import logging import gi gi.require_version("Gtk", "3.0") from gi.repository import Gtk, Pango, GLib from ks_includes.screen_panel import ScreenPanel from ks_includes.KlippyGtk import find_widget from datetime import datetime class Panel(ScreenPanel): widgets = {} distances = ['.01', '.05', '.1', '.5', '1', '5'] distance = distances[-2] def __init__(self, screen, title): title = title or _("Z Calibrate") super().__init__(screen, title) self.last_drop_time = datetime.now() self.initialize_mesh_params() self.initialize_probe_params() self.setup_ui() def initialize_mesh_params(self): self.mesh_min = [] self.mesh_max = [] self.mesh_radius = None self.mesh_origin = [0, 0] self.zero_ref = [] if "BED_MESH_CALIBRATE" not in self._printer.available_commands: return mesh = self._printer.get_config_section("bed_mesh") if 'mesh_radius' in mesh: self.mesh_radius = float(mesh['mesh_radius']) if 'mesh_origin' in mesh: self.mesh_origin = self._csv_to_array(mesh['mesh_origin']) elif 'mesh_min' in mesh and 'mesh_max' in mesh: self.mesh_min = self._csv_to_array(mesh['mesh_min']) self.mesh_max = self._csv_to_array(mesh['mesh_max']) elif 'min_x' in mesh and 'min_y' in mesh and 'max_x' in mesh and 'max_y' in mesh: self.mesh_min = [float(mesh['min_x']), float(mesh['min_y'])] self.mesh_max = [float(mesh['max_x']), float(mesh['max_y'])] if 'zero_reference_position' in self._printer.get_config_section("bed_mesh"): self.zero_ref = self._csv_to_array(mesh['zero_reference_position']) def initialize_probe_params(self): self.z_hop_speed = 15.0 self.z_hop = 5.0 self.probe = self._printer.get_probe() if self.probe: self.x_offset = float(self.probe.get('x_offset', 0.0)) self.y_offset = float(self.probe.get('y_offset', 0.0)) self.z_offset = float(self.probe['z_offset']) if "sample_retract_dist" in self.probe: self.z_hop = float(self.probe['sample_retract_dist']) if "speed" in self.probe: self.z_hop_speed = float(self.probe['speed']) else: self.x_offset = 0.0 self.y_offset = 0.0 self.z_offset = 0.0 logging.info(f"Offset X:{self.x_offset} Y:{self.y_offset} Z:{self.z_offset}") def setup_ui(self): self.widgets['zposition'] = Gtk.Label(label="Z: ?") self.widgets['zoffset'] = Gtk.Label(label="?") pos = Gtk.Grid(row_homogeneous=True, column_homogeneous=True) pos.attach(self.widgets['zposition'], 0, 1, 2, 1) if self.probe: pos.attach(Gtk.Label(label=_("Probe Offset") + ": "), 0, 2, 2, 1) pos.attach(Gtk.Label(label=_("Saved")), 0, 3, 1, 1) pos.attach(Gtk.Label(label=_("New")), 1, 3, 1, 1) pos.attach(Gtk.Label(label=f"{self.z_offset:.3f}"), 0, 4, 1, 1) pos.attach(self.widgets['zoffset'], 1, 4, 1, 1) for label in pos.get_children(): if isinstance(label, Gtk.Label): label.set_ellipsize(Pango.EllipsizeMode.END) self.buttons = { 'zpos': self._gtk.Button('z-farther', _("Raise Nozzle"), 'color4'), 'zneg': self._gtk.Button('z-closer', _("Lower Nozzle"), 'color1'), 'start': self._gtk.Button('resume', _("Start"), 'color3'), 'complete': self._gtk.Button('complete', _('Accept'), 'color3'), 'cancel': self._gtk.Button('cancel', _('Abort'), 'color2'), } self.buttons['zpos'].connect("clicked", self.move, "+") self.buttons['zneg'].connect("clicked", self.move, "-") self.buttons['complete'].connect("clicked", self.accept) script = {"script": "ABORT"} self.buttons['cancel'].connect( "clicked", self._screen._confirm_send_action, ("Are you sure you want to stop the calibration?"), "printer.gcode.script", script ) self.buttons['start'].connect("clicked", self.start_calibration) self.dropdown = Gtk.ComboBox.new_with_model(self.set_commands()) self.dropdown.connect("changed", self.on_dropdown_change) self.dropdown.connect("notify::popup-shown", self.on_popup_shown) renderer_text = Gtk.CellRendererText() renderer_text.set_property("ellipsize", Pango.EllipsizeMode.END) self.dropdown.pack_start(renderer_text, True) self.dropdown.add_attribute(renderer_text, "text", 0) self.dropdown.set_active(0) distgrid = Gtk.Grid() for j, i in enumerate(self.distances): self.widgets[i] = self._gtk.Button(label=i) self.widgets[i].set_direction(Gtk.TextDirection.LTR) self.widgets[i].connect("clicked", self.change_distance, i) ctx = self.widgets[i].get_style_context() ctx.add_class("horizontal_togglebuttons") if i == self.distance: ctx.add_class("horizontal_togglebuttons_active") distgrid.attach(self.widgets[i], j, 0, 1, 1) self.widgets['move_dist'] = Gtk.Label(_("Move Distance (mm)")) distances = Gtk.Box(orientation=Gtk.Orientation.VERTICAL) distances.pack_start(self.widgets['move_dist'], True, True, 0) distances.pack_start(distgrid, True, True, 0) start_box = Gtk.Box(orientation=Gtk.Orientation.VERTICAL) start_box.pack_start(self.buttons['start'], True, True, 0) start_box.pack_start(self.dropdown, True, True, 0) grid = Gtk.Grid(column_homogeneous=True) if self._screen.vertical_mode: zpos_row, zneg_row = (2, 1) if self._config.get_config()["main"].getboolean("invert_z", False) else (1, 2) grid.attach(self.buttons['zpos'], 0, zpos_row, 1, 1) grid.attach(self.buttons['zneg'], 0, zneg_row, 1, 1) grid.attach(start_box, 0, 0, 1, 1) grid.attach(pos, 1, 0, 1, 1) grid.attach(self.buttons['complete'], 1, 1, 1, 1) grid.attach(self.buttons['cancel'], 1, 2, 1, 1) grid.attach(distances, 0, 3, 2, 1) else: zpos_row, zneg_row = (1, 0) if self._config.get_config()["main"].getboolean("invert_z", False) else (0, 1) grid.attach(self.buttons['zpos'], 0, zpos_row, 1, 1) grid.attach(self.buttons['zneg'], 0, zneg_row, 1, 1) grid.attach(start_box, 1, 0, 1, 1) grid.attach(pos, 1, 1, 1, 1) grid.attach(self.buttons['complete'], 2, 0, 1, 1) grid.attach(self.buttons['cancel'], 2, 1, 1, 1) grid.attach(distances, 0, 2, 3, 1) self.content.add(grid) def on_dropdown_change(self, dropdown): iterable = dropdown.get_active_iter() if iterable is None: self._screen.show_popup_message("Unknown error with dropdown") return model = dropdown.get_model() logging.debug(f"Selected {model[iterable][0]}") def on_popup_shown(self, combo_box, param): if combo_box.get_property("popup-shown"): logging.debug("Dropdown popup show") self.last_drop_time = datetime.now() else: elapsed = (datetime.now() - self.last_drop_time).total_seconds() if elapsed < 0.2: logging.debug(f"Dropdown closed too fast ({elapsed}s)") GLib.timeout_add(50, self.dropdown_keep_open) return logging.debug("Dropdown popup close") def dropdown_keep_open(self): self.dropdown.popup() return False def set_commands(self): commands = Gtk.ListStore(str) if "PROBE_CALIBRATE" in self._printer.available_commands: commands.append({"PROBE_CALIBRATE"}) if "Z_ENDSTOP_CALIBRATE" in self._printer.available_commands: commands.append({"Z_ENDSTOP_CALIBRATE"}) if "BED_MESH_CALIBRATE" in self._printer.available_commands: commands.append({"BED_MESH_CALIBRATE METHOD=manual"}) if "DELTA_CALIBRATE" in self._printer.available_commands: commands.append({"DELTA_CALIBRATE"}) commands.append({"DELTA_CALIBRATE METHOD=manual"}) if "AXIS_TWIST_COMPENSATION_CALIBRATE" in self._printer.available_commands: commands.append({"AXIS_TWIST_COMPENSATION_CALIBRATE"}) # Custom commands if self.ks_printer_cfg is not None: if custom_config := self.ks_printer_cfg.get("zcalibrate_custom_commands", None): custom_commands = [str(i.strip()) for i in custom_config.split(',')] for command in custom_commands: commands.append({f"{command}"}) logging.info(f"Available commands for calibration: {[row[0] for row in commands]}") return commands @staticmethod def _csv_to_array(string): return [float(i.strip()) for i in string.split(',')] def start_calibration(self, widget): iterable = self.dropdown.get_active_iter() if iterable is None: self._screen.show_popup_message("Unknown error with dropdown") return model = self.dropdown.get_model() command = model[iterable][0] self.buttons['start'].set_sensitive(False) self.dropdown.set_sensitive(False) self._screen._ws.klippy.gcode_script("SET_GCODE_OFFSET Z=0") if self._printer.config_section_exists("bed_mesh"): self._screen._ws.klippy.gcode_script("BED_MESH_CLEAR") if self._printer.get_stat("toolhead", "homed_axes") != "xyz": self._screen._ws.klippy.gcode_script("G28") self._move_to_position(*self._get_calibration_location()) self._screen._ws.klippy.gcode_script(command) def _move_to_position(self, x, y): if not x or not y: self._screen.show_popup_message(_("Error: Couldn't get a position to probe")) return logging.info(f"Lifting Z: {self.z_hop}mm {self.z_hop_speed}mm/s") self._screen._ws.klippy.gcode_script(f"G91\nG0 Z{self.z_hop} F{self.z_hop_speed * 60}") logging.info(f"Moving to X:{x} Y:{y}") self._screen._ws.klippy.gcode_script(f'G90\nG0 X{x} Y{y} F3000') def _get_calibration_location(self): if self.ks_printer_cfg is not None: x = self.ks_printer_cfg.getfloat("calibrate_x_position", None) y = self.ks_printer_cfg.getfloat("calibrate_y_position", None) if x and y: logging.debug(f"Using KS configured position: {x}, {y}") return x, y if self.zero_ref: logging.debug(f"Using zero reference position: {self.zero_ref}") return self.zero_ref[0] - self.x_offset, self.zero_ref[1] - self.y_offset if ("safe_z_home" in self._printer.get_config_section_list() and "Z_ENDSTOP_CALIBRATE" not in self._printer.available_commands): return self._get_safe_z() if self.mesh_radius or "delta" in self._printer.get_config_section("printer")['kinematics']: logging.info(f"Round bed calibrating at {self.mesh_origin}") return self.mesh_origin[0] - self.x_offset, self.mesh_origin[1] - self.y_offset x, y = self._calculate_position() return x, y def _get_safe_z(self): safe_z = self._printer.get_config_section("safe_z_home") safe_z_xy = self._csv_to_array(safe_z['home_xy_position']) logging.debug(f"Using safe_z {safe_z_xy[0]}, {safe_z_xy[1]}") if 'z_hop' in safe_z: self.z_hop = float(safe_z['z_hop']) if 'z_hop_speed' in safe_z: self.z_hop_speed = float(safe_z['z_hop_speed']) return safe_z_xy[0], safe_z_xy[1] def _calculate_position(self): if self.mesh_max and self.mesh_min: mesh_mid_x = (self.mesh_min[0] + self.mesh_max[0]) / 2 mesh_mid_y = (self.mesh_min[1] + self.mesh_max[1]) / 2 logging.debug(f"Probe in the mesh center X:{mesh_mid_x} Y:{mesh_mid_y}") return mesh_mid_x - self.x_offset, mesh_mid_y - self.y_offset try: mid_x = float(self._printer.get_config_section("stepper_x")['position_max']) / 2 mid_y = float(self._printer.get_config_section("stepper_y")['position_max']) / 2 except KeyError: logging.error("Couldn't get max position from stepper_x and stepper_y") return None, None logging.debug(f"Probe in the center X:{mid_x} Y:{mid_y}") return mid_x - self.x_offset, mid_y - self.y_offset def activate(self): if self._printer.get_stat("manual_probe", "is_active"): self.buttons_calibrating() else: self.buttons_not_calibrating() def process_update(self, action, data): if action == "notify_status_update": if self._printer.get_stat("toolhead", "homed_axes") != "xyz": self.widgets['zposition'].set_text("Z: ?") elif "gcode_move" in data and "gcode_position" in data['gcode_move']: self.update_position(data['gcode_move']['gcode_position']) if "manual_probe" in data: if data["manual_probe"]["is_active"]: self.buttons_calibrating() else: self.buttons_not_calibrating() elif action == "notify_gcode_response": if "out of range" in data.lower(): self._screen.show_popup_message(data) logging.info(data) elif "fail" in data.lower() and "use testz" in data.lower(): self._screen.show_popup_message(_("Failed, adjust position first")) logging.info(data) return def update_position(self, position): self.widgets['zposition'].set_text(f"Z: {position[2]:.3f}") self.widgets['zoffset'].set_text(f"{abs(position[2] - self.z_offset):.3f}") def change_distance(self, widget, distance): logging.info(f"### Distance {distance}") self.widgets[f"{self.distance}"].get_style_context().remove_class("horizontal_togglebuttons_active") self.widgets[f"{distance}"].get_style_context().add_class("horizontal_togglebuttons_active") self.distance = distance def move(self, widget, direction): self._screen._ws.klippy.gcode_script(f"TESTZ Z={direction}{self.distance}") def accept(self, widget): logging.info("Accepting Z position") self._screen._ws.klippy.gcode_script("ACCEPT") def buttons_calibrating(self): self.buttons['start'].get_style_context().remove_class('color3') self.buttons['start'].set_sensitive(False) self.dropdown.set_sensitive(False) self.buttons['zpos'].set_sensitive(True) self.buttons['zpos'].get_style_context().add_class('color4') self.buttons['zneg'].set_sensitive(True) self.buttons['zneg'].get_style_context().add_class('color1') self.buttons['complete'].set_sensitive(True) self.buttons['complete'].get_style_context().add_class('color3') self.buttons['cancel'].set_sensitive(True) self.buttons['cancel'].get_style_context().add_class('color2') def buttons_not_calibrating(self): self.buttons['start'].get_style_context().add_class('color3') self.buttons['start'].set_sensitive(True) self.dropdown.set_sensitive(True) self.buttons['zpos'].set_sensitive(False) self.buttons['zpos'].get_style_context().remove_class('color4') self.buttons['zneg'].set_sensitive(False) self.buttons['zneg'].get_style_context().remove_class('color1') self.buttons['complete'].set_sensitive(False) self.buttons['complete'].get_style_context().remove_class('color3') self.buttons['cancel'].set_sensitive(False) self.buttons['cancel'].get_style_context().remove_class('color2')