mirror of https://github.com/Desuuuu/klipper.git
gcode: Add support for SAVE_GCODE_STATE and RESTORE_GCODE_STATE commands
Add commands to save and restore the current g-code state. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -105,6 +105,22 @@ The following standard commands are supported:
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axis). If "MOVE_SPEED" is specified then the toolhead move will be
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performed with the given speed (in mm/s); otherwise the toolhead
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move will use the last specified G-Code speed.
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- `SAVE_GCODE_STATE [NAME=<state_name>]`: Save the current
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g-code coordinate parsing state. Saving and restoring the g-code
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state is useful in scripts and macros. This command saves the
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current g-code absolute coordinate mode (G90/G91), absolute extrude
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mode (M82/M83), origin (G92), offset (SET_GCODE_OFFSET), speed
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override (M220), extruder override (M221), move speed, current XYZ
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position, and relative extruder "E" position. If NAME is provided it
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allows one to name the saved state to the given string. If NAME is
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not provided it defaults to "default".
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- `RESTORE_GCODE_STATE [NAME=<state_name>]
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[MOVE=1 [MOVE_SPEED=<speed>]]`: Restore a state previously saved via
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SAVE_GCODE_STATE. If "MOVE=1" is specified then a toolhead move will
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be issued to move back to the previous XYZ position. If "MOVE_SPEED"
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is specified then the toolhead move will be performed with the given
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speed (in mm/s); otherwise the toolhead move will use the restored
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g-code speed.
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- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
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[WRITE_FILE=1]`: Perform a PID calibration test. The specified
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heater will be enabled until the specified target temperature is
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@ -53,9 +53,10 @@ class GCodeParser:
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self.speed = 25.
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self.speed_factor = 1. / 60.
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self.extrude_factor = 1.
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# G-Code state
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self.saved_states = {}
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self.move_transform = self.move_with_transform = None
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self.position_with_transform = (lambda: [0., 0., 0., 0.])
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# G-Code state
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self.need_ack = False
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self.toolhead = self.fan = self.extruder = None
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self.heaters = None
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@ -485,7 +486,7 @@ class GCodeParser:
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all_handlers = [
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'G1', 'G4', 'G28', 'M18', 'M400',
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'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'M206',
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'SET_GCODE_OFFSET', 'M206', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
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'M112', 'M115', 'IGNORE', 'GET_POSITION',
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'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
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@ -631,6 +632,43 @@ class GCodeParser:
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delta = offset - self.homing_position[pos]
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self.base_position[pos] += delta
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self.homing_position[pos] = offset
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cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
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def cmd_SAVE_GCODE_STATE(self, params):
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state_name = self.get_str('NAME', params, 'default')
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self.saved_states[state_name] = {
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'absolute_coord': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'base_position': list(self.base_position),
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'last_position': list(self.last_position),
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'homing_position': list(self.homing_position),
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'speed': self.speed, 'speed_factor': self.speed_factor,
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'extrude_factor': self.extrude_factor,
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}
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cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
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def cmd_RESTORE_GCODE_STATE(self, params):
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state_name = self.get_str('NAME', params, 'default')
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state = self.saved_states.get(state_name)
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if state is None:
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raise error("Unknown g-code state: %s" % (state_name,))
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# Restore state
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self.absolute_coord = state['absolute_coord']
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self.absolute_extrude = state['absolute_extrude']
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self.base_position = list(state['base_position'])
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self.homing_position = list(state['homing_position'])
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self.speed = state['speed']
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self.speed_factor = state['speed_factor']
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self.extrude_factor = state['extrude_factor']
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# Restore the relative E position
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e_diff = self.last_position[3] - state['last_position'][3]
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self.base_position[3] += e_diff
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# Move the toolhead back if requested
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if self.get_int('MOVE', params, 0):
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speed = self.get_float('MOVE_SPEED', params, self.speed, above=0.)
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self.last_position[:3] = state['last_position'][:3]
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try:
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self.move_with_transform(self.last_position, speed)
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except homing.EndstopError as e:
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raise error(str(e))
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# G-Code temperature and fan commands
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cmd_M105_when_not_ready = True
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def cmd_M105(self, params):
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@ -19,6 +19,21 @@ RESTART
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M18
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# G-code state commands
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G28
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SAVE_GCODE_STATE
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G92 Z-5
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G92 E5
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SAVE_GCODE_STATE NAME=test
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G1 Z-5
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G91
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G1 Z0
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RESTORE_GCODE_STATE NAME=test
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G1 Z-5
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RESTORE_GCODE_STATE
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G1 Z0 E0
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RESTORE_GCODE_STATE MOVE=1
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# Update commands
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SET_GCODE_OFFSET Z=.1
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M206 Z-.2
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