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Updates for new sensor support
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@moggieuk
moggieuk committed Jan 21, 2024
1 parent 8482eca commit 121b1f2
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Showing 2 changed files with 120 additions and 87 deletions.
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207 changes: 120 additions & 87 deletions panels/mmu_main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,9 @@
from ks_includes.screen_panel import ScreenPanel

class Panel(ScreenPanel):
TOOL_UNKNOWN = -1
TOOL_BYPASS = -2
# These are a subset of constants from main Happy Hare for convenience and coding consistency
TOOL_GATE_UNKNOWN = -1
TOOL_GATE_BYPASS = -2

GATE_UNKNOWN = -1
GATE_EMPTY = 0
Expand All @@ -22,18 +23,25 @@ class Panel(ScreenPanel):

FILAMENT_POS_UNKNOWN = -1
FILAMENT_POS_UNLOADED = 0
FILAMENT_POS_START_BOWDEN = 1
FILAMENT_POS_IN_BOWDEN = 2
FILAMENT_POS_END_BOWDEN = 3
FILAMENT_POS_HOMED_EXTRUDER = 4
FILAMENT_POS_EXTRUDER_ENTRY = 5
FILAMENT_POS_HOMED_TS = 6
FILAMENT_POS_IN_EXTRUDER = 7 # AKA FILAMENT_POS_PAST_TS
FILAMENT_POS_LOADED = 8 # AKA FILAMENT_POS_HOMED_NOZZLE
FILAMENT_POS_HOMED_GATE = 1
FILAMENT_POS_START_BOWDEN = 2
FILAMENT_POS_IN_BOWDEN = 3
FILAMENT_POS_END_BOWDEN = 4
FILAMENT_POS_HOMED_ENTRY = 5
FILAMENT_POS_HOMED_EXTRUDER = 6
FILAMENT_POS_EXTRUDER_ENTRY = 7
FILAMENT_POS_HOMED_TS = 8
FILAMENT_POS_IN_EXTRUDER = 9 # AKA FILAMENT_POS_PAST_TS
FILAMENT_POS_LOADED = 10 # AKA FILAMENT_POS_HOMED_NOZZLE

DIRECTION_LOAD = 1
DIRECTION_UNLOAD = -1

ENDSTOP_ENCODER = "encoder" # Fake Gate endstop
ENDSTOP_GATE = "mmu_gate" # Gate
ENDSTOP_EXTRUDER = "extruder" # Extruder
ENDSTOP_TOOLHEAD = "toolhead"

NOT_SET = -99

def __init__(self, screen, title):
Expand All @@ -47,7 +55,7 @@ def __init__(self, screen, title):
self.min_tool = 0
self.has_bypass = self._printer.get_stat("mmu")['has_bypass']
if self.has_bypass:
self.min_tool = self.TOOL_BYPASS
self.min_tool = self.TOOL_GATE_BYPASS

# btn_states: The "gaps" are what functionality the state takes away. Multiple states are combined
self.btn_states = {
Expand Down Expand Up @@ -248,7 +256,7 @@ def process_update(self, action, data):
ee_data = data['mmu_encoder mmu_encoder']
self.update_encoder(ee_data)

if 'filament_switch_sensor toolhead_sensor' in data:
if 'filament_switch_sensor toolhead_sensor' in data or 'filament_switch_sensor mmu_gate_sensor' in data or 'filament_switch_sensor extruder_sensor' in data:
self.update_filament_status()

if 'mmu' in data:
Expand Down Expand Up @@ -282,7 +290,7 @@ def process_update(self, action, data):

def init_tool_value(self):
mmu = self._printer.get_stat("mmu")
if self.ui_sel_tool == self.NOT_SET and mmu['tool'] != self.TOOL_UNKNOWN:
if self.ui_sel_tool == self.NOT_SET and mmu['tool'] != self.TOOL_GATE_UNKNOWN:
self.ui_sel_tool = mmu['tool']
else:
self.ui_sel_tool = 0
Expand All @@ -304,14 +312,14 @@ def select_tool(self, widget, param=0):
tool = mmu['tool']
if param < 0 and self.ui_sel_tool > self.min_tool:
self.ui_sel_tool -= 1
if self.ui_sel_tool == self.TOOL_UNKNOWN:
self.ui_sel_tool = self.TOOL_BYPASS
if self.ui_sel_tool == self.TOOL_GATE_UNKNOWN:
self.ui_sel_tool = self.TOOL_GATE_BYPASS
elif param > 0 and self.ui_sel_tool < num_gates - 1:
self.ui_sel_tool += 1
if self.ui_sel_tool == self.TOOL_UNKNOWN:
if self.ui_sel_tool == self.TOOL_GATE_UNKNOWN:
self.ui_sel_tool = 0
elif param == 0:
if self.ui_sel_tool == self.TOOL_BYPASS:
if self.ui_sel_tool == self.TOOL_GATE_BYPASS:
self._screen._ws.klippy.gcode_script(f"MMU_SELECT_BYPASS")
elif self.ui_sel_tool != tool or mmu['filament'] != "Loaded":
self._screen._ws.klippy.gcode_script(f"MMU_CHANGE_TOOL TOOL={self.ui_sel_tool} QUIET=1")
Expand All @@ -325,7 +333,7 @@ def select_picker(self, widget):
# This is a multipurpose button to select subpanel or load bypass
mmu = self._printer.get_stat("mmu")
tool = mmu['tool']
if self.ui_sel_tool == self.TOOL_BYPASS:
if self.ui_sel_tool == self.TOOL_GATE_BYPASS:
self._screen._ws.klippy.gcode_script(f"MMU_LOAD EXTRUDER_ONLY=1")
else:
self._screen.show_panel('mmu_picker', 'MMU Tool Picker')
Expand Down Expand Up @@ -358,7 +366,7 @@ def update_tool(self):
next_tool = mmu['next_tool']
last_tool = mmu['last_tool']
sync_drive = mmu['sync_drive']
if next_tool != self.TOOL_UNKNOWN:
if next_tool != self.TOOL_GATE_UNKNOWN:
# Change in progress
text = ("T%d " % last_tool) if (last_tool >= 0 and last_tool != next_tool) else "Bypass " if last_tool == -2 else "Unknown " if last_tool == -1 else ""
text += ("> T%d" % next_tool) if next_tool >= 0 else ""
Expand All @@ -369,7 +377,7 @@ def update_tool(self):
self.labels['tool_icon'].set_from_pixbuf(self.labels['sync_drive_pixbuf'])
else:
self.labels['tool_icon'].set_from_pixbuf(self.labels['tool_icon_pixbuf'])
if tool == self.TOOL_BYPASS:
if tool == self.TOOL_GATE_BYPASS:
self.labels['picker'].set_image(self.labels['load_bypass_img'])
self.labels['picker'].set_label(f"Load")
self.labels['eject'].set_image(self.labels['unload_bypass_img'])
Expand All @@ -389,7 +397,7 @@ def update_tool_buttons(self, tool_sensitive=True):
action = mmu['action']

# Set sensitivity of +/- buttons
if (tool == self.TOOL_BYPASS and filament == "Loaded") or not tool_sensitive:
if (tool == self.TOOL_GATE_BYPASS and filament == "Loaded") or not tool_sensitive:
self.labels['t_decrease'].set_sensitive(False)
self.labels['t_increase'].set_sensitive(False)
else:
Expand All @@ -411,7 +419,7 @@ def update_tool_buttons(self, tool_sensitive=True):
self.labels['tool'].set_sensitive(False)
else:
self.labels['tool'].set_sensitive(tool_sensitive)
elif self.ui_sel_tool == self.TOOL_BYPASS:
elif self.ui_sel_tool == self.TOOL_GATE_BYPASS:
self.labels['tool'].set_label(f"Bypass")
self.labels['tool'].set_sensitive(tool_sensitive)
else:
Expand All @@ -421,7 +429,7 @@ def update_tool_buttons(self, tool_sensitive=True):
self.labels['tool'].set_label(action)
self.labels['tool'].set_sensitive(False)

if self.ui_sel_tool == self.TOOL_BYPASS:
if self.ui_sel_tool == self.TOOL_GATE_BYPASS:
self.labels['tool'].set_image(self.labels['select_bypass_img'])
else:
self.labels['tool'].set_image(self.labels['tool_img'])
Expand Down Expand Up @@ -478,12 +486,13 @@ def update_filament_status(self):
else:
self.labels['status5'].set_label(self.get_filament_text(bold=self.bold_filament))

if self.check_toolhead_sensor() != None:
if self.check_toolhead_sensor() == 1:
ts = self._check_sensor(self.ENDSTOP_TOOLHEAD)
if ts != None:
if ts == 1:
self.labels['sensor'].get_style_context().remove_class("mmu_disabled_text")
self.labels['sensor_state'].set_label("● ")
c_name = "green"
elif self.check_toolhead_sensor() == 0:
elif ts == 0:
self.labels['sensor'].get_style_context().remove_class("mmu_disabled_text")
self.labels['sensor_state'].set_label("○ ")
c_name = "red"
Expand Down Expand Up @@ -525,7 +534,7 @@ def update_active_buttons(self):
self._screen.clear_last_popup_message()
else:
ui_state.append("idle")
if tool == self.TOOL_BYPASS:
if tool == self.TOOL_GATE_BYPASS:
if filament == "Loaded":
ui_state.append("bypass_loaded")
elif filament == "Unloaded":
Expand Down Expand Up @@ -628,71 +637,95 @@ def get_filament_text(self, markup=False, bold=False):
tool = mmu['tool']
filament_pos = mmu['filament_pos']
filament_direction = mmu['filament_direction']
gate_color = mmu['gate_color']
cs = self._printer.get_config_section("mmu")
gate_homing_endstop = cs['gate_homing_endstop']

arrow = "▶"
line = "━"
space = "┈"
home = "┫"
gate = "│"
gs = es = ts = '○'
past = lambda pos: arrow if filament_pos >= pos else space
homed = lambda pos: (gate,arrow) if filament_pos > pos else (home,space) if filament_pos == pos else (gate,space)
nozz = lambda pos: (arrow,home,arrow) if filament_pos == pos else (space,gate,' ')
trig = lambda name, sensor: re.sub(r'[a-zA-Z○]', '●', name) if self._check_sensor(sensor) else name
bseg = 4 + 2 * sum(not self._has_sensor(sensor) for sensor in [self.ENDSTOP_ENCODER, self.ENDSTOP_GATE, self.ENDSTOP_EXTRUDER, self.ENDSTOP_TOOLHEAD]) - (tool == self.TOOL_GATE_BYPASS)

t_str = ("T%s " % str(tool))[:3] if tool >= 0 else "BYPASS " if tool == self.TOOL_GATE_BYPASS else "T? "
g_str = "{0}{0}".format(past(self.FILAMENT_POS_UNLOADED))
gs_str = "{0}{2}{1}{1}{1}".format(*homed(self.FILAMENT_POS_HOMED_GATE), trig(gs, self.ENDSTOP_GATE)) if self._has_sensor(self.ENDSTOP_GATE) else ""
en_str = "En{0}{0}".format(past(self.FILAMENT_POS_IN_BOWDEN if gate_homing_endstop == self.ENDSTOP_GATE else self.FILAMENT_POS_START_BOWDEN)) if self._has_sensor(self.ENDSTOP_ENCODER) else ""
bowden1 = "{0}".format(past(self.FILAMENT_POS_IN_BOWDEN)) * bseg
bowden2 = "{0}".format(past(self.FILAMENT_POS_END_BOWDEN)) * bseg
es_str = "{0}{2}{1}{1}{1}".format(*homed(self.FILAMENT_POS_HOMED_ENTRY), trig(es, self.ENDSTOP_EXTRUDER)) if self._has_sensor(self.ENDSTOP_EXTRUDER) else ""
ex_str = "{0}{2}{1}{1}{1}".format(*homed(self.FILAMENT_POS_HOMED_EXTRUDER), "Ex")
ts_str = "{0}{2}{1}{1}{1}".format(*homed(self.FILAMENT_POS_HOMED_TS), trig(ts, self.ENDSTOP_TOOLHEAD)) if self._has_sensor(self.ENDSTOP_TOOLHEAD) else ""
nz_str = "{0}{1}Nz{2}{2}".format(*nozz(self.FILAMENT_POS_LOADED))
summary = " LOADED" if filament_pos == self.FILAMENT_POS_LOADED else " UNLOADED" if filament_pos == self.FILAMENT_POS_UNLOADED else " UNKNOWN" if filament_pos == self.FILAMENT_POS_UNKNOWN else " ▷▷▷" if filament_direction == self.DIRECTION_LOAD else " ◁◁◁" if filament_direction == self.DIRECTION_UNLOAD else ""

visual = "".join((t_str, g_str, gs_str, en_str, bowden1, bowden2, es_str, ex_str, ts_str, nz_str, summary))

last_index = visual.rfind("▶")
visual = visual.replace("▶", "━")
if last_index != -1:
visual = visual[:last_index] + "▶" + visual[last_index + 1:]

if filament_pos == self.FILAMENT_POS_LOADED:
move_str = "LOADED"
elif filament_pos == self.FILAMENT_POS_UNLOADED:
move_str = "UNLOADED"
elif filament_pos == self.FILAMENT_POS_UNKNOWN:
move_str = "UNKNOWN"
elif filament_direction == self.DIRECTION_LOAD:
move_str = " ▷▷▷"
elif filament_direction == self.DIRECTION_UNLOAD:
move_str = " ◁◁◁"
else:
move_str = ""
tool_str = (f"T{tool} ")[:3] if tool >=0 else "T? "
sensor_str = "│Ts│" if (self.check_toolhead_sensor() != None and self.check_toolhead_sensor() != -1) else ""
sensor_str_homed = "┫Ts│" if self.check_toolhead_sensor() != None else ""
if tool == self.TOOL_BYPASS and filament_pos == self.FILAMENT_POS_LOADED:
visual = "BYPASS ^━━━$│En│^━━━━━━━━━━━━━━━━━━$│Nz│^━$▶ %s" % (move_str)
elif tool == self.TOOL_BYPASS:
visual = "BYPASS ^━$▶┈│En│┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈│Nz│ %s" % (move_str)
elif filament_pos == self.FILAMENT_POS_UNKNOWN:
visual = "%s ┈┈┈│En│┈┈┈┈┈┈┈┈┈┈│Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_UNLOADED:
visual = "%s ^━$▶┈│En│┈┈┈┈┈┈┈┈┈┈│Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_START_BOWDEN:
visual = "%s ^━━━$│En│^━$▶┈┈┈┈┈┈┈┈│Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_IN_BOWDEN:
visual = "%s ^━━━$│En│^━━━━$▶┈┈┈┈┈│Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_END_BOWDEN:
visual = "%s ^━━━$│En│^━━━━━━━━$▶┈│Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_HOMED_EXTRUDER:
visual = "%s ^━━━$│En│^━━━━━━━━━$▶┫Ex│┈┈┈%s┈┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_EXTRUDER_ENTRY:
visual = "%s ^━━━$│En│^━━━━━━━━━━$│Ex│^━$▶┈%s┈┈│Nz│ %s" % (tool_str, sensor_str_homed, move_str)
elif filament_pos == self.FILAMENT_POS_HOMED_TS:
visual = "%s ^━━━$│En│^━━━━━━━━━━$│Ex│^━━$▶%s┈┈│Nz│ %s" % (tool_str, sensor_str_homed, move_str)
elif filament_pos == self.FILAMENT_POS_IN_EXTRUDER:
visual = "%s ^━━━$│En│^━━━━━━━━━━$│Ex│^━━━$%s▶┈│Nz│ %s" % (tool_str, sensor_str, move_str)
elif filament_pos == self.FILAMENT_POS_LOADED:
visual = "%s ^━━━$│En│^━━━━━━━━━━$│Ex│^━━━$%s^━━$│Nz│^━$▶ %s" % (tool_str, sensor_str, move_str)

#if filament_direction == self.DIRECTION_UNLOAD and filament_pos != self.FILAMENT_POS_UNLOADED:
# visual = visual.replace("▶", "◀")
if bold:
visual = visual.replace("━", "█").replace("▶", "▌")
if markup:
gate_color = mmu['gate_color']
gate = mmu['gate']
if gate >= 0:
color = self.get_rgb_color(gate_color[gate])
if mmu['gate'] >= 0:
color = self.get_rgb_color(gate_color[mmu['gate']])
if color != "":
visual = visual.replace("^", (f"<span color='{color}'>")).replace("$", "</span>")
return visual
visual = visual.replace("^", "").replace("$", "")
visual = self._add_markup(visual, color)

if bold:
visual = visual.replace("━", "█").replace("▶", "▌")

return visual

def check_toolhead_sensor(self):
sensor = self._printer.get_stat("filament_switch_sensor toolhead_sensor")
if sensor == {}:
return None
if sensor['enabled']:
if sensor['filament_detected']:
return 1
def _add_markup(self, string, color):
result = ""
in_sequence = False
for i, char in enumerate(string):
if char == "━":
if not in_sequence:
#result += "s"
result += f"<span color='{color}'>"
in_sequence = True
if i + 1 == len(string) or string[i + 1] != "━":
#result += char + "e"
result += char + f"</span>"
in_sequence = False
else:
result += char
else:
return 0
else:
result += char
return result

def _check_sensor(self, s):
if s == self.ENDSTOP_ENCODER:
encoder = self._printer.get_stat('mmu_encoder mmu_encoder', None)
if encoder:
return True
else:
return None

sensor = self._printer.get_stat(f"filament_switch_sensor {s}_sensor")
if sensor:
if sensor['enabled']:
if sensor['filament_detected']:
return 1
else:
return 0
return -1
return None

def _has_sensor(self, s):
if s == self.ENDSTOP_ENCODER:
return self._printer.get_stat('mmu_encoder mmu_encoder', None)

sensor = self._printer.get_stat(f"filament_switch_sensor {s}_sensor")
if sensor:
return sensor['enabled']
return False

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