!" + ) + self.gcode_move = self.printer.load_object(config, "gcode_move") self.gcode = self.printer.lookup_object("gcode") self.gcode.register_command( - "PALETTE_CONNECT", self.cmd_Connect, desc=self.cmd_Connect_Help) + "PALETTE_CONNECT", self.cmd_Connect, desc=self.cmd_Connect_Help + ) self.gcode.register_command( - "PALETTE_DISCONNECT", - self.cmd_Disconnect, - desc=self.cmd_Disconnect_Help) + "PALETTE_DISCONNECT", self.cmd_Disconnect, desc=self.cmd_Disconnect_Help + ) self.gcode.register_command( - "PALETTE_CLEAR", self.cmd_Clear, desc=self.cmd_Clear_Help) + "PALETTE_CLEAR", self.cmd_Clear, desc=self.cmd_Clear_Help + ) + self.gcode.register_command("PALETTE_CUT", self.cmd_Cut, desc=self.cmd_Cut_Help) self.gcode.register_command( - "PALETTE_CUT", self.cmd_Cut, desc=self.cmd_Cut_Help) - self.gcode.register_command( - "PALETTE_SMART_LOAD", - self.cmd_Smart_Load, - desc=self.cmd_Smart_Load_Help) + "PALETTE_SMART_LOAD", self.cmd_Smart_Load, desc=self.cmd_Smart_Load_Help + ) self.serial = None self.serial_port = config.get("serial") if not self.serial_port: raise config.error("Invalid serial port specific for Palette 2") self.baud = config.getint("baud", default=115200) self.feedrate_splice = config.getfloat( - "feedrate_splice", default=0.8, minval=0., maxval=1.) + "feedrate_splice", default=0.8, minval=0.0, maxval=1.0 + ) self.feedrate_normal = config.getfloat( - "feedrate_normal", default=1.0, minval=0., maxval=1.) + "feedrate_normal", default=1.0, minval=0.0, maxval=1.0 + ) self.auto_load_speed = config.getint("auto_load_speed", 2) self.auto_cancel_variation = config.getfloat( - "auto_cancel_variation", default=None, minval=0.01, maxval=0.2) + "auto_cancel_variation", default=None, minval=0.01, maxval=0.2 + ) # Omega code matchers self.omega_header = [None] * 9 omega_handlers = ["O" + str(i) for i in range(33)] for cmd in omega_handlers: - func = getattr(self, 'cmd_' + cmd, None) - desc = getattr(self, 'cmd_' + cmd + '_help', None) + func = getattr(self, "cmd_" + cmd, None) + desc = getattr(self, "cmd_" + cmd + "_help", None) if func: self.gcode.register_command(cmd, func, desc=desc) else: @@ -137,20 +140,24 @@ class Palette2: gcmd.respond_info(INFO_NOT_CONNECTED) return False - cmd_Connect_Help = ("Connect to the Palette 2") + cmd_Connect_Help = "Connect to the Palette 2" def cmd_Connect(self, gcmd): if self.serial: gcmd.respond_info( - "Palette 2 serial port is already active, disconnect first") + "Palette 2 serial port is already active, disconnect first" + ) return self.signal_disconnect = False - logging.info("Connecting to Palette 2 on port (%s) at (%s)" % - (self.serial_port, self.baud)) + logging.info( + "Connecting to Palette 2 on port (%s) at (%s)" + % (self.serial_port, self.baud) + ) try: self.serial = serial.Serial( - self.serial_port, self.baud, timeout=0, write_timeout=0) + self.serial_port, self.baud, timeout=0, write_timeout=0 + ) except SerialException: gcmd.respond_info("Unable to connect to the Palette 2") return @@ -160,19 +167,20 @@ class Palette2: with self.read_queue.mutex: self.read_queue.queue.clear() - self.read_timer = self.reactor.register_timer( - self._run_Read, self.reactor.NOW) + self.read_timer = self.reactor.register_timer(self._run_Read, self.reactor.NOW) self.write_timer = self.reactor.register_timer( - self._run_Write, self.reactor.NOW) + self._run_Write, self.reactor.NOW + ) self.heartbeat_timer = self.reactor.register_timer( - self._run_Heartbeat, self.reactor.NOW) + self._run_Heartbeat, self.reactor.NOW + ) # Tell the device we're alive self.write_queue.put("\n") self.write_queue.put(COMMAND_FIRMWARE) self._wait_for_heartbeat() - cmd_Disconnect_Help = ("Disconnect from the Palette 2") + cmd_Disconnect_Help = "Disconnect from the Palette 2" def cmd_Disconnect(self, gcmd=None): self.gcode.respond_info("Disconnecting from Palette 2") @@ -188,7 +196,7 @@ class Palette2: self.heartbeat = None self.is_printing = False - cmd_Clear_Help = ("Clear the input and output of the Palette 2") + cmd_Clear_Help = "Clear the input and output of the Palette 2" def cmd_Clear(self, gcmd): logging.info("Clearing Palette 2 input and output") @@ -196,20 +204,19 @@ class Palette2: for l in COMMAND_CLEAR: self.write_queue.put(l) - cmd_Cut_Help = ("Cut the outgoing filament") + cmd_Cut_Help = "Cut the outgoing filament" def cmd_Cut(self, gcmd): logging.info("Cutting outgoing filament in Palette 2") if self._check_P2(gcmd): self.write_queue.put(COMMAND_CUT) - cmd_Smart_Load_Help = ("Automatically load filament through the extruder") + cmd_Smart_Load_Help = "Automatically load filament through the extruder" def cmd_Smart_Load(self, gcmd): if self._check_P2(gcmd): if not self.is_loading: - gcmd.respond_info( - "Cannot auto load when the Palette 2 is not ready") + gcmd.respond_info("Cannot auto load when the Palette 2 is not ready") return self.p2cmd_O102(params=None) @@ -221,33 +228,32 @@ class Palette2: def _wait_for_heartbeat(self): startTs = self.reactor.monotonic() currTs = startTs - while self.heartbeat is None or (self.heartbeat < ( - currTs - SETUP_TIMEOUT) and startTs > ( - currTs - SETUP_TIMEOUT)): - currTs = self.reactor.pause(currTs + 1.) + while self.heartbeat is None or ( + self.heartbeat < (currTs - SETUP_TIMEOUT) + and startTs > (currTs - SETUP_TIMEOUT) + ): + currTs = self.reactor.pause(currTs + 1.0) if self.heartbeat < (currTs - SETUP_TIMEOUT): self.signal_disconnect = True - raise self.printer.command_error( - "No response from Palette 2") + raise self.printer.command_error("No response from Palette 2") - cmd_O1_help = ( - "Initialize the print, and check connection with the Palette 2") + cmd_O1_help = "Initialize the print, and check connection with the Palette 2" def cmd_O1(self, gcmd): logging.info("Initializing print with Palette 2") if not self._check_P2(gcmd): raise self.printer.command_error( - "Cannot initialize print, palette 2 is not connected") + "Cannot initialize print, palette 2 is not connected" + ) self.reactor.update_timer(self.heartbeat_timer, self.reactor.NOW) self._wait_for_heartbeat() self.write_queue.put(gcmd.get_commandline()) - self.gcode.respond_info( - "Palette 2 waiting on user to complete setup") + self.gcode.respond_info("Palette 2 waiting on user to complete setup") self.pause_resume.send_pause_command() - cmd_O9_help = ("Reset print information") + cmd_O9_help = "Reset print information" def cmd_O9(self, gcmd): logging.info("Print finished, resetting Palette 2 state") @@ -305,20 +311,19 @@ class Palette2: param_drive = gcmd.get_commandline()[5:6] param_distance = gcmd.get_commandline()[8:] except IndexError: - gcmd.respond_info( - "Incorrect number of arguments for splice command") + gcmd.respond_info("Incorrect number of arguments for splice command") try: self.omega_splices.append((int(param_drive), param_distance)) except ValueError: gcmd.respond_info("Incorrectly formatted splice command") - logging.debug("Omega splice command drive %s distance %s" % - (param_drive, param_distance)) + logging.debug( + "Omega splice command drive %s distance %s" % (param_drive, param_distance) + ) def cmd_O31(self, gcmd): if self._check_P2(gcmd): self.omega_current_ping = gcmd.get_commandline() - logging.debug("Omega ping command: %s" % - (gcmd.get_commandline())) + logging.debug("Omega ping command: %s" % (gcmd.get_commandline())) self.write_queue.put(COMMAND_PING) self.gcode.create_gcode_command("G4", "G4", {"P": "10"}) @@ -352,14 +357,11 @@ class Palette2: self.write_queue.put("O30 D%d D%s" % (splice[0], splice[1])) self.omega_splices_counter = self.omega_splices_counter + 1 elif n == 2: - logging.info("Sending current ping info %s" % - self.omega_current_ping) + logging.info("Sending current ping info %s" % self.omega_current_ping) self.write_queue.put(self.omega_current_ping) elif n == 4: - logging.info("Sending algorithm info %s" % - self.omega_algorithms_counter) - self.write_queue.put( - self.omega_algorithms[self.omega_algorithms_counter]) + logging.info("Sending algorithm info %s" % self.omega_algorithms_counter) + self.write_queue.put(self.omega_algorithms[self.omega_algorithms_counter]) self.omega_algorithms_counter = self.omega_algorithms_counter + 1 elif n == 8: logging.info("Resending the last command to Palette 2") @@ -371,11 +373,10 @@ class Palette2: def check_ping_variation(last_ping): if self.auto_cancel_variation is not None: - ping_max = 100. + (self.auto_cancel_variation * 100.) - ping_min = 100. - (self.auto_cancel_variation * 100.) + ping_max = 100.0 + (self.auto_cancel_variation * 100.0) + ping_min = 100.0 - (self.auto_cancel_variation * 100.0) if last_ping < ping_min or last_ping > ping_max: - logging.info("Ping variation is too high, " - "cancelling print") + logging.info("Ping variation is too high, " "cancelling print") self.gcode.run_script("CANCEL_PRINT") if len(params) > 2: @@ -400,21 +401,22 @@ class Palette2: if len(params) > 1: try: fw = params[0][1:] - logging.info( - "Palette 2 firmware version %s detected" % fw) + logging.info("Palette 2 firmware version %s detected" % fw) except (TypeError, IndexError): logging.error("Unable to parse firmware version") if fw < "9.0.9": raise self.printer.command_error( - "Palette 2 firmware version is too old, " - "update to at least 9.0.9") + "Palette 2 firmware version is too old, " "update to at least 9.0.9" + ) else: self.files = [ - file for ( - file, - size) in self.virtual_sdcard.get_file_list( - check_subdirs=True) if ".mcf.gcode" in file] + file + for (file, size) in self.virtual_sdcard.get_file_list( + check_subdirs=True + ) + if ".mcf.gcode" in file + ] for file in self.files: self.write_queue.put("%s D%s" % (COMMAND_FILENAME, file)) self.write_queue.put(COMMAND_FILENAMES_DONE) @@ -452,8 +454,7 @@ class Palette2: def loadingOffset(params): self.remaining_load_length = int(params[1][1:]) - logging.debug("Loading filamant remaining %d" % - self.remaining_load_length) + logging.debug("Loading filamant remaining %d" % self.remaining_load_length) if self.remaining_load_length >= 0 and self.smart_load_timer: logging.info("Smart load filament is complete") self.reactor.unregister_timer(self.smart_load_timer) @@ -461,14 +462,12 @@ class Palette2: self.is_loading = False def feedrateStart(params): - logging.info("Setting feedrate to %f for splice" % - self.feedrate_splice) + logging.info("Setting feedrate to %f for splice" % self.feedrate_splice) self.is_splicing = True self.gcode.run_script("M220 S%d" % (self.feedrate_splice * 100)) def feedrateEnd(params): - logging.info("Setting feedrate to %f splice done" % - self.feedrate_normal) + logging.info("Setting feedrate to %f splice done" % self.feedrate_normal) self.is_splicing = False self.gcode.run_script("M220 S%d" % (self.feedrate_normal * 100)) @@ -495,13 +494,15 @@ class Palette2: if not toolhead.get_extruder().get_heater().can_extrude: self.write_queue.put(COMMAND_SMART_LOAD_STOP) self.gcode.respond_info( - "Unable to auto load filament, extruder is below minimum temp") + "Unable to auto load filament, extruder is below minimum temp" + ) return if self.smart_load_timer is None: logging.info("Smart load starting") self.smart_load_timer = self.reactor.register_timer( - self._run_Smart_Load, self.reactor.NOW) + self._run_Smart_Load, self.reactor.NOW + ) def p2cmd(self, line): t = line.split() @@ -514,7 +515,7 @@ class Palette2: logging.error("Omega parameters are invalid") return - func = getattr(self, 'p2cmd_' + ocode, None) + func = getattr(self, "p2cmd_" + ocode, None) if func is not None: func(params) @@ -523,8 +524,9 @@ class Palette2: for matcher in matchers: if len(params) >= matcher[1]: match_params = matcher[2:] - res = all([match_params[i] == params[i] - for i in range(len(match_params))]) + res = all( + [match_params[i] == params[i] for i in range(len(match_params))] + ) if res: matcher[0](params) return True @@ -544,15 +546,14 @@ class Palette2: self.cmd_Disconnect() return self.reactor.NEVER if len(raw_bytes): - new_buffer = str(raw_bytes.decode(encoding='UTF-8', - errors='ignore')) + new_buffer = str(raw_bytes.decode(encoding="UTF-8", errors="ignore")) text_buffer = self.read_buffer + new_buffer while True: i = text_buffer.find("\n") if i >= 0: - line = text_buffer[0:i + 1] + line = text_buffer[0 : i + 1] self.read_queue.put(line.strip()) - text_buffer = text_buffer[i + 1:] + text_buffer = text_buffer[i + 1 :] else: break self.read_buffer = text_buffer @@ -582,10 +583,8 @@ class Palette2: def _run_Heartbeat(self, eventtime): self.write_queue.put(COMMAND_HEARTBEAT) eventtime = self.reactor.pause(eventtime + 5) - if self.heartbeat and self.heartbeat < ( - eventtime - HEARTBEAT_TIMEOUT): - logging.error( - "P2 has not responded to heartbeat") + if self.heartbeat and self.heartbeat < (eventtime - HEARTBEAT_TIMEOUT): + logging.error("P2 has not responded to heartbeat") if not self.is_printing or self.is_setup_complete: self.cmd_Disconnect() return self.reactor.NEVER @@ -602,9 +601,7 @@ class Palette2: self.omega_last_command = text_line l = text_line.strip() if COMMAND_HEARTBEAT not in l: - logging.debug( - "%s -> P2 : %s" % - (self.reactor.monotonic(), l)) + logging.debug("%s -> P2 : %s" % (self.reactor.monotonic(), l)) terminated_line = "%s\n" % (l) try: self.serial.write(terminated_line.encode()) @@ -619,23 +616,22 @@ class Palette2: if not self.is_splicing and self.remaining_load_length < 0: # Make sure toolhead class isn't busy toolhead = self.printer.lookup_object("toolhead") - print_time, est_print_time, lookahead_empty = toolhead.check_busy( - eventtime) + print_time, est_print_time, lookahead_empty = toolhead.check_busy(eventtime) idle_time = est_print_time - print_time if not lookahead_empty or idle_time < 0.5: - return eventtime + \ - max(0., min(1., print_time - est_print_time)) + return eventtime + max(0.0, min(1.0, print_time - est_print_time)) extrude = abs(self.remaining_load_length) extrude = min(50, extrude / 2) if extrude <= 10: extrude = 1 - logging.info("Smart loading %dmm filament with %dmm remaining" % ( - extrude, abs(self.remaining_load_length))) + logging.info( + "Smart loading %dmm filament with %dmm remaining" + % (extrude, abs(self.remaining_load_length)) + ) self.gcode.run_script("G92 E0") - self.gcode.run_script("G1 E%d F%d" % ( - extrude, self.auto_load_speed * 60)) + self.gcode.run_script("G1 E%d F%d" % (extrude, self.auto_load_speed * 60)) return self.reactor.NOW return eventtime + AUTOLOAD_TIMER @@ -643,7 +639,7 @@ class Palette2: status = { "ping": None, "remaining_load_length": self.remaining_load_length, - "is_splicing": self.is_splicing + "is_splicing": self.is_splicing, } if self.omega_pings: status["ping"] = self.omega_pings[-1] |