heater: Move M105 command handling from gcode.py to heater.py

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/heater_bed.py

@@ -19,10 +19,10 @@ class PrinterHeaterBed:
         # Set Bed Temperature
         gcode = self.printer.lookup_object('gcode')
         temp = gcode.get_float('S', params, 0.)
-        toolhead = self.printer.lookup_object('toolhead')
         self.heater.set_temp(temp)
         if wait and temp:
-            gcode.wait_for_temperature(self.heater)
+            pheater = self.printer.lookup_object('heater')
+            pheater.wait_for_temperature(self.heater)
     def cmd_M190(self, params):
         # Set Bed Temperature and Wait
         self.cmd_M140(params, wait=True)

klippy/extras/pid_calibrate.py

@@ -31,7 +31,7 @@ class PIDCalibrate:
         except self.printer.command_error as e:
             heater.set_control(old_control)
             raise
-        self.gcode.wait_for_temperature(heater)
+        pheater.wait_for_temperature(heater)
         heater.set_control(old_control)
         if write_file:
             calibrate.write_file('/tmp/heattest.txt')

klippy/gcode.py

@@ -59,7 +59,6 @@ class GCodeParser:
         self.position_with_transform = (lambda: [0., 0., 0., 0.])
         self.need_ack = False
         self.toolhead = None
-        self.heaters = None
         self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
     def is_traditional_gcode(self, cmd):
         # A "traditional" g-code command is a letter and followed by a number
@@ -177,8 +176,6 @@ class GCodeParser:
     def _handle_ready(self):
         self.is_printer_ready = True
         self.gcode_handlers = self.ready_gcode_handlers
-        # Lookup printer components
-        self.heaters = self.printer.lookup_object('heater')
         self.toolhead = self.printer.lookup_object('toolhead')
         if self.move_transform is None:
             self.move_with_transform = self.toolhead.move
@@ -306,16 +303,19 @@ class GCodeParser:
         return self.mutex
     # Response handling
     def ack(self, msg=None):
-        if not self.need_ack or self.is_fileinput:
+        if not self.need_ack:
-            return
+            return False
-        try:
+        if self.is_fileinput:
+            return True
+        ok_msg = "ok\n"
         if msg:
-                os.write(self.fd, "ok %s\n" % (msg,))
+            ok_msg = "ok %s\n" % (msg,)
-            else:
+        try:
-                os.write(self.fd, "ok\n")
+            os.write(self.fd, ok_msg)
         except os.error:
             logging.exception("Write g-code ack")
         self.need_ack = False
+        return True
     def respond_raw(self, msg):
         if self.is_fileinput:
             return
@@ -389,32 +389,16 @@ class GCodeParser:
             return eparams
         except ValueError as e:
             raise self.error("Malformed command '%s'" % (params['#original'],))
-    # Temperature wrappers
-    def _get_temp(self, eventtime):
-        # Tn:XXX /YYY B:XXX /YYY
-        out = []
-        if self.heaters is not None:
-            for gcode_id, sensor in sorted(self.heaters.get_gcode_sensors()):
-                cur, target = sensor.get_temp(eventtime)
-                out.append("%s:%.1f /%.1f" % (gcode_id, cur, target))
-        if not out:
-            return "T:0"
-        return " ".join(out)
-    def wait_for_temperature(self, heater):
-        # Helper to wait on heater.check_busy() and report M105 temperatures
-        if self.is_fileinput:
-            return
-        eventtime = self.reactor.monotonic()
-        while self.is_printer_ready and heater.check_busy(eventtime):
-            print_time = self.toolhead.get_last_move_time()
-            self.respond_raw(self._get_temp(eventtime))
-            eventtime = self.reactor.pause(eventtime + 1.)
     # G-Code special command handlers
     def cmd_default(self, params):
+        cmd = params.get('#command')
+        if cmd == 'M105':
+            # Don't warn about temperature requests when not ready
+            self.ack("T:0")
+            return
         if not self.is_printer_ready:
             raise self.error(self.printer.get_state_message())
             return
-        cmd = params.get('#command')
         if not cmd:
             logging.debug(params['#original'])
             return
@@ -446,7 +430,7 @@ class GCodeParser:
         'G1', 'G4', 'G28', 'M400',
         'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
         'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
-        'M105', 'M112', 'M115', 'IGNORE', 'GET_POSITION',
+        'M112', 'M115', 'IGNORE', 'GET_POSITION',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
     # G-Code movement commands
     cmd_G1_aliases = ['G0']
@@ -602,14 +586,6 @@ class GCodeParser:
             self.last_position[:3] = state['last_position'][:3]
             self.move_with_transform(self.last_position, speed)
     # G-Code miscellaneous commands
-    cmd_M105_when_not_ready = True
-    def cmd_M105(self, params):
-        # Get Extruder Temperature
-        msg = self._get_temp(self.reactor.monotonic())
-        if self.need_ack:
-            self.ack(msg)
-        else:
-            self.respond_raw(msg)
     cmd_M112_when_not_ready = True
     def cmd_M112(self, params):
         # Emergency Stop

klippy/heater.py

@@ -231,12 +231,15 @@ class PrinterHeaters:
         self.gcode_id_to_sensor = {}
         self.available_heaters = []
         self.available_sensors = []
+        self.has_started = False
+        self.printer.register_event_handler("klippy:ready", self._handle_ready)
         self.printer.register_event_handler("gcode:request_restart",
                                             self.turn_off_all_heaters)
-        # Register TURN_OFF_HEATERS command
+        # Register commands
         gcode = self.printer.lookup_object('gcode')
         gcode.register_command("TURN_OFF_HEATERS", self.cmd_TURN_OFF_HEATERS,
                                desc=self.cmd_TURN_OFF_HEATERS_help)
+        gcode.register_command("M105", self.cmd_M105, when_not_ready=True)
     def add_sensor_factory(self, sensor_type, sensor_factory):
         self.sensor_factories[sensor_type] = sensor_factory
     def setup_heater(self, config, gcode_id=None):
@@ -267,8 +270,6 @@ class PrinterHeaters:
             raise self.printer.config_error(
                 "Unknown temperature sensor '%s'" % (sensor_type,))
         return self.sensor_factories[sensor_type](config)
-    def get_gcode_sensors(self):
-        return self.gcode_id_to_sensor.items()
     def register_sensor(self, config, psensor, gcode_id=None):
         if gcode_id is None:
             gcode_id = config.get('gcode_id', None)
@@ -279,15 +280,48 @@ class PrinterHeaters:
                 "G-Code sensor id %s already registered" % (gcode_id,))
         self.gcode_id_to_sensor[gcode_id] = psensor
         self.available_sensors.append(config.get_name())
+    def get_status(self, eventtime):
+        return {'available_heaters': self.available_heaters,
+                'available_sensors': self.available_sensors}
     def turn_off_all_heaters(self, print_time=0.):
         for heater in self.heaters.values():
             heater.set_temp(0.)
     cmd_TURN_OFF_HEATERS_help = "Turn off all heaters"
     def cmd_TURN_OFF_HEATERS(self, params):
         self.turn_off_all_heaters()
-    def get_status(self, eventtime):
+    # G-Code M105 temperature reporting
-        return {'available_heaters': self.available_heaters,
+    def _handle_ready(self):
-                'available_sensors': self.available_sensors}
+        self.has_started = True
+    def _get_temp(self, eventtime):
+        # Tn:XXX /YYY B:XXX /YYY
+        out = []
+        if self.has_started:
+            for gcode_id, sensor in sorted(self.gcode_id_to_sensor.items()):
+                cur, target = sensor.get_temp(eventtime)
+                out.append("%s:%.1f /%.1f" % (gcode_id, cur, target))
+        if not out:
+            return "T:0"
+        return " ".join(out)
+    def cmd_M105(self, params):
+        # Get Extruder Temperature
+        gcode = self.printer.lookup_object("gcode")
+        reactor = self.printer.get_reactor()
+        msg = self._get_temp(reactor.monotonic())
+        did_ack = gcode.ack(msg)
+        if not did_ack:
+            gcode.respond_raw(msg)
+    def wait_for_temperature(self, heater):
+        # Helper to wait on heater.check_busy() and report M105 temperatures
+        if self.printer.get_start_args().get('debugoutput') is not None:
+            return
+        toolhead = self.printer.lookup_object("toolhead")
+        gcode = self.printer.lookup_object("gcode")
+        reactor = self.printer.get_reactor()
+        eventtime = reactor.monotonic()
+        while not self.printer.is_shutdown() and heater.check_busy(eventtime):
+            print_time = toolhead.get_last_move_time()
+            gcode.respond_raw(self._get_temp(eventtime))
+            eventtime = reactor.pause(eventtime + 1.)
 
 def add_printer_objects(config):
     config.get_printer().add_object('heater', PrinterHeaters(config))

klippy/kinematics/extruder.py

@@ -167,7 +167,7 @@ class PrinterExtruder:
         heater = extruder.get_heater()
         heater.set_temp(temp)
         if wait and temp:
-            gcode.wait_for_temperature(heater)
+            self.printer.lookup_object('heater').wait_for_temperature(heater)
     def cmd_M109(self, params):
         # Set Extruder Temperature and Wait
         self.cmd_M104(params, wait=True)