docs: add exclude_object documentation

Also include sample macros to add M486 compatibility.

Signed-off-by: Franklyn Tackitt <git@frank.af>
Co-authored-by: Troy Jacobson <troy.d.jacobson@gmail.com>

config/sample-macros.cfg

@@ -186,3 +186,55 @@ gcode:
     {% if params.K is not defined and params.L is defined %}SDCARD_LOOP_BEGIN COUNT={params.L|int}{% endif %}
     {% if params.K is not defined and params.L is not defined %}SDCARD_LOOP_END{% endif %}
     {% if params.K is defined and params.L is not defined %}SDCARD_LOOP_DESIST{% endif %}
+
+# Cancel object (aka Marlin/RRF M486 commands) support
+#
+# Enable object exclusion
+[exclude_object]
+
+[gcode_macro M486]
+gcode:
+  # Parameters known to M486 are as follows:
+  #   [C<flag>] Cancel the current object
+  #   [P<index>] Cancel the object with the given index
+  #   [S<index>] Set the index of the current object.
+  #       If the object with the given index has been canceled, this will cause
+  #       the firmware to skip to the next object. The value -1 is used to
+  #       indicate something that isn’t an object and shouldn’t be skipped.
+  #   [T<count>] Reset the state and set the number of objects
+  #   [U<index>] Un-cancel the object with the given index. This command will be
+  #       ignored if the object has already been skipped
+
+  {% if 'exclude_object' not in printer %}
+    {action_raise_error("[exclude_object] is not enabled")}
+  {% endif %}
+
+  {% if 'T' in params %}
+    EXCLUDE_OBJECT RESET=1
+
+    {% for i in range(params.T | int) %}
+      EXCLUDE_OBJECT_DEFINE NAME={i}
+    {% endfor %}
+  {% endif %}
+
+  {% if 'C' in params %}
+    EXCLUDE_OBJECT CURRENT=1
+  {% endif %}
+
+  {% if 'P' in params %}
+    EXCLUDE_OBJECT NAME={params.P}
+  {% endif %}
+
+  {% if 'S' in params %}
+    {% if params.S == '-1' %}
+      {% if printer.exclude_object.current_object %}
+        EXCLUDE_OBJECT_END NAME={printer.exclude_object.current_object}
+      {% endif %}
+    {% else %}
+      EXCLUDE_OBJECT_START NAME={params.S}
+    {% endif %}
+  {% endif %}
+
+  {% if 'U' in params %}
+    EXCLUDE_OBJECT RESET=1 NAME={params.U}
+  {% endif %}

docs/Config_Reference.md

@@ -1435,6 +1435,20 @@ Enable the "M118" and "RESPOND" extended
 #   override the "default_type".
 ```
 
+### [exclude_object]
+Enables support to exclude or cancel individual objects during the printing
+process.
+
+See the [exclude objects guide](Exclude_Object.md) and
+[command reference](G-Codes.md#excludeobject)
+for additional information. See the
+[sample-macros.cfg](../config/sample-macros.cfg) file for a
+Marlin/RepRapFirmware compatible M486 G-Code macro.
+
+```
+[exclude_object]
+```
+
 ## Resonance compensation
 
 ### [input_shaper]

docs/Exclude_Object.md

@@ -0,0 +1,99 @@
+# Exclude Obects
+
+The `[exclude_object]` module allows Klipper to exclude objects while a print is
+in progress. To enable this feature include an [exclude_object config
+section](Config_Reference.md#exclude_object) (also see the [command
+reference](G-Codes.md#exclude-object) and
+[sample-macros.cfg](../config/sample-macros.cfg) file for a
+Marlin/RepRapFirmware compatible M486 G-Code macro.)
+
+Unlike other 3D printer firmware options, a printer running Klipper utilizes a
+suite of components and users have many options to choose from.  Therefore, in
+order to provide a a consistent user experience, the `[exclude_object]` module
+will establish a contract or API of sorts.  The contract covers the contents of
+the gcode file, how the internal state of the module is controlled, and how that
+state is provided to clients.
+
+## Workflow Overview
+A typical workflow for printing a file might look like this:
+1. Slicing is completed and the file is uploaded for printing.  During the
+    upload, the file is processed and `[exclude_object]` markers are added to
+    the file. Alternately, slicers may be configured to prepare object exclusion
+    markers natively, or in it's own pre-processing step.
+2. When printing starts, Klipper will reset the `[exclude_object]`
+   [status](Status_Reference.md#exclude_object).
+3. When Klipper processes the `EXCLUDE_OBJECT_DEFINE` block, it will update the
+   status with the known objects and pass it on to clients.
+4. The client may use that information to present a UI to the user so that
+   progress can be tracked.  Klipper will update the status to include the
+   currently printing object which the client can use for display purposes.
+5. If the user requests that an object be cancelled, the client will issue an
+   `EXCLUDE_OBJECT NAME=<name>` command to Klipper.
+6. When Klipper process the command, it will add the object to the list of
+   excluded objects and update the status for the client.
+7. The client will receive the updated status from Klipper and can use that
+   information to reflect the object's status in the UI.
+8. When printing finishes, the `[exclude_object]` status will continue to be
+   available until another action resets it.
+
+## The GCode File
+The specialized gcode processing needed to support excluding objects does not
+fit into Klipper's core design goals.  Therefore, this module requires that the
+file is processed before being sent to Klipper for printing.  Using a
+post-process script in the slicer or having middleware process the file on
+upload are two possibilities for preparing the file for Klipper. A reference
+post-processing script is available both as an executable and a python library,
+see
+[cancelobject-preprocessor](https://github.com/kageurufu/cancelobject-preprocessor).
+
+### Object Definitions
+
+The `EXCLUDE_OBJECT_DEFINE` command is used to provide a summary of each object
+in the gcode file to be printed.  Provides a summary of an object in the file.
+Objects don't need to be defined in order to be referenced by other commands.
+The primary purpose of this command is to provide information to the UI without
+needing to parse the entire gcode file.
+
+Object definitions are named, to allow users to easily select an object to be
+excluded, and additional metadata may be provided to allow for graphical
+cancellation displays. Currently defined metadata includes a `CENTER` X,Y
+coordinate, and a `POLYGON` list of X,Y points representing a minimal outline of
+the object. This could be a simple bounding box, or a complicated hull for
+showing more detailed visualizations of the printed objects. Especially when
+gcode files include multiple parts with overlapping bounding regions, center
+points become hard to visually distinguish. `POLYGONS` must be a json-compatible
+array of point `[X,Y]` tuples without whitespace. Additional parameters will be
+saved as strings in the object definition and provided in status updates.
+
+`EXCLUDE_OBJECT_DEFINE NAME=calibration_pyramid CENTER=50,50
+POLYGON=[[40,40],[50,60],[60,40]]`
+
+All available G-Code commands are documented in the [G-Code
+Reference](./G-Codes.md#excludeobject)
+
+## Status Information
+The state of this module is provided to clients by the [exclude_object
+status](Status_Reference.md#exclude_object).
+
+The status is reset when:
+- The Klipper firmware is restarted.
+- There is a reset of the `[virtual_sdcard]`.  Notably, this is reset by Klipper
+  at the start of a print.
+- When an `EXCLUDE_OBJECT_DEFINE RESET=1` command is issued.
+
+The list of defined objects is represented in the `exclude_object.objects`
+status field.  In a well defined gcode file, this will be done with
+`EXCLUDE_OBJECT_DEFINE` commands at the beginning of the file.  This will
+provide clients with object names and coordinates so the UI can provide a
+graphical representation of the objects if desired.
+
+As the print progresses, the `exclude_object.current_object` status field will
+be updated as Klipper processes `EXCLUDE_OBJECT_START` and `EXCLUDE_OBJECT_END`
+commands.  The `current_object` field will be set even if the object has been
+excluded. Undefined objects marked with a `EXCLUDE_OBJECT_START` will be added
+to the known objects to assist in UI hinting, without any additional metadata.
+
+As `EXCLUDE_OBJECT` commands are issued, the list of excluded objects is
+provided in the `exclude_object.excluded_objects` array.  Since Klipper looks
+ahead to process upcoming gcode, there may be a delay between when the command
+is issued and when the status is updated.

docs/G-Codes.md

@@ -320,6 +320,57 @@ parameter is provided it arranges for the given endstop phase setting
 to be written to the config file (in conjunction with the SAVE_CONFIG
 command).
 
+### [exclude_object]
+
+The following commands are available when an
+[exclude_object config section](Config_Reference.md#exclude_object) is
+enabled (also see the [exclude object guide](Exclude_Object.md)):
+
+#### `EXCLUDE_OBJECT`
+`EXCLUDE_OBJECT [NAME=object_name] [CURRENT=1] [RESET=1]`:
+With no parameters, this will return a list of all currently excluded objects.
+
+When the `NAME` parameter is given, the named object will be excluded from
+printing.
+
+When the `CURRENT` parameter is given, the current object will be excluded from
+printing.
+
+When the `RESET` parameter is given, the list of excluded objects will be
+cleared. Additionally including `NAME` will only reset the named object. This
+**can** cause print failures, if layers were already skipped.
+
+#### `EXCLUDE_OBJECT_DEFINE`
+`EXCLUDE_OBJECT_DEFINE [NAME=object_name [CENTER=X,Y] [POLYGON=[[x,y],...]]
+[RESET=1] [JSON=1]`:
+Provides a summary of an object in the file.
+
+With no parameters provided, this will list the defined objects known to
+Klipper. Returns a list of strings, unless the `JSON` parameter is given,
+when it will return object details in json format.
+
+When the `NAME` parameter is included, this defines an object to be excluded.
+
+  - `NAME`: This parameter is required.  It is the identifier used by other
+    commands in this module.
+  - `CENTER`: An X,Y coordinate for the object.
+  - `POLYGON`: An array of X,Y coordinates that provide an outline for the
+    object.
+
+When the `RESET` parameter is provided, all defined objects will be cleared, and
+the `[exclude_object]` module will be reset.
+
+#### `EXCLUDE_OBJECT_START`
+`EXCLUDE_OBJECT_START NAME=object_name`:
+This command takes a `NAME` parameter and denotes the start of the gcode for an
+object on the current layer.
+
+#### `EXCLUDE_OBJECT_END`
+`EXCLUDE_OBJECT_END [NAME=object_name]`:
+Denotes the end of the object's gcode for the layer. It is paired with
+`EXCLUDE_OBJECT_START`. A `NAME` parameter is optional, and will only warn when
+the provided name does not match the current object.
+
 ### [extruder]
 
 The following commands are available if an

docs/Overview.md

@@ -54,6 +54,8 @@ communication with the Klipper developers.
   perfectly square.
 - [PWM tools](Using_PWM_Tools.md): Guide on how to use PWM controlled
   tools such as lasers or spindles.
+- [Exclude Object](Exclude_Object.md): The guide to the Exclude Objecs
+  implementation.
 
 ## Developer Documentation
 

docs/Status_Reference.md

@@ -69,6 +69,44 @@ The following information is available in the
   forward direction minus the total number of steps taken in the
   reverse direction since the micro-controller was last restarted.
 
+## exclude_object
+
+The following information is available in the
+[exclude_object](Exclude_Object.md) object:
+
+- `objects`:  An array of the known objects as provided by the
+  `EXCLUDE_OBJECT_DEFINE` command.  This is the same information provided by
+  the `EXCLUDE_OBJECT VERBOSE=1` command. The `center` and `polygon` fields will
+  only be present if provided in the original `EXCLUDE_OBJECT_DEFINE`
+
+  Here is a JSON sample:
+```
+[
+  {
+    "polygon": [
+      [ 156.25, 146.2511675 ],
+      [ 156.25, 153.7488325 ],
+      [ 163.75, 153.7488325 ],
+      [ 163.75, 146.2511675 ]
+    ],
+    "name": "CYLINDER_2_STL_ID_2_COPY_0",
+    "center": [ 160, 150 ]
+  },
+  {
+    "polygon": [
+      [ 146.25, 146.2511675 ],
+      [ 146.25, 153.7488325 ],
+      [ 153.75, 153.7488325 ],
+      [ 153.75, 146.2511675 ]
+    ],
+    "name": "CYLINDER_2_STL_ID_1_COPY_0",
+    "center": [ 150, 150 ]
+  }
+]
+```
+- `excluded_objects`: An array of strings listing the names of excluded objects.
+- `current_object`: The name of the object currently being printed.
+
 ## fan
 
 The following information is available in

docs/_klipper3d/mkdocs.yml

@@ -113,6 +113,7 @@ nav:
     - Multi_MCU_Homing.md
     - Slicers.md
     - Skew_Correction.md
+    - Exclude_Object.md
     - Using_PWM_Tools.md
   - Developer Documentation:
     - Code_Overview.md