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gcode: Support reading from gcode input before mcu is ready 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-22 19:38:51 -05:00
parent 6ebb1a68cb
commit dbdf1e137e
3 changed files with 34 additions and 23 deletions
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45
klippy/gcode.py
View File

@ -16,8 +16,9 @@ class GCodeParser:
# Input handling # Input handling
self.reactor = printer.reactor self.reactor = printer.reactor
self.fd_handle = None self.fd_handle = None
if not is_fileinput:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
self.input_commands = [""] self.input_commands = [""]
self.need_register_fd = False
self.bytes_read = 0 self.bytes_read = 0
self.input_log = collections.deque([], 50) self.input_log = collections.deque([], 50)
# Busy handling # Busy handling
@ -25,7 +26,7 @@ class GCodeParser:
self.busy_state = None self.busy_state = None
# Command handling # Command handling
self.gcode_handlers = {} self.gcode_handlers = {}
self.is_shutdown = False self.is_printer_ready = False
self.need_ack = False self.need_ack = False
self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
self.speed = 1.0 self.speed = 1.0
@ -34,6 +35,7 @@ class GCodeParser:
self.last_position = [0.0, 0.0, 0.0, 0.0] self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_add = [0.0, 0.0, 0.0, 0.0] self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3} self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
self.build_handlers()
def build_config(self): def build_config(self):
self.toolhead = self.printer.objects['toolhead'] self.toolhead = self.printer.objects['toolhead']
self.heater_nozzle = None self.heater_nozzle = None
@ -42,33 +44,38 @@ class GCodeParser:
self.heater_nozzle = extruder.heater self.heater_nozzle = extruder.heater
self.heater_bed = self.printer.objects.get('heater_bed') self.heater_bed = self.printer.objects.get('heater_bed')
self.fan = self.printer.objects.get('fan') self.fan = self.printer.objects.get('fan')
self.build_handlers()
def build_handlers(self): def build_handlers(self):
shutdown_handlers = ['M105', 'M110', 'M114'] shutdown_handlers = ['M105', 'M110', 'M114']
handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M119', 'M206'] 'M18', 'M82', 'M83', 'M84',
'M105', 'M110', 'M114', 'M119', 'M206']
if self.heater_nozzle is not None: if self.heater_nozzle is not None:
handlers.extend(['M104', 'M105', 'M109', 'M303']) handlers.extend(['M104', 'M109', 'M303'])
if self.heater_bed is not None: if self.heater_bed is not None:
handlers.extend(['M140', 'M190']) handlers.extend(['M140', 'M190'])
if self.fan is not None: if self.fan is not None:
handlers.extend(['M106', 'M107']) handlers.extend(['M106', 'M107'])
if self.is_shutdown: if not self.is_printer_ready:
handlers = [h for h in handlers if h in shutdown_handlers] handlers = [h for h in handlers if h in shutdown_handlers]
self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h)) self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h))
for h in handlers) for h in handlers)
def run(self):
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def finish(self): def finish(self):
self.reactor.end() self.reactor.end()
self.toolhead.motor_off() self.toolhead.motor_off()
logging.debug('Completed translation by klippy') logging.debug('Completed translation by klippy')
def stats(self, eventtime): def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,) return "gcodein=%d" % (self.bytes_read,)
def shutdown(self): def set_printer_ready(self, is_ready):
self.is_shutdown = True if self.is_printer_ready == is_ready:
return
self.is_printer_ready = is_ready
self.build_handlers() self.build_handlers()
logging.info("Dumping gcode input %d blocks" % (len(self.input_log),)) if is_ready and self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
if not is_ready:
logging.info("Dumping gcode input %d blocks" % (
len(self.input_log),))
# XXX - read from self.input_log is not thread safe
for eventtime, data in self.input_log: for eventtime, data in self.input_log:
logging.info("Read %f: %s" % (eventtime, repr(data))) logging.info("Read %f: %s" % (eventtime, repr(data)))
# Parse input into commands # Parse input into commands
@ -106,7 +113,7 @@ class GCodeParser:
# Check if machine can process next command or must stall input # Check if machine can process next command or must stall input
if self.busy_state is not None: if self.busy_state is not None:
break break
if self.toolhead.check_busy(eventtime): if self.is_printer_ready and self.toolhead.check_busy(eventtime):
self.set_busy(self.toolhead) self.set_busy(self.toolhead)
break break
self.ack() self.ack()
@ -114,7 +121,7 @@ class GCodeParser:
def process_data(self, eventtime): def process_data(self, eventtime):
if self.busy_state is not None: if self.busy_state is not None:
self.reactor.unregister_fd(self.fd_handle) self.reactor.unregister_fd(self.fd_handle)
self.need_register_fd = True self.fd_handle = None
return return
data = os.read(self.fd, 4096) data = os.read(self.fd, 4096)
self.input_log.append((eventtime, data)) self.input_log.append((eventtime, data))
@ -162,12 +169,13 @@ class GCodeParser:
self.process_commands(eventtime) self.process_commands(eventtime)
if self.busy_state is not None: if self.busy_state is not None:
return self.reactor.NOW return self.reactor.NOW
if self.need_register_fd: if self.fd_handle is None:
self.need_register_fd = False
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data) self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
return self.reactor.NEVER return self.reactor.NEVER
# Temperature wrappers # Temperature wrappers
def get_temp(self): def get_temp(self):
if not self.is_printer_ready:
return "T:0"
# T:XXX /YYY B:XXX /YYY # T:XXX /YYY B:XXX /YYY
out = [] out = []
if self.heater_nozzle: if self.heater_nozzle:
@ -199,8 +207,8 @@ class GCodeParser:
self.bg_temp(heater) self.bg_temp(heater)
# Individual command handlers # Individual command handlers
def cmd_default(self, params): def cmd_default(self, params):
if self.is_shutdown: if not self.is_printer_ready:
self.respond('Error: Machine is shutdown') self.respond('Error: Printer is not ready')
return return
cmd = params.get('#command') cmd = params.get('#command')
if not cmd: if not cmd:
@ -300,6 +308,9 @@ class GCodeParser:
pass pass
def cmd_M114(self, params): def cmd_M114(self, params):
# Get Current Position # Get Current Position
if self.toolhead is None:
self.cmd_default(params)
return
kinpos = self.toolhead.get_position() kinpos = self.toolhead.get_position()
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % ( self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % (
self.last_position[0], self.last_position[1], self.last_position[0], self.last_position[1],

6
klippy/klippy.py
View File

@ -81,7 +81,7 @@ class Printer:
self.mcu.connect_file(self.debugoutput, self.dictionary) self.mcu.connect_file(self.debugoutput, self.dictionary)
self.mcu.connect() self.mcu.connect()
self.build_config() self.build_config()
self.gcode.run() self.gcode.set_printer_ready(True)
self.reactor.unregister_timer(self.connect_timer) self.reactor.unregister_timer(self.connect_timer)
return self.reactor.NEVER return self.reactor.NEVER
def run(self): def run(self):
@ -90,8 +90,8 @@ class Printer:
self.stats(time.time()) self.stats(time.time())
self.mcu.disconnect() self.mcu.disconnect()
self.stats(time.time()) self.stats(time.time())
def shutdown(self): def note_shutdown(self):
self.gcode.shutdown() self.gcode.set_printer_ready(False)
###################################################################### ######################################################################

2
klippy/mcu.py
View File

@ -336,7 +336,7 @@ class MCU:
self.is_shutdown = True self.is_shutdown = True
logging.info("%s: %s" % (params['#name'], params['#msg'])) logging.info("%s: %s" % (params['#name'], params['#msg']))
self.serial.dump_debug() self.serial.dump_debug()
self._printer.shutdown() self._printer.note_shutdown()
# Connection phase # Connection phase
def connect(self): def connect(self):
if not self._is_fileoutput: if not self._is_fileoutput: