Merge branch 'main' into python_package

KalicoCrew · Dec 11, 2024 · ba44407 · ba44407
2 parents 2cb5c81 + b9a62e1
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diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
@@ -1,2 +1,2 @@
-ko_fi: koconnor
-custom: https://www.klipper3d.org/Sponsors.html#klipper-developers
+ko_fi: kalicocrew
+custom: https://docs.kalico.gg/Sponsors.html#the-crew
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
@@ -1423,6 +1423,13 @@ extended [G-Code command](G-Codes.md#z_tilt) becomes available.
 
 #### [z_tilt_ng]
 
+z_tilt's next generation, adding the Z_TILT_CALIBRATE and Z_TILT_AUTODETECT
+extended [G-Code commands](G-Codes.md#z_tilt_ng). Z_TILT_CALIBRATE performs multiple
+probing runs to calculate z_offsets, enabling accurate tilt adjustment with fewer
+probe points. Z_TILT_AUTODETECT automatically determines pivot positions for each
+Z stepper through iterative probing. When this section is present, these extended
+commands become available, enhancing bed leveling accuracy and calibration efficiency.
+
 ```
 [z_tilt_ng]
 #z_positions:
@@ -5714,7 +5721,7 @@ Trad Rack multimaterial system support. See the following documents from the
 TradRack repo for additional information:
 - [Tuning.md](https://github.com/Annex-Engineering/TradRack/blob/main/docs/Tuning.md):
   document referenced by some of the config options below.
-- [Trad Rack config reference document](https://github.com/Annex-Engineering/TradRack/blob/main/docs/klipper/Config_Reference.md): contains info on additional config
+- [Trad Rack config reference document](https://github.com/Annex-Engineering/TradRack/blob/main/docs/kalico/Config_Reference.md): contains info on additional config
   sections that are expected to be used alongside [trad_rack].
 
 ```

diff --git a/docs/G-Codes.md b/docs/G-Codes.md
@@ -313,7 +313,7 @@ from executing.
 ### [delta_calibrate]
 
 The following commands are available when the
-[delta_calibrate] config section is enabled (also see the 
+[delta_calibrate] config section is enabled (also see the
 [delta calibrate guide](Delta_Calibrate.md)).
 
 #### DELTA_CALIBRATE
@@ -1618,7 +1618,7 @@ specified and it is higher than the extruder's current temperature,
 then the extruder will be heated to at least `MIN_TEMP` before
 unloading/loading; the current extruder temperature target may be used
 instead if it is higher than `MIN_TEMP`, and if not then
-[tr_last_heater_target](https://github.com/Annex-Engineering/TradRack/blob/main/docs/klipper/Save_Variables.md)
+[tr_last_heater_target](https://github.com/Annex-Engineering/TradRack/blob/main/docs/kalico/Save_Variables.md)
 may be used. If `EXACT_TEMP` is specified, the extruder will be heated
 to `EXACT_TEMP` before unloading/loading, regardless of any other
 temperature setting. If any of the optional length parameters are
@@ -1643,7 +1643,7 @@ the extruder's current temperature, then the extruder will be heated
 to at least `MIN_TEMP` before unloading; the current extruder
 temperature target may be used instead if it is higher than
 `MIN_TEMP`, and if not then
-[tr_last_heater_target](https://github.com/Annex-Engineering/TradRack/blob/main/docs/klipper/Save_Variables.md)
+[tr_last_heater_target](https://github.com/Annex-Engineering/TradRack/blob/main/docs/kalico/Save_Variables.md)
 may be used. If `EXACT_TEMP` is specified, the extruder will be heated
 to `EXACT_TEMP` before unloading/loading, regardless of any other
 temperature setting.
@@ -1738,15 +1738,15 @@ hotend_load_length will be set to the value passed in. If the ADJUST
 parameter is used, the adjustment will be added to the current value
 of hotend_load_length.
 
-### TR_DISCARD_BOWDEN_LENGTHS
+#### TR_DISCARD_BOWDEN_LENGTHS
 `TR_DISCARD_BOWDEN_LENGTHS [MODE=[ALL|LOAD|UNLOAD]]`: Discards saved
 values for "bowden_load_length" and/or "bowden_unload_length" (see
 [bowden lengths](https://github.com/Annex-Engineering/TradRack/blob/main/docs/Tuning.md#bowden-lengths)
 for details on how these settings are used). These settings will each
 be reset to the value of `bowden_length` from the
 [trad_rack config section](Config_Reference.md#trad_rack), and empty
 dictionaries will be saved for
-[tr_calib_bowden_load_length and tr_calib_bowden_unload_length](https://github.com/Annex-Engineering/TradRack/blob/main/docs/klipper/Save_Variables.md).
+[tr_calib_bowden_load_length and tr_calib_bowden_unload_length](https://github.com/Annex-Engineering/TradRack/blob/main/docs/kalico/Save_Variables.md).
 "bowden_load_length" and tr_calib_bowden_load_length will be
 affected if MODE=LOAD is specified, "bowden_unload_length" and
 tr_calib_bowden_unload_length will be affected if MODE=UNLOAD is
@@ -1876,6 +1876,18 @@ and detach a mag-probe for these commands!
 The following commands are available when the
 [z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
+#### Z_TILT_ADJUST
+`Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]`: This
+command will probe the points specified in the config and then make independent
+adjustments to each Z stepper to compensate for tilt. See the PROBE command for
+details on the optional probe parameters. The optional `HORIZONTAL_MOVE_Z`
+value overrides the `horizontal_move_z` option specified in the config file.
+
+### [z_tilt_ng]
+
+The following commands are available when the
+[z_tilt_ng config section](Config_Reference.md#z_tilt_ng) is enabled.
+
 #### Z_TILT_ADJUST
 `Z_TILT_ADJUST [HORIZONTAL_MOVE_Z=<value>] [<probe_parameter>=<value>]
 [INCREASING_THRESHOLD=<value>]`: This
@@ -1900,5 +1912,3 @@ configured in the z_tilt_ng section:
   small misalgnments of the steppers. The amount of misalignment can be
   configured with the DELTA paramter. It iterates until the calculated
   positions cannot be improved any further. This is can be lengthy procedure.
-IMPORTANT: For the Z_TILT_CALIBRATE and Z_TILT_AUTODETECT commands to work
-the numpy package has to be installed via ~/klippy-env/bin/pip install -v numpy.
diff --git a/docs/Sponsors.md b/docs/Sponsors.md
@@ -1,28 +1,38 @@
 # Sponsors
 
-Kalico is Free Software. We depend on the generous support from
-sponsors. Please consider sponsoring Kalico or supporting our
-sponsors.
+Kalico is a community-driven, open-source project that is free to use (as in "free beer").
+While we don't have official sponsors yet, we are deeply grateful for the generous support
+from our community. Every contribution helps us continue improving Kalico for everyone.
 
-## Kalico Developers
+If you'd like to support Kalico, donations to our Ko-Fi are more than welcome:
+👉 [https://ko-fi.com/kalicocrew](https://ko-fi.com/kalicocrew)
 
-### Rogerio Goncalves (@rogerlz)
+## The People behind Kalico
 
-Rogerio initiated the Kalico project, forking the awesome Klipper firmware originally as "Danger-Klipper" to add some bleeding edge spice to it.
+### The Crew
 
-Contact: [[email protected]](mailto:[email protected])
+| Name                                                                                                                                                                                                                                                                                                               | Alias    | GitHub                                     |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------------------------------------------ |
+| **Bea Nance**<br>Bea initiated the Kalico project together with Maël, forking the awesome Klipper firmware originally as "Danger-Klipper" to add some bleeding edge spice to it. <br> _"So I saw people wanted some community-driven features in klipper, so i was like "ehh, i'll just fork it and give it a go"_ | bwnance  | [@bwnance](https://github.com/bwnance)     |
+| **Maël Kerbiriou**<br>Maël together with Bea brought Kalico to life.                                                                                                                                                                                                                                               | piezoid  | [@Piezoid](https://github.com/Piezoid)     |
+| **Rogerio Goncalves**<br>Roger chimed in early into the development of Kalico, and has since been a crucial contributor to the project.                                                                                                                                                                            | rogerlz  | [@rogerlz](https://github.com/rogerlz)     |
+| **Frank Tackitt**<br>Frank started his klipper hacking with exclude_object and just forgot to stop there                                                                                                                                                                                                           | frank.af | [@kageurufu](https://github.com/kageurufu) |
 
-### Lasse Dalegaard (@dalegaard)
+### Contributors
 
+| Name                                                                                                                                                                                                                                                                                 | Alias      | GitHub                                               |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------- | ---------------------------------------------------- |
+| **Vinzenz Hassert**<br>_"Uhh dunno... I mean I did pid profiles, filament sensors and curve control mainly. And I am best at giving Roger grey hairs cause I do huge pull requests!"_                                                                                                | LastZeanon | [@LastZeanon](https://github.com/LastZeanon)         |
+| **Yancey Arrington**<br>Yancey wrote the docs for all the bleeding edge features and model predictive control, otherwise you wouldn't know about all the fancy stuff Kalico brings to the table! He also helps other community members a lot with their questions. What a great guy! | Ray_Boy    | [@YanceyA](https://github.com/YanceyA)               |
+| **Ryan Ghosh**<br>All Ryan cares about are the TradRack and Belay modules of Kalico. How selfish! (no, in fact, that is very generous. Thanks Ryan!)                                                                                                                                 | RyanG      | [@rsghosh](https://github.com/rsghosh)               |
+| **Lasse Dalegaard**<br>Our secret consultant for roasting everything. He also contributed a lot more than he is willing to admit. Silly Lasse.                                                                                                                                       | dalegaard  | [@dalegaard](https://github.com/dalegaard)           |
+| **Philipp Molitor**<br>Phil started hacking around with the docs because he does web stuff and 3D printers, and liked the Kalico Crew so much he just... stuck around.<br>_"Hehehe... I wrote this page!"_                                                                           | philm0     | [@PhilippMolitor](https://github.com/PhilippMolitor) |
 
+## Other Kalico Contributors
 
-Contact: [[email protected]](mailto:[email protected])
-
-### Bea Nance (@bwnance)
-
-
-
-Contact: [[email protected]](mailto:[email protected])
+Kalico is a community effort, and we have a lot more people helping us!
+For a full list of people, have a look at the members of
+the [GitHub Organization](https://github.com/orgs/KalicoCrew/people) and our [Contributors](https://github.com/KalicoCrew/kalico/graphs/contributors).
 
 ## Original Klipper Developers
 
@@ -37,16 +47,16 @@ at: [https://ko-fi.com/koconnor](https://ko-fi.com/koconnor) or
 ### Eric Callahan
 
 Eric is the author of bed_mesh, spi_flash, and several other Klipper
-modules.  Eric has a donations page at:
+modules. Eric has a donations page at:
 [https://ko-fi.com/arksine](https://ko-fi.com/arksine)
 
 ## Related Kalico Projects
 
 Kalico is frequently used with other Free Software. Consider using or
 supporting these projects.
 
-* [Moonraker](https://github.com/Arksine/moonraker)
-* [Mainsail](https://github.com/mainsail-crew/mainsail)
-* [Fluidd](https://github.com/fluidd-core/fluidd)
-* [OctoPrint](https://octoprint.org/)
-* [KlipperScreen](https://github.com/jordanruthe/KlipperScreen)
+- [Moonraker](https://github.com/Arksine/moonraker)
+- [Mainsail](https://github.com/mainsail-crew/mainsail)
+- [Fluidd](https://github.com/fluidd-core/fluidd)
+- [OctoPrint](https://octoprint.org/)
+- [KlipperScreen](https://github.com/jordanruthe/KlipperScreen)
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
@@ -571,7 +571,7 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
 ## tools_calibrate
 
 The following information is available in the
-[tools_calibrate](Config_Reference.md#️-tools_calibrate) object:
+[tools_calibrate](Config_Reference.md#tools_calibrate) object:
 - `sensor_location`: Once calibrated, the location of the sensor
 - `last_result`: The last tool calibration result
 - `calibration_probe_inactive`: Status of the calibration probe as of

diff --git a/docs/Z_Calibration.md b/docs/Z_Calibration.md
@@ -72,7 +72,7 @@ But, there are some requirements to use it:
 Temperature or humindity changes are not a big deal since the switch is not
 affected much by them and all values are probed in a small time period and only
 the releations to each other are used. The nozzle height in step 2 can be
-determined some time later and even many celsius higher in the printer's
+determined some time later and even many Celsius higher in the printer's
 chamber, compared to the homing in step 1. That is why the nozzle is probed
 again and can vary a little to the first homing position.
 
@@ -286,4 +286,4 @@ at 250, you can preheat the nozzle to 180, and run this script before finishing
 temperature. This may have varying effects depending on temperatures used.
 
 Also consider picking up your probe prior to your nozzle wipe, to allow this script to probe the
-nozzle immediately after cleaning it.
+nozzle immediately after cleaning it.
diff --git a/klippy/configfile.py b/klippy/configfile.py
@@ -3,9 +3,10 @@
 # Copyright (C) 2016-2021  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import sys, os, glob, re, time, logging, configparser, io
+import sys, os, glob, re, time, logging, configparser, io, mathutil
 from .extras.danger_options import get_danger_options
 
+
 error = configparser.Error
 
 
@@ -49,6 +50,8 @@ def _get_wrapper(
                 "Option '%s' in section '%s' must be specified"
                 % (option, self.section)
             )
+        if parser is float:
+            parser = mathutil.safe_float
         try:
             v = parser(self.section, option)
         except self.error as e:
@@ -209,7 +212,7 @@ def getfloatlist(
             default,
             seps=(sep,),
             count=count,
-            parser=float,
+            parser=mathutil.safe_float,
             note_valid=note_valid,
         )
 

diff --git a/klippy/extras/control_mpc.py b/klippy/extras/control_mpc.py
@@ -546,7 +546,7 @@ def process(eventtime):
                 ret = temp > target
                 if ret and not reported[0]:
                     gcmd.respond_info(
-                        f"Waiting for heater to drop below {target} degrees celcius"
+                        f"Waiting for heater to drop below {target} degrees Celsius"
                     )
                     reported[0] = True
                 return ret

diff --git a/klippy/extras/telemetry.py b/klippy/extras/telemetry.py
@@ -10,6 +10,7 @@
 import pathlib
 import platform
 import sys
+import shlex
 import threading
 import urllib.request
 import uuid
@@ -129,9 +130,7 @@ def cmd_TELEMETRY_EXAMPLE(self, gcmd):
         with filename.open("w", encoding="utf-8") as fp:
             json.dump(data, fp, indent=2)
 
-        gcmd.respond_info(
-            f"Example telemetry saved to {filename.relative_to(pathlib.Path.home())}"
-        )
+        gcmd.respond_info(f"Example telemetry saved to {filename}")
 
     def _get_machine_id(self):
         """
@@ -198,26 +197,51 @@ def _collect_platform(self):
 
         {
             "machine": "x86_64",
-            "os_release": {
-                "NAME": "Debian GNU/Linux",
-                "ID": "debian",
-                "PRETTY_NAME": "Debian GNU/Linux trixie/sid",
-                "VERSION_CODENAME": "trixie",
-                "HOME_URL": "https://www.debian.org/",
-                "SUPPORT_URL": "https://www.debian.org/support",
-                "BUG_REPORT_URL": "https://bugs.debian.org/"
-            },
+            "os_release": { ... },
             "version": "#1 SMP PREEMPT_DYNAMIC Debian 6.12~rc6-1~exp1 (2024-11-10)",
             "python": "3.12.7 (main, Nov  8 2024, 17:55:36) [GCC 14.2.0]"
         }
         """
         return {
             "machine": platform.machine(),
-            "os_release": platform.freedesktop_os_release(),
+            "os_release": self._collect_os_release(),
             "version": platform.version(),
             "python": sys.version,
         }
 
+    def _collect_os_release(self):
+        """
+        Collect the freedesktop OS-RELEASE information.
+        See also `platform.freedesktop_os_release()` (available in Python 3.10+)
+
+        {
+            "NAME": "Debian GNU/Linux",
+            "ID": "debian",
+            "PRETTY_NAME": "Debian GNU/Linux trixie/sid",
+            "VERSION_CODENAME": "trixie",
+            "HOME_URL": "https://www.debian.org/",
+            "SUPPORT_URL": "https://www.debian.org/support",
+            "BUG_REPORT_URL": "https://bugs.debian.org/"
+        }
+        """
+        paths = [
+            pathlib.Path("/etc/os-release"),
+            pathlib.Path("/usr/lib/os-release"),
+        ]
+        path = next(filter(pathlib.Path.exists, paths), None)
+        if not path:
+            return
+
+        result = {}
+        with path.open("r") as fp:
+            for line in fp:
+                if "=" not in line:
+                    continue
+                key, value = line.split("=", maxsplit=1)
+                result[key] = shlex.split(value)[0]
+
+        return result
+
     def _collect_printer_objects(self):
         """
         Collect a list of all enabled objects in the current Kalico runtime

diff --git a/klippy/gcode.py b/klippy/gcode.py
@@ -4,6 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections, shlex
+import mathutil
 
 
 class CommandError(Exception):
@@ -73,6 +74,8 @@ def get(
         above=None,
         below=None,
     ):
+        if parser is float:
+            parser = mathutil.safe_float
         value = self._params.get(name)
         if value is None:
             if default is self.sentinel:
@@ -123,7 +126,7 @@ def get_float(
         return self.get(
             name,
             default,
-            parser=float,
+            parser=mathutil.safe_float,
             minval=minval,
             maxval=maxval,
             above=above,
@@ -438,7 +441,7 @@ def cmd_M112(self, gcmd):
     def cmd_M115(self, gcmd):
         # Get Firmware Version and Capabilities
         software_version = self.printer.get_start_args().get("software_version")
-        kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
+        kw = {"FIRMWARE_NAME": "Kalico", "FIRMWARE_VERSION": software_version}
         msg = " ".join(["%s:%s" % (k, v) for k, v in kw.items()])
         did_ack = gcmd.ack(msg)
         if not did_ack:

diff --git a/klippy/mathutil.py b/klippy/mathutil.py
@@ -7,6 +7,13 @@
 from . import queuelogger
 
 
+def safe_float(v: str) -> float:
+    f = float(v)
+    if math.isnan(f) or math.isinf(f):
+        raise ValueError(f"{v} is not a valid float")
+    return f
+
+
 ######################################################################
 # Coordinate descent
 ######################################################################