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# PWM and digital output pin handling
#
# Copyright (C) 2017-2025 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, ast
from .display import display
######################################################################
# G-Code request queuing helper
######################################################################
# Helper code to queue g-code requests
class GCodeRequestQueue:
def __init__(self, config, mcu, callback):
self.printer = printer = config.get_printer()
self.mcu = mcu
self.callback = callback
self.rqueue = []
self.next_min_flush_time = 0.
self.toolhead = None
mcu.register_flush_callback(self._flush_notification)
printer.register_event_handler("klippy:connect", self._handle_connect)
def _handle_connect(self):
self.toolhead = self.printer.lookup_object('toolhead')
def _flush_notification(self, print_time, clock):
min_sched_time = self.mcu.min_schedule_time()
rqueue = self.rqueue
while rqueue:
next_time = max(rqueue[0][0], self.next_min_flush_time)
if next_time > print_time:
return
# Skip requests that have been overridden with a following request
pos = 0
while pos + 1 < len(rqueue) and rqueue[pos + 1][0] <= next_time:
pos += 1
req_pt, req_val = rqueue[pos]
# Invoke callback for the request
min_wait = 0.
ret = self.callback(next_time, req_val)
if ret is not None:
# Handle special cases
action, min_wait = ret
if action == "discard":
del rqueue[:pos+1]
continue
if action == "delay":
pos -= 1
del rqueue[:pos+1]
self.next_min_flush_time = next_time + max(min_wait, min_sched_time)
# Ensure following queue items are flushed
self.toolhead.note_mcu_movequeue_activity(self.next_min_flush_time)
def _queue_request(self, print_time, value):
self.rqueue.append((print_time, value))
self.toolhead.note_mcu_movequeue_activity(print_time)
def queue_gcode_request(self, value):
self.toolhead.register_lookahead_callback(
(lambda pt: self._queue_request(pt, value)))
def send_async_request(self, value, print_time=None):
min_sched_time = self.mcu.min_schedule_time()
if print_time is None:
systime = self.printer.get_reactor().monotonic()
print_time = self.mcu.estimated_print_time(systime + min_sched_time)
while 1:
next_time = max(print_time, self.next_min_flush_time)
# Invoke callback for the request
action, min_wait = "normal", 0.
ret = self.callback(next_time, value)
if ret is not None:
# Handle special cases
action, min_wait = ret
if action == "discard":
break
self.next_min_flush_time = next_time + max(min_wait, min_sched_time)
if action != "delay":
break
######################################################################
# Template evaluation helper
######################################################################
# Time between each template update
RENDER_TIME = 0.500
# Main template evaluation code
class PrinterTemplateEvaluator:
def __init__(self, config):
self.printer = config.get_printer()
self.active_templates = {}
self.render_timer = None
# Load templates
dtemplates = display.lookup_display_templates(config)
self.templates = dtemplates.get_display_templates()
gcode_macro = self.printer.load_object(config, "gcode_macro")
self.create_template_context = gcode_macro.create_template_context
def _activate_timer(self):
if self.render_timer is not None or not self.active_templates:
return
reactor = self.printer.get_reactor()
self.render_timer = reactor.register_timer(self._render, reactor.NOW)
def _activate_template(self, callback, template, lparams, flush_callback):
if template is not None:
# Build a unique id to make it possible to cache duplicate rendering
uid = (template,) + tuple(sorted(lparams.items()))
try:
{}.get(uid)
except TypeError as e:
# lparams is not static, so disable caching
uid = None
self.active_templates[callback] = (
uid, template, lparams, flush_callback)
return
if callback in self.active_templates:
del self.active_templates[callback]
def _render(self, eventtime):
if not self.active_templates:
# Nothing to do - unregister timer
reactor = self.printer.get_reactor()
reactor.unregister_timer(self.render_timer)
self.render_timer = None
return reactor.NEVER
# Setup gcode_macro template context
context = self.create_template_context(eventtime)
def render(name, **kwargs):
return self.templates[name].render(context, **kwargs)
context['render'] = render
# Render all templates
flush_callbacks = {}
render_cache = {}
template_info = self.active_templates.items()
for callback, (uid, template, lparams, flush_callback) in template_info:
text = render_cache.get(uid)
if text is None:
try:
text = template.render(context, **lparams)
except Exception as e:
logging.exception("display template render error")
text = ""
if uid is not None:
render_cache[uid] = text
if flush_callback is not None:
flush_callbacks[flush_callback] = 1
callback(text)
context.clear() # Remove circular references for better gc
# Invoke optional flush callbacks
for flush_callback in flush_callbacks.keys():
flush_callback()
return eventtime + RENDER_TIME
def set_template(self, gcmd, callback, flush_callback=None):
template = None
lparams = {}
tpl_name = gcmd.get("TEMPLATE")
if tpl_name:
template = self.templates.get(tpl_name)
if template is None:
raise gcmd.error("Unknown display_template '%s'" % (tpl_name,))
tparams = template.get_params()
for p, v in gcmd.get_command_parameters().items():
if not p.startswith("PARAM_"):
continue
p = p.lower()
if p not in tparams:
raise gcmd.error("Invalid display_template parameter: %s"
% (p,))
try:
lparams[p] = ast.literal_eval(v)
except ValueError as e:
raise gcmd.error("Unable to parse '%s' as a literal" % (v,))
self._activate_template(callback, template, lparams, flush_callback)
self._activate_timer()
def lookup_template_eval(config):
printer = config.get_printer()
te = printer.lookup_object("template_evaluator", None)
if te is None:
te = PrinterTemplateEvaluator(config)
printer.add_object("template_evaluator", te)
return te
######################################################################
# Main output pin handling
######################################################################
class PrinterOutputPin:
def __init__(self, config):
self.printer = config.get_printer()
ppins = self.printer.lookup_object('pins')
# Determine pin type
self.is_pwm = config.getboolean('pwm', False)
if self.is_pwm:
self.mcu_pin = ppins.setup_pin('pwm', config.get('pin'))
max_duration = self.mcu_pin.get_mcu().max_nominal_duration()
cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
maxval=max_duration)
hardware_pwm = config.getboolean('hardware_pwm', False)
self.mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
self.scale = config.getfloat('scale', 1., above=0.)
else:
self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
self.scale = 1.
self.mcu_pin.setup_max_duration(0.)
# Determine start and shutdown values
self.last_value = config.getfloat(
'value', 0., minval=0., maxval=self.scale) / self.scale
self.shutdown_value = config.getfloat(
'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
self.mcu_pin.setup_start_value(self.last_value, self.shutdown_value)
# Create gcode request queue
self.gcrq = GCodeRequestQueue(config, self.mcu_pin.get_mcu(),
self._set_pin)
# Template handling
self.template_eval = lookup_template_eval(config)
# Register commands
pin_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("SET_PIN", "PIN", pin_name,
self.cmd_SET_PIN,
desc=self.cmd_SET_PIN_help)
def get_status(self, eventtime):
return {'value': self.last_value}
def _set_pin(self, print_time, value):
if value == self.last_value:
return "discard", 0.
self.last_value = value
if self.is_pwm:
self.mcu_pin.set_pwm(print_time, value)
else:
self.mcu_pin.set_digital(print_time, value)
def _template_update(self, text):
try:
value = float(text)
except ValueError as e:
logging.exception("output_pin template render error")
value = 0.
self.gcrq.send_async_request(value)
cmd_SET_PIN_help = "Set the value of an output pin"
def cmd_SET_PIN(self, gcmd):
value = gcmd.get_float('VALUE', None, minval=0., maxval=self.scale)
template = gcmd.get('TEMPLATE', None)
if (value is None) == (template is None):
raise gcmd.error("SET_PIN command must specify VALUE or TEMPLATE")
# Check for template setting
if template is not None:
self.template_eval.set_template(gcmd, self._template_update)
return
# Read requested value
value /= self.scale
if not self.is_pwm and value not in [0., 1.]:
raise gcmd.error("Invalid pin value")
# Queue requested value
self.gcrq.queue_gcode_request(value)
def load_config_prefix(config):
return PrinterOutputPin(config)
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