mirror of https://github.com/Desuuuu/klipper.git
412 lines
16 KiB
Python
412 lines
16 KiB
Python
# Parse gcode commands
|
|
#
|
|
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import os, re, logging, collections
|
|
import homing
|
|
|
|
# Parse out incoming GCode and find and translate head movements
|
|
class GCodeParser:
|
|
RETRY_TIME = 0.100
|
|
def __init__(self, printer, fd, is_fileinput=False):
|
|
self.printer = printer
|
|
self.fd = fd
|
|
self.is_fileinput = is_fileinput
|
|
# Input handling
|
|
self.reactor = printer.reactor
|
|
self.is_processing_data = False
|
|
self.fd_handle = None
|
|
if not is_fileinput:
|
|
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
|
|
self.input_commands = [""]
|
|
self.bytes_read = 0
|
|
self.input_log = collections.deque([], 50)
|
|
# Command handling
|
|
self.gcode_handlers = {}
|
|
self.is_printer_ready = False
|
|
self.need_ack = False
|
|
self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
|
|
self.speed = 25.0
|
|
self.absolutecoord = self.absoluteextrude = True
|
|
self.base_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.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
|
|
self.build_handlers()
|
|
def build_config(self):
|
|
self.toolhead = self.printer.objects['toolhead']
|
|
self.heater_nozzle = None
|
|
extruder = self.printer.objects.get('extruder')
|
|
if extruder:
|
|
self.heater_nozzle = extruder.heater
|
|
self.heater_bed = self.printer.objects.get('heater_bed')
|
|
self.fan = self.printer.objects.get('fan')
|
|
def build_handlers(self):
|
|
handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
|
|
'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M115',
|
|
'M206', 'M400',
|
|
'HELP', 'QUERY_ENDSTOPS', 'CLEAR_SHUTDOWN',
|
|
'RESTART', 'FIRMWARE_RESTART', 'STATUS']
|
|
if self.heater_nozzle is not None:
|
|
handlers.extend(['M104', 'M109', 'PID_TUNE'])
|
|
if self.heater_bed is not None:
|
|
handlers.extend(['M140', 'M190'])
|
|
if self.fan is not None:
|
|
handlers.extend(['M106', 'M107'])
|
|
if not self.is_printer_ready:
|
|
handlers = [h for h in handlers
|
|
if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
|
|
self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h))
|
|
for h in handlers)
|
|
for h, f in self.gcode_handlers.items():
|
|
aliases = getattr(self, 'cmd_'+h+'_aliases', [])
|
|
self.gcode_handlers.update(dict([(a, f) for a in aliases]))
|
|
def stats(self, eventtime):
|
|
return "gcodein=%d" % (self.bytes_read,)
|
|
def set_printer_ready(self, is_ready):
|
|
if self.is_printer_ready == is_ready:
|
|
return
|
|
self.is_printer_ready = is_ready
|
|
self.build_handlers()
|
|
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)
|
|
def motor_heater_off(self):
|
|
if self.toolhead is None:
|
|
return
|
|
self.toolhead.motor_off()
|
|
print_time = self.toolhead.get_last_move_time()
|
|
if self.heater_nozzle is not None:
|
|
self.heater_nozzle.set_temp(print_time, 0.)
|
|
if self.heater_bed is not None:
|
|
self.heater_bed.set_temp(print_time, 0.)
|
|
if self.fan is not None:
|
|
self.fan.set_speed(print_time, 0.)
|
|
def dump_debug(self):
|
|
logging.info("Dumping gcode input %d blocks" % (
|
|
len(self.input_log),))
|
|
for eventtime, data in self.input_log:
|
|
logging.info("Read %f: %s" % (eventtime, repr(data)))
|
|
# Parse input into commands
|
|
args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])')
|
|
def process_commands(self, eventtime):
|
|
while len(self.input_commands) > 1:
|
|
line = self.input_commands.pop(0)
|
|
# Ignore comments and leading/trailing spaces
|
|
line = origline = line.strip()
|
|
cpos = line.find(';')
|
|
if cpos >= 0:
|
|
line = line[:cpos]
|
|
# Break command into parts
|
|
parts = self.args_r.split(line)[1:]
|
|
params = dict((parts[i].upper(), parts[i+1].strip())
|
|
for i in range(0, len(parts), 2))
|
|
params['#original'] = origline
|
|
if parts and parts[0].upper() == 'N':
|
|
# Skip line number at start of command
|
|
del parts[:2]
|
|
if not parts:
|
|
self.cmd_default(params)
|
|
continue
|
|
params['#command'] = cmd = parts[0].upper() + parts[1].strip()
|
|
# Invoke handler for command
|
|
self.need_ack = True
|
|
handler = self.gcode_handlers.get(cmd, self.cmd_default)
|
|
try:
|
|
handler(params)
|
|
except:
|
|
logging.exception("Exception in command handler")
|
|
self.toolhead.force_shutdown()
|
|
self.respond_error('Internal error on command:"%s"' % (cmd,))
|
|
if self.is_fileinput:
|
|
self.printer.request_exit('exit_eof')
|
|
break
|
|
self.ack()
|
|
def process_data(self, eventtime):
|
|
data = os.read(self.fd, 4096)
|
|
self.input_log.append((eventtime, data))
|
|
self.bytes_read += len(data)
|
|
lines = data.split('\n')
|
|
lines[0] = self.input_commands.pop() + lines[0]
|
|
self.input_commands.extend(lines)
|
|
if self.is_processing_data:
|
|
if len(lines) <= 1:
|
|
return
|
|
if not self.is_fileinput and lines[0].strip().upper() == 'M112':
|
|
self.cmd_M112({})
|
|
self.reactor.unregister_fd(self.fd_handle)
|
|
self.fd_handle = None
|
|
return
|
|
self.is_processing_data = True
|
|
self.process_commands(eventtime)
|
|
self.is_processing_data = False
|
|
if self.fd_handle is None:
|
|
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
|
|
if not data and self.is_fileinput:
|
|
self.motor_heater_off()
|
|
self.printer.request_exit('exit_eof')
|
|
# Response handling
|
|
def ack(self, msg=None):
|
|
if not self.need_ack or self.is_fileinput:
|
|
return
|
|
if msg:
|
|
os.write(self.fd, "ok %s\n" % (msg,))
|
|
else:
|
|
os.write(self.fd, "ok\n")
|
|
self.need_ack = False
|
|
def respond(self, msg):
|
|
logging.debug(msg)
|
|
if self.is_fileinput:
|
|
return
|
|
os.write(self.fd, msg+"\n")
|
|
def respond_info(self, msg):
|
|
lines = [l.strip() for l in msg.strip().split('\n')]
|
|
self.respond("// " + "\n// ".join(lines))
|
|
def respond_error(self, msg):
|
|
lines = msg.strip().split('\n')
|
|
if len(lines) > 1:
|
|
self.respond_info("\n".join(lines[:-1]))
|
|
self.respond('!! %s' % (lines[-1].strip(),))
|
|
# Temperature wrappers
|
|
def get_temp(self):
|
|
if not self.is_printer_ready:
|
|
return "T:0"
|
|
# T:XXX /YYY B:XXX /YYY
|
|
out = []
|
|
if self.heater_nozzle:
|
|
cur, target = self.heater_nozzle.get_temp()
|
|
out.append("T:%.1f /%.1f" % (cur, target))
|
|
if self.heater_bed:
|
|
cur, target = self.heater_bed.get_temp()
|
|
out.append("B:%.1f /%.1f" % (cur, target))
|
|
return " ".join(out)
|
|
def bg_temp(self, heater):
|
|
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(self.get_temp())
|
|
eventtime = self.reactor.pause(eventtime + 1.)
|
|
def set_temp(self, heater, params, wait=False):
|
|
print_time = self.toolhead.get_last_move_time()
|
|
temp = float(params.get('S', '0'))
|
|
try:
|
|
heater.set_temp(print_time, temp)
|
|
except heater.error, e:
|
|
self.respond_error(str(e))
|
|
return
|
|
if wait:
|
|
self.bg_temp(heater)
|
|
# Individual command handlers
|
|
def cmd_default(self, params):
|
|
if not self.is_printer_ready:
|
|
self.respond_error(self.printer.get_state_message())
|
|
return
|
|
cmd = params.get('#command')
|
|
if not cmd:
|
|
logging.debug(params['#original'])
|
|
return
|
|
self.respond('echo:Unknown command:"%s"' % (cmd,))
|
|
cmd_G1_aliases = ['G0']
|
|
def cmd_G1(self, params):
|
|
# Move
|
|
for a, p in self.axis2pos.items():
|
|
if a in params:
|
|
v = float(params[a])
|
|
if not self.absolutecoord or (p>2 and not self.absoluteextrude):
|
|
# value relative to position of last move
|
|
self.last_position[p] += v
|
|
else:
|
|
# value relative to base coordinate position
|
|
self.last_position[p] = v + self.base_position[p]
|
|
if 'F' in params:
|
|
self.speed = float(params['F']) / 60.
|
|
try:
|
|
self.toolhead.move(self.last_position, self.speed)
|
|
except homing.EndstopError, e:
|
|
self.respond_error(str(e))
|
|
self.last_position = self.toolhead.get_position()
|
|
def cmd_G4(self, params):
|
|
# Dwell
|
|
if 'S' in params:
|
|
delay = float(params['S'])
|
|
else:
|
|
delay = float(params.get('P', '0')) / 1000.
|
|
self.toolhead.dwell(delay)
|
|
def cmd_G20(self, params):
|
|
# Set units to inches
|
|
self.respond_error('Machine does not support G20 (inches) command')
|
|
def cmd_G21(self, params):
|
|
# Set units to millimeters
|
|
pass
|
|
def cmd_G28(self, params):
|
|
# Move to origin
|
|
axes = []
|
|
for axis in 'XYZ':
|
|
if axis in params:
|
|
axes.append(self.axis2pos[axis])
|
|
if not axes:
|
|
axes = [0, 1, 2]
|
|
homing_state = homing.Homing(self.toolhead, axes)
|
|
if self.is_fileinput:
|
|
homing_state.set_no_verify_retract()
|
|
try:
|
|
self.toolhead.home(homing_state)
|
|
except homing.EndstopError, e:
|
|
self.toolhead.motor_off()
|
|
self.respond_error(str(e))
|
|
return
|
|
newpos = self.toolhead.get_position()
|
|
for axis in homing_state.get_axes():
|
|
self.last_position[axis] = newpos[axis]
|
|
self.base_position[axis] = -self.homing_add[axis]
|
|
def cmd_G90(self, params):
|
|
# Use absolute coordinates
|
|
self.absolutecoord = True
|
|
def cmd_G91(self, params):
|
|
# Use relative coordinates
|
|
self.absolutecoord = False
|
|
def cmd_G92(self, params):
|
|
# Set position
|
|
mcount = 0
|
|
for a, p in self.axis2pos.items():
|
|
if a in params:
|
|
self.base_position[p] = self.last_position[p] - float(params[a])
|
|
mcount += 1
|
|
if not mcount:
|
|
self.base_position = list(self.last_position)
|
|
def cmd_M82(self, params):
|
|
# Use absolute distances for extrusion
|
|
self.absoluteextrude = True
|
|
def cmd_M83(self, params):
|
|
# Use relative distances for extrusion
|
|
self.absoluteextrude = False
|
|
cmd_M18_aliases = ["M84"]
|
|
def cmd_M18(self, params):
|
|
# Turn off motors
|
|
self.toolhead.motor_off()
|
|
cmd_M105_when_not_ready = True
|
|
def cmd_M105(self, params):
|
|
# Get Extruder Temperature
|
|
self.ack(self.get_temp())
|
|
def cmd_M104(self, params):
|
|
# Set Extruder Temperature
|
|
self.set_temp(self.heater_nozzle, params)
|
|
def cmd_M109(self, params):
|
|
# Set Extruder Temperature and Wait
|
|
self.set_temp(self.heater_nozzle, params, wait=True)
|
|
cmd_M110_when_not_ready = True
|
|
def cmd_M110(self, params):
|
|
# Set Current Line Number
|
|
pass
|
|
def cmd_M112(self, params):
|
|
# Emergency Stop
|
|
self.toolhead.force_shutdown()
|
|
cmd_M114_when_not_ready = True
|
|
def cmd_M114(self, params):
|
|
# Get Current Position
|
|
if self.toolhead is None:
|
|
self.cmd_default(params)
|
|
return
|
|
kinpos = self.toolhead.get_position()
|
|
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[2], self.last_position[3],
|
|
kinpos[0], kinpos[1], kinpos[2]))
|
|
cmd_M115_when_not_ready = True
|
|
def cmd_M115(self, params):
|
|
# Get Firmware Version and Capabilities
|
|
kw = {"FIRMWARE_NAME": "Klipper"
|
|
, "FIRMWARE_VERSION": self.printer.software_version}
|
|
self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
|
|
def cmd_M140(self, params):
|
|
# Set Bed Temperature
|
|
self.set_temp(self.heater_bed, params)
|
|
def cmd_M190(self, params):
|
|
# Set Bed Temperature and Wait
|
|
self.set_temp(self.heater_bed, params, wait=True)
|
|
def cmd_M106(self, params):
|
|
# Set fan speed
|
|
print_time = self.toolhead.get_last_move_time()
|
|
self.fan.set_speed(print_time, float(params.get('S', '255')) / 255.)
|
|
def cmd_M107(self, params):
|
|
# Turn fan off
|
|
print_time = self.toolhead.get_last_move_time()
|
|
self.fan.set_speed(print_time, 0.)
|
|
def cmd_M206(self, params):
|
|
# Set home offset
|
|
for a, p in self.axis2pos.items():
|
|
if a in params:
|
|
v = float(params[a])
|
|
self.base_position[p] += self.homing_add[p] - v
|
|
self.homing_add[p] = v
|
|
def cmd_M400(self, params):
|
|
# Wait for current moves to finish
|
|
self.toolhead.wait_moves()
|
|
cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
|
|
cmd_QUERY_ENDSTOPS_aliases = ["M119"]
|
|
def cmd_QUERY_ENDSTOPS(self, params):
|
|
# Get Endstop Status
|
|
if self.is_fileinput:
|
|
return
|
|
try:
|
|
res = self.toolhead.query_endstops()
|
|
except self.printer.mcu.error, e:
|
|
self.respond_error(str(e))
|
|
return
|
|
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
|
|
for name, t in res]))
|
|
cmd_PID_TUNE_help = "Run PID Tuning"
|
|
cmd_PID_TUNE_aliases = ["M303"]
|
|
def cmd_PID_TUNE(self, params):
|
|
# Run PID tuning
|
|
heater = int(params.get('E', '0'))
|
|
heater = {0: self.heater_nozzle, -1: self.heater_bed}[heater]
|
|
temp = float(params.get('S', '60'))
|
|
heater.start_auto_tune(temp)
|
|
self.bg_temp(heater)
|
|
cmd_CLEAR_SHUTDOWN_when_not_ready = True
|
|
cmd_CLEAR_SHUTDOWN_help = "Clear a firmware shutdown and restart"
|
|
def cmd_CLEAR_SHUTDOWN(self, params):
|
|
if self.toolhead is None:
|
|
self.cmd_default(params)
|
|
return
|
|
self.printer.mcu.clear_shutdown()
|
|
self.printer.request_exit('restart')
|
|
def prep_restart(self):
|
|
if self.is_printer_ready:
|
|
self.respond_info("Preparing to restart...")
|
|
self.motor_heater_off()
|
|
self.toolhead.dwell(0.500)
|
|
self.toolhead.wait_moves()
|
|
cmd_RESTART_when_not_ready = True
|
|
cmd_RESTART_help = "Reload config file and restart host software"
|
|
def cmd_RESTART(self, params):
|
|
self.prep_restart()
|
|
self.printer.request_exit('restart')
|
|
cmd_FIRMWARE_RESTART_when_not_ready = True
|
|
cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
|
|
def cmd_FIRMWARE_RESTART(self, params):
|
|
self.prep_restart()
|
|
self.printer.request_exit('firmware_restart')
|
|
cmd_STATUS_when_not_ready = True
|
|
cmd_STATUS_help = "Report the printer status"
|
|
def cmd_STATUS(self, params):
|
|
msg = self.printer.get_state_message()
|
|
if self.is_printer_ready:
|
|
self.respond_info(msg)
|
|
else:
|
|
self.respond_error(msg)
|
|
cmd_HELP_when_not_ready = True
|
|
def cmd_HELP(self, params):
|
|
cmdhelp = []
|
|
if not self.is_printer_ready:
|
|
cmdhelp.append("Printer is not ready - not all commands available.")
|
|
cmdhelp.append("Available extended commands:")
|
|
for cmd in self.gcode_handlers:
|
|
desc = getattr(self, 'cmd_'+cmd+'_help', None)
|
|
if desc is not None:
|
|
cmdhelp.append("%-10s: %s" % (cmd, desc))
|
|
self.respond_info("\n".join(cmdhelp))
|