Merge branch 'kevin_2_merge'

LynxCrew · Nov 29, 2024 · fe48dad · fe48dad
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diff --git a/README.md b/README.md
@@ -125,6 +125,8 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [core: non-critical-mcus](https://github.com/DangerKlippers/danger-klipper/pull/339)
 
+- [gcode_macros: !python templates](https://github.com/DangerKlippers/danger-klipper/pull/360)
+
 - [core: action_log](https://github.com/DangerKlippers/danger-klipper/pull/367)
 
 - [danger_options: configurable homing constants](https://github.com/DangerKlippers/danger-klipper/pull/378)

diff --git a/docs/Command_Templates.md b/docs/Command_Templates.md
@@ -78,14 +78,17 @@ speed (via the `F` parameter) on the first `G1` command.
 
 ## Template expansion
 
-The gcode_macro `gcode:` config section is evaluated using the Jinja2
-template language. One can evaluate expressions at run-time by
-wrapping them in `{ }` characters or use conditional statements
-wrapped in `{% %}`. See the
+The gcode_macro `gcode:` config section is evaluated using either the Jinja2
+template language or Python.
+
+### Jinja2
+
+One can evaluate expressions at run-time by wrapping them in `{ }` characters
+or use conditional statements wrapped in `{% %}`. See the
 [Jinja2 documentation](http://jinja.pocoo.org/docs/2.10/templates/)
 for further information on the syntax.
 
-An example of a complex macro:
+An example of a complex Jinja2 macro:
 ```
 [gcode_macro clean_nozzle]
 gcode:
@@ -101,7 +104,7 @@ gcode:
   RESTORE_GCODE_STATE NAME=clean_nozzle_state
 ```
 
-### Macro parameters
+#### Jinja2: Macro parameters
 
 It is often useful to inspect parameters passed to the macro when
 it is called. These parameters are available via the `params`
@@ -128,7 +131,7 @@ gcode:
   M140 S{bed_temp}
 ```
 
-### The "rawparams" variable
+#### Jinja2: The "rawparams" variable
 
 The full unparsed parameters for the running macro can be access via the
 `rawparams` pseudo-variable.
@@ -138,7 +141,7 @@ Note that this will include any comments that were part of the original command.
 See the [sample-macros.cfg](../config/sample-macros.cfg) file for an example
 showing how to override the `M117` command using `rawparams`.
 
-### The "printer" Variable
+#### Jinja2 The "printer" variable
 
 It is possible to inspect (and alter) the current state of the printer
 via the `printer` pseudo-variable. For example:
@@ -178,6 +181,77 @@ gcode:
     M117 Temp:{sensor.temperature} Humidity:{sensor.humidity}
 ```
 
+### Python
+
+Templates can also be written in Python code. The template will automatically
+be interpreted as Python if lines are prefixed with `!`.
+Note: You can't mix Python and Jinja2.
+
+An example of a complex Python macro:
+```
+[gcode_macro clean_nozzle]
+gcode:
+  !wipe_count = 8
+  !emit("G90")
+  !emit("G0 Z15 F300")
+  !for wipe in range(wipe_count):
+  !  for coordinate in [(275, 4), (235, 4)]:
+  !    emit(f"G0 X{coordinate[0]} Y{coordinate[1] + 0.25 * wipe} Z9.7 F12000")
+```
+
+#### Python: Rawparams
+
+```
+[gcode_macro G4]
+rename_existing: G4.1
+gcode:
+  !if rawparams and "S" in rawparams:
+  !  s = int(rawparams.split("S")[1])
+  !  respond_info(f"Sleeping for {s} seconds")
+  !  emit(f"G4.1 P{s * 1000}")
+  !else:
+  !  p = int(rawparams.split("P")[1])
+  !  respond_info(f"Sleeping for {p/1000} seconds")
+  !  emit(f"G4.1 {rawparams}")
+```
+
+#### Python: Variables
+
+```
+[gcode_macro POKELOOP]
+variable_count: 10
+variable_speed: 3
+gcode:
+  !for i in range(own_vars.count):
+  !  emit(f"BEACON_POKE SPEED={own_vars.speed} TOP=5 BOTTOM=-0.3")
+```
+
+#### Python: Printer objects
+
+```
+[gcode_macro EXTRUDER_TEMP]
+gcode:
+    !ACTUAL_TEMP = printer["extruder"]["temperature"]
+    !TARGET_TEMP = printer["extruder"]["target"]
+    !
+    !respond_info("Extruder Target: %.1fC, Actual: %.1fC" % (TARGET_TEMP, ACTUAL_TEMP))
+```
+
+#### Python: Helpers
+
+- emit
+- wait_while
+- wait_until
+- wait_moves
+- blocking
+- sleep
+- set_gcode_variable
+- emergency_stop / action_emergency_stop
+- respond_info / action_respond_info
+- raise_error / action_raise_error
+- call_remote_method / action_call_remote_method
+- math
+
 ## Actions
 
 There are some commands available that can alter the state of the

diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
@@ -8,6 +8,12 @@ All dates in this document are approximate.
 
 ## Changes
 
+20241125: The `off_below` parameter in fans config section is
+deprecated. It will be removed in the near future. Use
+[`min_power`](./Config_Reference.md#fans)
+instead. The `printer[fan object].speed` status will be replaced by
+`printer[fan object].value` and `printer[fan object].power`.
+
 20240430: The `adc_ignore_limits` parameter in the `[danger_options]`
 config section has been renamed to `temp_ignore_limits` and it now
 covers all possible temperature sensors.

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
@@ -3326,6 +3326,9 @@ pin:
 #   input. In such a case, the PWM pin can be used normally, and e.g. a
 #   ground-switched FET(standard fan pin) can be used to control power to
 #   the fan.
+#off_below:
+#   These option is deprecated and should no longer be specified.
+#   Use `min_power` instead.
 ```
 
 ### [heated_fan]

diff --git a/docs/Danger_Features.md b/docs/Danger_Features.md
@@ -58,6 +58,7 @@
 - The jinja `do` extension has been enabled. You can now call functions in your macros without resorting to dirty hacks: `{% do array.append(5) %}`
 - The python [`math`](https://docs.python.org/3/library/math.html) library is available to macros. `{math.sin(math.pi * variable)}` and more!
 - New [`RELOAD_GCODE_MACROS`](./G-Codes.md#reload_gcode_macros) G-Code command to reload `[gcode_macro]` templates without requiring a restart.
+- G-Code Macros can be written in Python. Read more [here](./Command_Templates.md)
 
 ## [Plugins](./Plugins.md)
 

diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
@@ -156,9 +156,12 @@ The following information is available in
 [heater_fan some_name](Config_Reference.md#heater_fan) and
 [controller_fan some_name](Config_Reference.md#controller_fan)
 objects:
-- `speed`: The fan speed as a float between 0.0 and 1.0.
+- `value`: The fan speed value as a float between 0.0 and 1.0.
+- `power`: The fan power as a float between 0|`min_power` and 1.0|`max_power`.
 - `rpm`: The measured fan speed in rotations per minute if the fan has
   a tachometer_pin defined.
+deprecated objects (for UI compatibility only): 
+- `speed`: The fan speed as a float between 0.0 and `max_power`. 
 
 ## filament_switch_sensor
 

diff --git a/klippy/clocksync.py b/klippy/clocksync.py
@@ -93,23 +93,30 @@ def _handle_clock(self, params):
                 self.clock_est[2],
             )
         # Filter out samples that are extreme outliers
-        exp_clock = (sent_time - self.time_avg) * self.clock_est[2] + self.clock_avg
+        exp_clock = (sent_time - self.time_avg) * self.clock_est[
+            2
+        ] + self.clock_avg
         clock_diff2 = (clock - exp_clock) ** 2
         if (
             clock_diff2 > 25.0 * self.prediction_variance
             and clock_diff2 > (0.000500 * self.mcu_freq) ** 2
         ):
-            if clock > exp_clock and sent_time < self.last_prediction_time + 10.0:
+            if (
+                clock > exp_clock
+                and sent_time < self.last_prediction_time + 10.0
+            ):
                 logging.debug(
-                    "Ignoring clock sample %.3f:" " freq=%d diff=%d stddev=%.3f",
+                    "Ignoring clock sample %.3f:"
+                    " freq=%d diff=%d stddev=%.3f",
                     sent_time,
                     self.clock_est[2],
                     clock - exp_clock,
                     math.sqrt(self.prediction_variance),
                 )
                 return
             logging.info(
-                "Resetting prediction variance %.3f:" " freq=%d diff=%d stddev=%.3f",
+                "Resetting prediction variance %.3f:"
+                " freq=%d diff=%d stddev=%.3f",
                 sent_time,
                 self.clock_est[2],
                 clock - exp_clock,
@@ -234,15 +241,19 @@ def connect_file(self, serial, pace=False):
     # clock frequency conversions
     def print_time_to_clock(self, print_time):
         if self.clock_adj[1] == 1.0:
-            logging.warning("Clock not yet synchronized, clock is untrustworthy")
+            logging.warning(
+                "Clock not yet synchronized, clock is untrustworthy"
+            )
             for line in traceback.format_stack():
                 logging.warning(line.strip())
         adjusted_offset, adjusted_freq = self.clock_adj
         return int((print_time - adjusted_offset) * adjusted_freq)
 
     def clock_to_print_time(self, clock):
         if self.clock_adj[1] == 1.0:
-            logging.warning("Clock not yet synchronized, print time is untrustworthy")
+            logging.warning(
+                "Clock not yet synchronized, print time is untrustworthy"
+            )
             for line in traceback.format_stack():
                 logging.warning(line.strip())
         adjusted_offset, adjusted_freq = self.clock_adj

diff --git a/klippy/configfile.py b/klippy/configfile.py
@@ -46,15 +46,17 @@ def _get_wrapper(
                     self.access_tracking[acc_id] = default
                 return default
             raise error(
-                "Option '%s' in section '%s' must be specified" % (option, self.section)
+                "Option '%s' in section '%s' must be specified"
+                % (option, self.section)
             )
         try:
             v = parser(self.section, option)
         except self.error as e:
             raise
         except:
             raise error(
-                "Unable to parse option '%s' in section '%s'" % (option, self.section)
+                "Unable to parse option '%s' in section '%s'"
+                % (option, self.section)
             )
         if note_valid:
             self.access_tracking[(self.section.lower(), option.lower())] = v
@@ -171,9 +173,13 @@ def lparser(value, pos):
         def fcparser(section, option):
             return lparser(self.fileconfig.get(section, option), len(seps) - 1)
 
-        return self._get_wrapper(fcparser, option, default, note_valid=note_valid)
+        return self._get_wrapper(
+            fcparser, option, default, note_valid=note_valid
+        )
 
-    def getlist(self, option, default=sentinel, sep=",", count=None, note_valid=True):
+    def getlist(
+        self, option, default=sentinel, sep=",", count=None, note_valid=True
+    ):
         return self.getlists(
             option,
             default,
@@ -224,7 +230,9 @@ def get_prefix_sections(self, prefix):
 
     def get_prefix_options(self, prefix):
         return [
-            o for o in self.fileconfig.options(self.section) if o.startswith(prefix)
+            o
+            for o in self.fileconfig.options(self.section)
+            if o.startswith(prefix)
         ]
 
     def deprecate(self, option, value=None):
@@ -298,7 +306,8 @@ def _find_autosave_data(self, data):
         # Check for errors and strip line prefixes
         if "\n#*# " in regular_data:
             logging.warning(
-                "Can't read autosave from config file" " - autosave state corrupted"
+                "Can't read autosave from config file"
+                " - autosave state corrupted"
             )
             return data, ""
         out = [""]
@@ -353,7 +362,9 @@ def _parse_config_buffer(self, buffer, filename, fileconfig):
         else:
             fileconfig.readfp(sbuffer, filename)
 
-    def _resolve_include(self, source_filename, include_spec, fileconfig, visited):
+    def _resolve_include(
+        self, source_filename, include_spec, fileconfig, visited
+    ):
         dirname = os.path.dirname(source_filename)
         include_spec = include_spec.strip()
         include_glob = os.path.join(dirname, include_spec)
@@ -367,7 +378,9 @@ def _resolve_include(self, source_filename, include_spec, fileconfig, visited):
         include_filenames.sort()
         for include_filename in include_filenames:
             include_data = self._read_config_file(include_filename)
-            self._parse_config(include_data, include_filename, fileconfig, visited)
+            self._parse_config(
+                include_data, include_filename, fileconfig, visited
+            )
         return include_filenames
 
     def _parse_config(self, data, filename, fileconfig, visited):
@@ -390,7 +403,9 @@ def _parse_config(self, data, filename, fileconfig, visited):
             if header and header.startswith("include "):
                 self._parse_config_buffer(buffer, filename, fileconfig)
                 include_spec = header[8:].strip()
-                self._resolve_include(filename, include_spec, fileconfig, visited)
+                self._resolve_include(
+                    filename, include_spec, fileconfig, visited
+                )
             else:
                 buffer.append(line)
         self._parse_config_buffer(buffer, filename, fileconfig)
@@ -412,7 +427,9 @@ def _build_config_string(self, config):
         return sfile.getvalue().strip()
 
     def read_config(self, filename):
-        return self._build_config_wrapper(self._read_config_file(filename), filename)
+        return self._build_config_wrapper(
+            self._read_config_file(filename), filename
+        )
 
     def read_main_config(self):
         filename = self.printer.get_start_args()["config_file"]
@@ -439,7 +456,8 @@ def check_unused_options(self, config, error_on_unused):
             if section not in valid_sections and section not in objects:
                 if error_on_unused:
                     raise error(
-                        "Section '%s' is not a valid config section" % (section,)
+                        "Section '%s' is not a valid config section"
+                        % (section,)
                     )
                 else:
                     self.unused_sections.append(section)
@@ -557,7 +575,9 @@ def _disallow_include_conflicts(self, regular_data, cfgname, gcode):
                 if config.fileconfig.has_option(section, option):
                     # They conflict only if they are not the same value
                     included_value = config.fileconfig.get(section, option)
-                    autosave_value = self.autosave.fileconfig.get(section, option)
+                    autosave_value = self.autosave.fileconfig.get(
+                        section, option
+                    )
                     if included_value != autosave_value:
                         msg = (
                             "SAVE_CONFIG section '%s' option '%s' value '%s' conflicts "
@@ -586,7 +606,9 @@ def _write_backup(self, cfgpath, cfgdata, gcode, write_backups):
         backup_path = backupdir + "/" + cfgname + datestr
         if cfgpath.endswith(".cfg"):
             backup_path = backupdir + "/" + cfgname[:-4] + datestr + ".cfg"
-        logging.info("SAVE_CONFIG to '%s' (backup in '%s')", cfgpath, backup_path)
+        logging.info(
+            "SAVE_CONFIG to '%s' (backup in '%s')", cfgpath, backup_path
+        )
         try:
             if write_backups:
                 # Read the current config into the backup before making changes to
@@ -632,7 +654,9 @@ def _save_includes(self, cfgpath, data, visitedpaths, gcode, write_backups):
                 if not include_filenames and not glob.has_magic(include_glob):
                     # Empty set is OK if wildcard but not for direct file
                     # reference
-                    raise error("Include file '%s' does not exist" % (include_glob,))
+                    raise error(
+                        "Include file '%s' does not exist" % (include_glob,)
+                    )
                 include_filenames.sort()
                 # Read the include files and check them against autosave data.
                 # If autosave data overwites anything we'll update the file