Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory. This is intended to make adding new
kinematics a little easier.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a section name had mixed case it would cause an incorrect error
during the section/option config checking.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a PrinterHeaters class that can stores references to available
temperature sensors and stores references to instantiated heaters.
Add a extras/heater_bed.py file and delay instantiation of the
heater_bed object. This allows the heater.py module to be imported
earlier during the setup phase, and allows the PrinterHeaters class to
be available for registering sensors and heaters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Automatically clear the information printed at the start of each log
file rollover on a klippy internal restart.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the digital_output, pwm_output, and static_pwm_output config
sections to output_pin and move to a new module in the extras/
directory.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 9bc4239e now emphasizes the first line of a multi-line error
message, so rework startup_message to conform to that.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of using the toolhead class to determine if stats should be
reported, allow every printer object with a stats() callback to
determine if stats are needed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use both load_config() and load_config_prefix() functions when
dynamically loading a module from the extras directory - if the config
section name has parameters in it then use load_config_prefix().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The print cooling fan and printer heater_fan are independent modules
that can reside in the extras directory.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check if a config section matches a python filename in the
klippy/extras/ directory. If it does, load that python code to handle
the config section.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of hardcoding which objects are called on state transitions,
allow any "printer object" to be invoked if it has a printer_state()
method. Convert connect, ready, shutdown, and disconnect callbacks to
this mechanism.
Similarly, allow all printer objects to provide a stats() callback.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add get_reactor(), lookup_object(), lookup_module_objects(), and
set_rollover_info() to the main Printer class so that callers do not
need to peek into the class' members. Similarly, add get_printer()
and get_name() methods to the ConfigWrapper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that commands can be registered dynamically, move the code for
SET_SERVO from gcode.py to the PrinterServo() class in chipmisc.py.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If an MCU signals a shutdown from the background thread, notify the
main thread and handle the shutdown there. Dispatch shutdown handling
from the main Printer() class instead of from the Toolhead class.
This simplifies the shutdown logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The logging module can build strings directly from printf syntax - no
need to build the string first.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance. Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Preface the internal functions to make it more clear which functions
are interfaces to external code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow digital and PWM output pins to be setup via new config
sections. This makes it easier to setup pin configurations.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow multiple chips to provide pin mappings (not just the main mcu
chip). Move the pin parsing from the mcu.py code to pins.py and
support mapping from pin descriptions to their corresponding chips and
parameters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store pertinent information from the software startup in a dictionary
that the various printer components can access instead of in
individual variables in the Printer() class. This makes it easier to
add future command-line options.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some systems point python to python3 instead of python2 - explicitly
request python2 to avoid conflicts.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create add_printer_objects() functions in the fan, heater, extruder,
and toolhead modules. Create the necessary printer component objects
from this call instead of placing the code directly in klippy.py.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When the log file does a rollover, start the top of the log with
critical system information (eg, software versions).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Advice users to issue a FIRMWARE_RESTART command on a printer shutdown
event, and remove support for CLEAR_SHUTDOWN. A full mcu reset is
preferable and it simplifies the interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the FIRMWARE_RESTART command so that it can use the firmware
"reset" command instead of the "arduino" mechanism.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code. Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add initial support for micro-controller resets via the Arduino reset
mechanism. Also, automatically attempt a firmware restart if the
printer CRC does not match.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Report in the log the host CPU type and count. This helps distinguish
between different rpi versions when debugging the log from a problem
report.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The normal system clock can have sudden jumps if the system clock is
changed. Use the system monotonic clock to avoid these sudden changes
in time.
It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity. This could cause
sudden system clock changes which could lead to Klippy processing
errors. Using the monotonic clock eliminates these issues.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check for msgproto.error and warn the user about version firmware
version mismatch. Raise msgproto.error when extracting firmware
constants.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It is possible to restart the host software with a RESTART command
after manually resetting the micro-controller.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a "restart" gcode command that will cause the host "klippy"
software to reload its config and restart.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The set_printer_ready() method can be called from a background thread.
Have the main Printer class call a new dump_debug() method in the main
thread on a shutdown event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check that all options specified in the config file are valid. This
catches possible typos and spelling errors in variable names that have
a default.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add helper function that ensures a config option is one of several
choices. This helps ensure that a proper error is raised if an
invalid choice is made.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the greenlet mechanism to wait for the connection to come up in
the serial connect() method. This simplifies the calling code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Setup the reactor and run the MCU connection code as a timer within
the reactor. The connection code will make use of reactor greenlets
so that it can wait for events during the connection phase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Writing to the debug log can cause an unbounded delay due to disk IO.
This is particularly so on embedded machines such as the Raspberry Pi
that run on SD cards. These log writing delays can cause problems for
the main processing threads.
The new "queuelogger" code forwards all the main thread log messages
to a queue, and a background thread writes the log messages from the
queue to the destination file. This eliminates the IO delay from the
main threads.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new python file (extruder.py) to control the extruder heater
and stepper motors. This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor