f22f7574b3
* bed_level: major rework deprecate screw positions, we will be auto-detecting from now on support rotating the layout (previously only rotated the button actions) invert support, inverting axis in KS will invert the layout * move: mark bed_level to reinit after invert * bed_level: rotate with a shift function * bed_level: rotation show popup if misconfigured * bed_level: message for screw configurations not supportted in a more informative way * docs: update bed_level docs
322 lines
14 KiB
Python
322 lines
14 KiB
Python
import logging
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import re
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import math
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import gi
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gi.require_version("Gtk", "3.0")
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from gi.repository import Gtk, Pango
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from ks_includes.KlippyGcodes import KlippyGcodes
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from ks_includes.screen_panel import ScreenPanel
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# Find the screw closest to the point,
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# but return None if the distance is above max_distance.
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# If remove is set to true, the screw is also removed
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# from the list of passed in screws.
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def find_closest(screws, point, max_distance):
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if len(screws) == 0:
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return None
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closest = screws[0]
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min_distance = math.hypot(closest[0] - point[0], closest[1] - point[1])
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for screw in screws[1:]:
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distance = math.hypot(screw[0] - point[0], screw[1] - point[1])
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if distance < min_distance:
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closest = screw
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min_distance = distance
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if min_distance > max_distance:
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return None
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screws.remove(closest)
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return closest
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class Panel(ScreenPanel):
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def __init__(self, screen, title):
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super().__init__(screen, title)
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self.screw_positions = {}
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self.screws = []
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self.x_offset = 0
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self.y_offset = 0
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self.buttons = {'dm': self._gtk.Button("motor-off", _("Disable Motors"), "color3")}
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self.buttons['dm'].connect("clicked", self.disable_motors)
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rotation = 0
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self.probe_z_height = 0
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self.lift_speed = 5
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self.horizontal_move_z = 5
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self.horizontal_speed = 50
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invert_x = invert_y = False
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grid = Gtk.Grid(row_homogeneous=True, column_homogeneous=True)
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grid.attach(self.buttons['dm'], 0, 0, 1, 1)
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if "screws_tilt_adjust" in self._printer.get_config_section_list():
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self.buttons['screws'] = self._gtk.Button("refresh", _("Screws Adjust"), "color4")
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self.buttons['screws'].connect("clicked", self.screws_tilt_calculate)
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grid.attach(self.buttons['screws'], 0, 1, 1, 1)
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self.screws = self._get_screws("screws_tilt_adjust")
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logging.info(f"screws_tilt_adjust: {self.screws}")
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probe = self._printer.get_probe()
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if probe:
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if "x_offset" in probe:
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self.x_offset = float(probe['x_offset'])
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if "y_offset" in probe:
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self.y_offset = float(probe['y_offset'])
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logging.debug(f"offset X: {self.x_offset} Y: {self.y_offset}")
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# bed_screws uses NOZZLE positions
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# screws_tilt_adjust uses PROBE positions and
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# to be offseted for the buttons to work equal to bed_screws
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new_screws = [
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[screw[0] + self.x_offset, screw[1] + self.y_offset]
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for screw in self.screws
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]
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self.screws = new_screws
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logging.info(f"screws with offset: {self.screws}")
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elif "bed_screws" in self._printer.get_config_section_list():
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self.screws = self._get_screws("bed_screws")
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logging.info(f"bed_screws: {self.screws}")
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# KS config
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if self.ks_printer_cfg is not None:
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rotation = self.ks_printer_cfg.getint("screw_rotation", 0)
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if rotation not in (0, 90, 180, 270):
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self._screen.show_popup_message(_("Rotation invalid") + f" {rotation} \n")
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logging.info(f"Rotation invalid: {rotation}")
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rotation = 0
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logging.info(f"Rotation: {rotation}")
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invert_x = self._config.get_config()['main'].getboolean("invert_x", False)
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invert_y = self._config.get_config()['main'].getboolean("invert_y", False)
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logging.info(f"Inversion X: {invert_x} Y: {invert_y}")
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# get dimensions
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x_positions = {x[0] for x in self.screws}
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y_positions = {y[1] for y in self.screws}
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logging.info(f"X: {x_positions}\nY: {y_positions}")
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min_x = min(x_positions)
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max_x = max(x_positions)
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mid_x = round((min_x + max_x) / 2)
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min_y = min(y_positions)
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max_y = max(y_positions)
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mid_y = round((min_y + max_y) / 2)
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max_distance = math.floor(min(max_x - min_x, max_y - min_y) / 3)
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logging.debug(f"Using max_distance: {max_distance} to fit: {len(self.screws)} screws.")
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remaining_screws = self.screws[:]
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# The order here it's important because the rotation function will
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# shift the values according to the angle of rotation
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self.screw_positions = {
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'bl': find_closest(remaining_screws, (min_x, max_y), max_distance),
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'fm': find_closest(remaining_screws, (mid_x, min_y), max_distance),
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'br': find_closest(remaining_screws, (max_x, max_y), max_distance),
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'lm': find_closest(remaining_screws, (min_x, mid_y), max_distance),
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'fr': find_closest(remaining_screws, (max_x, min_y), max_distance),
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'bm': find_closest(remaining_screws, (mid_x, max_y), max_distance),
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'fl': find_closest(remaining_screws, (min_x, min_y), max_distance),
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'rm': find_closest(remaining_screws, (max_x, mid_y), max_distance),
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}
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if invert_x and invert_y:
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rotation = (rotation + 180) % 360
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invert_x = invert_y = False
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if rotation != 0:
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self.screw_positions = self.map_rotation(self.screw_positions, rotation)
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logging.info(f"Rotated: {rotation}")
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if invert_x or invert_y:
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self.screw_positions = self.map_invert(self.screw_positions, invert_x, invert_y)
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self.screw_positions['center'] = find_closest(remaining_screws, (mid_x, mid_y), max_distance)
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if len(remaining_screws) != 0:
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found = []
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for pos in self.screw_positions:
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if self.screw_positions[pos]:
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found.append(pos)
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logging.debug(f"Found: {found}")
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logging.debug(f"Screws not used: {remaining_screws}")
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if len(self.screws) > 9:
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error_msg = _("This panel supports up-to 9 screws in a 3x3 Grid")
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else:
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error_msg = _("It's possible that the configuration is not correct")
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self._screen.show_popup_message(_("Screws not used:") + f" {remaining_screws} \n" +
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error_msg, 2)
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logging.debug(f"Using {len(self.screws) - len(remaining_screws)}/{len(self.screws)}-screw locations")
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button_scale = 2
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self.buttons['bl'] = self._gtk.Button("bed-level-t-l", scale=button_scale)
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self.buttons['br'] = self._gtk.Button("bed-level-t-r", scale=button_scale)
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self.buttons['fl'] = self._gtk.Button("bed-level-b-l", scale=button_scale)
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self.buttons['fr'] = self._gtk.Button("bed-level-b-r", scale=button_scale)
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self.buttons['lm'] = self._gtk.Button("bed-level-l-m", scale=button_scale)
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self.buttons['rm'] = self._gtk.Button("bed-level-r-m", scale=button_scale)
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self.buttons['fm'] = self._gtk.Button("bed-level-b-m", scale=button_scale)
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self.buttons['bm'] = self._gtk.Button("bed-level-t-m", scale=button_scale)
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self.buttons['center'] = self._gtk.Button("bed-level-center", scale=button_scale)
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screw_layout_map = {
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'fr': [3, 2, 1, 1],
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'fm': [2, 2, 1, 1],
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'fl': [1, 2, 1, 1],
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'rm': [3, 1, 1, 1],
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'br': [3, 0, 1, 1],
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'bm': [2, 0, 1, 1],
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'bl': [1, 0, 1, 1],
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'lm': [1, 1, 1, 1],
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'center': [2, 1, 1, 1],
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}
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bedgrid = Gtk.Grid()
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for pos in screw_layout_map:
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bedgrid.attach(self.buttons[pos], *screw_layout_map[pos])
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self.buttons[pos].set_no_show_all(True)
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if pos in self.screw_positions and self.screw_positions[pos]:
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self.buttons[pos].show()
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for layout_pos in self.screw_positions:
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self.buttons[layout_pos].connect("clicked", self.go_to_position, self.screw_positions[layout_pos])
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remove_list = []
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for screw in self.screw_positions:
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if self.screw_positions[screw] is None:
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remove_list.append(screw)
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for screw in remove_list:
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self.screw_positions.pop(screw)
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logging.info(f"screw_positions: {self.screw_positions}")
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grid.attach(bedgrid, 1, 0, 3, 2)
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self.content.add(grid)
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@staticmethod
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def map_invert(positions, invert_x, invert_y):
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if invert_x:
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return {
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'fr': positions['fl'],
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'fm': positions['fm'],
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'fl': positions['fr'],
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'rm': positions['lm'],
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'bl': positions['br'],
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'bm': positions['bm'],
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'br': positions['bl'],
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'lm': positions['rm']
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}
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if invert_y:
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return {
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'fr': positions['br'],
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'fm': positions['bm'],
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'fl': positions['bl'],
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'rm': positions['rm'],
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'bl': positions['fl'],
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'bm': positions['fm'],
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'br': positions['fr'],
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'lm': positions['lm']
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}
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return positions
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@staticmethod
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def map_rotation(positions, angle):
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angle %= 360
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shift = (angle // 90) * 2
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rotated_positions = {}
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keys = list(positions.keys())
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for i, key in enumerate(keys):
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new_key = keys[(i + shift) % len(keys)]
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rotated_positions[new_key] = positions[key]
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return rotated_positions
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def home(self):
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# Test if all axes have been homed. Home if necessary.
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if self._printer.get_stat("toolhead", "homed_axes") != "xyz":
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self._screen._ws.klippy.gcode_script("G28")
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# do Z_TILT_CALIBRATE if applicable.
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if self._printer.config_section_exists("z_tilt"):
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self._screen._ws.klippy.gcode_script("Z_TILT_ADJUST")
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def go_to_position(self, widget, position):
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self.home()
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logging.debug(f"Going to position: {position}")
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script = [
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f"{KlippyGcodes.MOVE_ABSOLUTE}",
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f"G1 Z{self.horizontal_move_z} F{self.lift_speed * 60}\n",
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f"G1 X{position[0]} Y{position[1]} F{self.horizontal_speed * 60}\n",
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f"G1 Z{self.probe_z_height} F{self.lift_speed * 60}\n"
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]
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self._screen._send_action(widget, "printer.gcode.script", {"script": "\n".join(script)})
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def disable_motors(self, widget):
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self._screen._send_action(widget, "printer.gcode.script", {"script": "M18"})
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def process_busy(self, busy):
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for button in self.buttons:
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if button == "screws":
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continue
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self.buttons[button].set_sensitive((not busy))
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def process_update(self, action, data):
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if 'idle_timeout' in data:
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self.process_busy(data['idle_timeout']['state'].lower() == "printing")
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if action != "notify_status_update":
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return
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if "screws_tilt_adjust" in data:
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if "error" in data["screws_tilt_adjust"]:
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self.buttons['screws'].set_sensitive(True)
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logging.info("Error reported by screws_tilt_adjust")
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if "results" in data["screws_tilt_adjust"]:
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section = self._printer.get_config_section('screws_tilt_adjust')
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for screw, result in data["screws_tilt_adjust"]["results"].items():
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logging.info(f"{screw} {result['sign']} {result['adjust']}")
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if screw not in section:
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logging.error(f"{screw} not found in {section}")
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continue
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x, y = section[screw].split(',')
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x = float(x) + self.x_offset
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y = float(y) + self.y_offset
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for key, value in self.screw_positions.items():
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if value and x == value[0] and y == value[1]:
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logging.debug(f"X: {x} Y: {y} Adjust: {result['adjust']} Pos: {key}")
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if result['is_base']:
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logging.info(f"{screw} is the Reference")
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self.buttons[key].set_label(_("Reference"))
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else:
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self.buttons[key].set_label(f"{result['sign']} {result['adjust']}")
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if int(result['adjust'].split(':')[0]) == 0 and int(result['adjust'].split(':')[1]) < 6:
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self.buttons[key].set_image(self._gtk.Image('complete'))
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else:
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self.buttons[key].set_image(self._gtk.Image(result['sign'].lower()))
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def _get_screws(self, config_section_name):
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screws = []
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config_section = self._printer.get_config_section(config_section_name)
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logging.debug(config_section_name)
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for item in config_section:
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logging.debug(f"{item}: {config_section[item]}")
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if item == 'probe_speed':
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self.lift_speed = float(config_section[item])
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elif item == 'speed':
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self.horizontal_speed = float(config_section[item])
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elif item == 'horizontal_move_z':
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self.horizontal_move_z = float(config_section[item])
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elif item == 'probe_height':
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self.probe_z_height = float(config_section[item])
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else:
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result = re.match(r"([\-0-9\.]+)\s*,\s*([\-0-9\.]+)", config_section[item])
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if result:
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screws.append([
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float(result[1]),
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float(result[2])
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])
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return sorted(screws, key=lambda s: (float(s[1]), float(s[0])))
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def screws_tilt_calculate(self, widget):
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self.home()
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self._screen._send_action(widget, "printer.gcode.script", {"script": "SCREWS_TILT_CALCULATE"})
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