mirror of https://github.com/Desuuuu/klipper.git
750 lines
32 KiB
Python
750 lines
32 KiB
Python
# Parse gcode commands
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#
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# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import os, re, logging, collections, shlex
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import homing
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# Parse and handle G-Code commands
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class GCodeParser:
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error = homing.CommandError
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RETRY_TIME = 0.100
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def __init__(self, printer, fd):
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self.printer = printer
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self.fd = fd
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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printer.register_event_handler("klippy:disconnect",
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self._handle_disconnect)
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# Input handling
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self.reactor = printer.get_reactor()
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self.is_processing_data = False
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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self.fd_handle = None
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if not self.is_fileinput:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self.partial_input = ""
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self.pending_commands = []
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self.bytes_read = 0
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self.input_log = collections.deque([], 50)
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# Command handling
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self.is_printer_ready = False
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self.mutex = self.reactor.mutex()
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self.base_gcode_handlers = self.gcode_handlers = {}
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self.ready_gcode_handlers = {}
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self.mux_commands = {}
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self.gcode_help = {}
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for cmd in self.all_handlers:
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func = getattr(self, 'cmd_' + cmd)
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wnr = getattr(self, 'cmd_' + cmd + '_when_not_ready', False)
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desc = getattr(self, 'cmd_' + cmd + '_help', None)
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self.register_command(cmd, func, wnr, desc)
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for a in getattr(self, 'cmd_' + cmd + '_aliases', []):
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self.register_command(a, func, wnr)
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# G-Code coordinate manipulation
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self.absolute_coord = self.absolute_extrude = True
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self.base_position = [0.0, 0.0, 0.0, 0.0]
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self.last_position = [0.0, 0.0, 0.0, 0.0]
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self.homing_position = [0.0, 0.0, 0.0, 0.0]
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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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self.need_ack = False
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self.toolhead = None
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self.heaters = None
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self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
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def register_command(self, cmd, func, when_not_ready=False, desc=None):
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if func is None:
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if cmd in self.ready_gcode_handlers:
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del self.ready_gcode_handlers[cmd]
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if cmd in self.base_gcode_handlers:
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del self.base_gcode_handlers[cmd]
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return
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if cmd in self.ready_gcode_handlers:
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raise self.printer.config_error(
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"gcode command %s already registered" % (cmd,))
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if not (len(cmd) >= 2 and not cmd[0].isupper() and cmd[1].isdigit()):
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origfunc = func
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func = lambda params: origfunc(self._get_extended_params(params))
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self.ready_gcode_handlers[cmd] = func
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if when_not_ready:
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self.base_gcode_handlers[cmd] = func
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if desc is not None:
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self.gcode_help[cmd] = desc
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def register_mux_command(self, cmd, key, value, func, desc=None):
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prev = self.mux_commands.get(cmd)
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if prev is None:
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self.register_command(cmd, self._cmd_mux, desc=desc)
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self.mux_commands[cmd] = prev = (key, {})
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prev_key, prev_values = prev
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if prev_key != key:
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raise self.printer.config_error(
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"mux command %s %s %s may have only one key (%s)" % (
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cmd, key, value, prev_key))
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if value in prev_values:
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raise self.printer.config_error(
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"mux command %s %s %s already registered (%s)" % (
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cmd, key, value, prev_values))
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prev_values[value] = func
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def set_move_transform(self, transform, force=False):
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if self.move_transform is not None and not force:
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raise self.printer.config_error(
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"G-Code move transform already specified")
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old_transform = self.move_transform
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if old_transform is None:
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old_transform = self.toolhead
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self.move_transform = transform
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self.move_with_transform = transform.move
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self.position_with_transform = transform.get_position
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return old_transform
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def stats(self, eventtime):
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return False, "gcodein=%d" % (self.bytes_read,)
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def _action_emergency_stop(self, msg="action_emergency_stop"):
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self.printer.invoke_shutdown("Shutdown due to %s" % (msg,))
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return ""
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def _action_respond_info(self, msg):
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self.respond_info(msg)
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return ""
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def _action_respond_error(self, msg):
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self.respond_error(msg)
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return ""
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def _get_gcode_position(self):
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p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
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p[3] /= self.extrude_factor
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return p
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def _get_gcode_speed(self):
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return self.speed / self.speed_factor
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def _get_gcode_speed_override(self):
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return self.speed_factor * 60.
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def get_status(self, eventtime):
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move_position = self._get_gcode_position()
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busy = self.is_processing_data
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return {
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'speed_factor': self._get_gcode_speed_override(),
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'speed': self._get_gcode_speed(),
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'extrude_factor': self.extrude_factor,
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'abs_extrude': self.absolute_extrude,
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'busy': busy,
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'move_xpos': move_position[0],
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'move_ypos': move_position[1],
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'move_zpos': move_position[2],
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'move_epos': move_position[3],
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'last_xpos': self.last_position[0],
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'last_ypos': self.last_position[1],
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'last_zpos': self.last_position[2],
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'last_epos': self.last_position[3],
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'base_xpos': self.base_position[0],
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'base_ypos': self.base_position[1],
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'base_zpos': self.base_position[2],
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'base_epos': self.base_position[3],
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'homing_xpos': self.homing_position[0],
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'homing_ypos': self.homing_position[1],
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'homing_zpos': self.homing_position[2],
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'gcode_position': homing.Coord(*move_position),
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'action_respond_info': self._action_respond_info,
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'action_respond_error': self._action_respond_error,
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'action_emergency_stop': self._action_emergency_stop,
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}
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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self.gcode_handlers = self.base_gcode_handlers
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self._dump_debug()
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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self._respond_state("Shutdown")
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def _handle_disconnect(self):
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self._respond_state("Disconnect")
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def _handle_ready(self):
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self.is_printer_ready = True
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self.gcode_handlers = self.ready_gcode_handlers
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# Lookup printer components
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self.heaters = self.printer.lookup_object('heater')
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self.toolhead = self.printer.lookup_object('toolhead')
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if self.move_transform is None:
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self.move_with_transform = self.toolhead.move
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self.position_with_transform = self.toolhead.get_position
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if self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self._respond_state("Ready")
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def reset_last_position(self):
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self.last_position = self.position_with_transform()
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def _dump_debug(self):
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out = []
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out.append("Dumping gcode input %d blocks" % (
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len(self.input_log),))
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for eventtime, data in self.input_log:
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out.append("Read %f: %s" % (eventtime, repr(data)))
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out.append(
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"gcode state: absolute_coord=%s absolute_extrude=%s"
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" base_position=%s last_position=%s homing_position=%s"
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" speed_factor=%s extrude_factor=%s speed=%s" % (
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self.absolute_coord, self.absolute_extrude,
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self.base_position, self.last_position, self.homing_position,
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self.speed_factor, self.extrude_factor, self.speed))
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logging.info("\n".join(out))
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# Parse input into commands
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args_r = re.compile('([A-Z_]+|[A-Z*/])')
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def _process_commands(self, commands, need_ack=True):
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for line in commands:
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# Ignore comments and leading/trailing spaces
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line = origline = line.strip()
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cpos = line.find(';')
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if cpos >= 0:
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line = line[:cpos]
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# Break command into parts
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parts = self.args_r.split(line.upper())[1:]
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params = { parts[i]: parts[i+1].strip()
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for i in range(0, len(parts), 2) }
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params['#original'] = origline
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if parts and parts[0] == 'N':
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# Skip line number at start of command
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del parts[:2]
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if not parts:
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# Treat empty line as empty command
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parts = ['', '']
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params['#command'] = cmd = parts[0] + parts[1].strip()
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# Invoke handler for command
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self.need_ack = need_ack
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handler = self.gcode_handlers.get(cmd, self.cmd_default)
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try:
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handler(params)
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except self.error as e:
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self.respond_error(str(e))
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self.reset_last_position()
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if not need_ack:
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raise
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except:
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msg = 'Internal error on command:"%s"' % (cmd,)
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logging.exception(msg)
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self.printer.invoke_shutdown(msg)
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self.respond_error(msg)
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if not need_ack:
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raise
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self.ack()
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m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)')
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def _process_data(self, eventtime):
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# Read input, separate by newline, and add to pending_commands
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try:
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data = os.read(self.fd, 4096)
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except os.error:
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logging.exception("Read g-code")
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return
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self.input_log.append((eventtime, data))
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self.bytes_read += len(data)
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lines = data.split('\n')
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lines[0] = self.partial_input + lines[0]
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self.partial_input = lines.pop()
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pending_commands = self.pending_commands
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pending_commands.extend(lines)
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# Special handling for debug file input EOF
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if not data and self.is_fileinput:
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if not self.is_processing_data:
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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self.request_restart('exit')
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pending_commands.append("")
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# Handle case where multiple commands pending
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if self.is_processing_data or len(pending_commands) > 1:
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if len(pending_commands) < 20:
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# Check for M112 out-of-order
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for line in lines:
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if self.m112_r.match(line) is not None:
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self.cmd_M112({})
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if self.is_processing_data:
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if len(pending_commands) >= 20:
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# Stop reading input
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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return
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# Process commands
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self.is_processing_data = True
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while pending_commands:
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self.pending_commands = []
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with self.mutex:
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self._process_commands(pending_commands)
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pending_commands = self.pending_commands
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self.is_processing_data = False
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if self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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def run_script_from_command(self, script):
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prev_need_ack = self.need_ack
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try:
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self._process_commands(script.split('\n'), need_ack=False)
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finally:
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self.need_ack = prev_need_ack
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def run_script(self, script):
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with self.mutex:
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self._process_commands(script.split('\n'), need_ack=False)
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def get_mutex(self):
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return self.mutex
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# Response handling
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def ack(self, msg=None):
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if not self.need_ack or self.is_fileinput:
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return
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try:
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if msg:
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os.write(self.fd, "ok %s\n" % (msg,))
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else:
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os.write(self.fd, "ok\n")
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except os.error:
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logging.exception("Write g-code ack")
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self.need_ack = False
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def respond(self, msg):
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if self.is_fileinput:
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return
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try:
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os.write(self.fd, msg+"\n")
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except os.error:
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logging.exception("Write g-code response")
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def respond_info(self, msg, log=True):
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if log:
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logging.info(msg)
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lines = [l.strip() for l in msg.strip().split('\n')]
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self.respond("// " + "\n// ".join(lines))
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def respond_error(self, msg):
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logging.warning(msg)
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lines = msg.strip().split('\n')
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if len(lines) > 1:
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self.respond_info("\n".join(lines), log=False)
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self.respond('!! %s' % (lines[0].strip(),))
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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def _respond_state(self, state):
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self.respond_info("Klipper state: %s" % (state,), log=False)
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# Parameter parsing helpers
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class sentinel: pass
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def get_str(self, name, params, default=sentinel, parser=str,
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minval=None, maxval=None, above=None, below=None):
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if name not in params:
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if default is self.sentinel:
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raise self.error("Error on '%s': missing %s" % (
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params['#original'], name))
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return default
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try:
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value = parser(params[name])
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except:
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raise self.error("Error on '%s': unable to parse %s" % (
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params['#original'], params[name]))
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if minval is not None and value < minval:
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raise self.error("Error on '%s': %s must have minimum of %s" % (
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params['#original'], name, minval))
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if maxval is not None and value > maxval:
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raise self.error("Error on '%s': %s must have maximum of %s" % (
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params['#original'], name, maxval))
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if above is not None and value <= above:
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raise self.error("Error on '%s': %s must be above %s" % (
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params['#original'], name, above))
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if below is not None and value >= below:
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raise self.error("Error on '%s': %s must be below %s" % (
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params['#original'], name, below))
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return value
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def get_int(self, name, params, default=sentinel, minval=None, maxval=None):
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return self.get_str(name, params, default, parser=int,
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minval=minval, maxval=maxval)
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def get_float(self, name, params, default=sentinel,
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minval=None, maxval=None, above=None, below=None):
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return self.get_str(name, params, default, parser=float, minval=minval,
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maxval=maxval, above=above, below=below)
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extended_r = re.compile(
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r'^\s*(?:N[0-9]+\s*)?'
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r'(?P<cmd>[a-zA-Z_][a-zA-Z_]+)(?:\s+|$)'
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r'(?P<args>[^#*;]*?)'
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r'\s*(?:[#*;].*)?$')
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def _get_extended_params(self, params):
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m = self.extended_r.match(params['#original'])
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if m is None:
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# Not an "extended" command
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return params
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eargs = m.group('args')
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try:
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eparams = [earg.split('=', 1) for earg in shlex.split(eargs)]
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eparams = { k.upper(): v for k, v in eparams }
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eparams.update({k: params[k] for k in params if k.startswith('#')})
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return eparams
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except ValueError as e:
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raise self.error("Malformed command '%s'" % (params['#original'],))
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# Temperature wrappers
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def _get_temp(self, eventtime):
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# Tn:XXX /YYY B:XXX /YYY
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out = []
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if self.heaters is not None:
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for gcode_id, sensor in sorted(self.heaters.get_gcode_sensors()):
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cur, target = sensor.get_temp(eventtime)
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out.append("%s:%.1f /%.1f" % (gcode_id, cur, target))
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if not out:
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return "T:0"
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return " ".join(out)
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def bg_temp(self, heater):
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if self.is_fileinput:
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return
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eventtime = self.reactor.monotonic()
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while self.is_printer_ready and heater.check_busy(eventtime):
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print_time = self.toolhead.get_last_move_time()
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self.respond(self._get_temp(eventtime))
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eventtime = self.reactor.pause(eventtime + 1.)
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def _set_temp(self, params, is_bed=False, wait=False):
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temp = self.get_float('S', params, 0.)
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heater = None
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if is_bed:
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heater = self.printer.lookup_object('heater_bed', None)
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elif 'T' in params:
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index = self.get_int('T', params, minval=0)
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section = 'extruder'
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if index:
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section = 'extruder%d' % (index,)
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extruder = self.printer.lookup_object(section, None)
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if extruder is not None:
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heater = extruder.get_heater()
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else:
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heater = self.toolhead.get_extruder().get_heater()
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if heater is None:
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if temp > 0.:
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self.respond_error("Heater not configured")
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return
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print_time = self.toolhead.get_last_move_time()
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try:
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heater.set_temp(print_time, temp)
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except heater.error as e:
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raise self.error(str(e))
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if wait and temp:
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self.bg_temp(heater)
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# G-Code special command handlers
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def cmd_default(self, params):
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if not self.is_printer_ready:
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self.respond_error(self.printer.get_state_message())
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return
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cmd = params.get('#command')
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if not cmd:
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logging.debug(params['#original'])
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return
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if cmd[0] == 'T' and len(cmd) > 1 and cmd[1].isdigit():
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# Tn command has to be handled specially
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self.cmd_Tn(params)
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return
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elif cmd.startswith("M117 "):
|
|
# Handle M117 gcode with numeric and special characters
|
|
handler = self.gcode_handlers.get("M117", None)
|
|
if handler is not None:
|
|
handler(params)
|
|
return
|
|
elif cmd == 'M107' or (cmd == 'M106' and (
|
|
not self.get_float('S', params, 1.) or self.is_fileinput)):
|
|
# Don't warn about requests to turn off fan when fan not present
|
|
return
|
|
self.respond_info('Unknown command:"%s"' % (cmd,))
|
|
def cmd_Tn(self, params):
|
|
# Select Tool
|
|
index = self.get_int('T', params, minval=0)
|
|
section = 'extruder'
|
|
if index:
|
|
section = 'extruder%d' % (index,)
|
|
new_extruder = self.printer.lookup_object(section, None)
|
|
if new_extruder is None:
|
|
raise self.error("Unknown extruder %d on Tn command" % (index,))
|
|
old_extruder = self.toolhead.get_extruder()
|
|
if old_extruder is new_extruder:
|
|
return
|
|
self.run_script_from_command(old_extruder.get_activate_gcode(False))
|
|
print_time = self.toolhead.get_last_move_time()
|
|
old_extruder.set_active(print_time, False)
|
|
extrude_pos = new_extruder.set_active(print_time, True)
|
|
self.toolhead.set_extruder(new_extruder, extrude_pos)
|
|
self.reset_last_position()
|
|
self.extrude_factor = 1.
|
|
self.base_position[3] = self.last_position[3]
|
|
self.run_script_from_command(new_extruder.get_activate_gcode(True))
|
|
def _cmd_mux(self, params):
|
|
key, values = self.mux_commands[params['#command']]
|
|
if None in values:
|
|
key_param = self.get_str(key, params, None)
|
|
else:
|
|
key_param = self.get_str(key, params)
|
|
if key_param not in values:
|
|
raise self.error("The value '%s' is not valid for %s" % (
|
|
key_param, key))
|
|
values[key_param](params)
|
|
all_handlers = [
|
|
'G1', 'G4', 'G28', 'M400',
|
|
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
|
|
'SET_GCODE_OFFSET', 'M206', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
|
|
'M105', 'M104', 'M109', 'M140', 'M190',
|
|
'M112', 'M115', 'IGNORE', 'GET_POSITION',
|
|
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
|
|
# G-Code movement commands
|
|
cmd_G1_aliases = ['G0']
|
|
def cmd_G1(self, params):
|
|
# Move
|
|
try:
|
|
for axis in 'XYZ':
|
|
if axis in params:
|
|
v = float(params[axis])
|
|
pos = self.axis2pos[axis]
|
|
if not self.absolute_coord:
|
|
# value relative to position of last move
|
|
self.last_position[pos] += v
|
|
else:
|
|
# value relative to base coordinate position
|
|
self.last_position[pos] = v + self.base_position[pos]
|
|
if 'E' in params:
|
|
v = float(params['E']) * self.extrude_factor
|
|
if not self.absolute_coord or not self.absolute_extrude:
|
|
# value relative to position of last move
|
|
self.last_position[3] += v
|
|
else:
|
|
# value relative to base coordinate position
|
|
self.last_position[3] = v + self.base_position[3]
|
|
if 'F' in params:
|
|
gcode_speed = float(params['F'])
|
|
if gcode_speed <= 0.:
|
|
raise self.error("Invalid speed in '%s'" % (
|
|
params['#original'],))
|
|
self.speed = gcode_speed * self.speed_factor
|
|
except ValueError as e:
|
|
raise self.error("Unable to parse move '%s'" % (
|
|
params['#original'],))
|
|
self.move_with_transform(self.last_position, self.speed)
|
|
def cmd_G4(self, params):
|
|
# Dwell
|
|
delay = self.get_float('P', params, 0., minval=0.) / 1000.
|
|
self.toolhead.dwell(delay)
|
|
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.printer)
|
|
if self.is_fileinput:
|
|
homing_state.set_no_verify_retract()
|
|
homing_state.home_axes(axes)
|
|
for axis in homing_state.get_axes():
|
|
self.base_position[axis] = self.homing_position[axis]
|
|
self.reset_last_position()
|
|
def cmd_M400(self, params):
|
|
# Wait for current moves to finish
|
|
self.toolhead.wait_moves()
|
|
# G-Code coordinate manipulation
|
|
def cmd_G20(self, params):
|
|
# Set units to inches
|
|
self.respond_error('Machine does not support G20 (inches) command')
|
|
def cmd_M82(self, params):
|
|
# Use absolute distances for extrusion
|
|
self.absolute_extrude = True
|
|
def cmd_M83(self, params):
|
|
# Use relative distances for extrusion
|
|
self.absolute_extrude = False
|
|
def cmd_G90(self, params):
|
|
# Use absolute coordinates
|
|
self.absolute_coord = True
|
|
def cmd_G91(self, params):
|
|
# Use relative coordinates
|
|
self.absolute_coord = False
|
|
def cmd_G92(self, params):
|
|
# Set position
|
|
offsets = { p: self.get_float(a, params)
|
|
for a, p in self.axis2pos.items() if a in params }
|
|
for p, offset in offsets.items():
|
|
if p == 3:
|
|
offset *= self.extrude_factor
|
|
self.base_position[p] = self.last_position[p] - offset
|
|
if not offsets:
|
|
self.base_position = list(self.last_position)
|
|
cmd_M114_when_not_ready = True
|
|
def cmd_M114(self, params):
|
|
# Get Current Position
|
|
p = self._get_gcode_position()
|
|
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p))
|
|
def cmd_M220(self, params):
|
|
# Set speed factor override percentage
|
|
value = self.get_float('S', params, 100., above=0.) / (60. * 100.)
|
|
self.speed = self._get_gcode_speed() * value
|
|
self.speed_factor = value
|
|
def cmd_M221(self, params):
|
|
# Set extrude factor override percentage
|
|
new_extrude_factor = self.get_float('S', params, 100., above=0.) / 100.
|
|
last_e_pos = self.last_position[3]
|
|
e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor
|
|
self.base_position[3] = last_e_pos - e_value * new_extrude_factor
|
|
self.extrude_factor = new_extrude_factor
|
|
cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions"
|
|
def cmd_SET_GCODE_OFFSET(self, params):
|
|
move_delta = [0., 0., 0., 0.]
|
|
for axis, pos in self.axis2pos.items():
|
|
if axis in params:
|
|
offset = self.get_float(axis, params)
|
|
elif axis + '_ADJUST' in params:
|
|
offset = self.homing_position[pos]
|
|
offset += self.get_float(axis + '_ADJUST', params)
|
|
else:
|
|
continue
|
|
delta = offset - self.homing_position[pos]
|
|
move_delta[pos] = delta
|
|
self.base_position[pos] += delta
|
|
self.homing_position[pos] = offset
|
|
# Move the toolhead the given offset if requested
|
|
if self.get_int('MOVE', params, 0):
|
|
speed = self.get_float('MOVE_SPEED', params, self.speed, above=0.)
|
|
for pos, delta in enumerate(move_delta):
|
|
self.last_position[pos] += delta
|
|
self.move_with_transform(self.last_position, speed)
|
|
def cmd_M206(self, params):
|
|
# Offset axes
|
|
offsets = { self.axis2pos[a]: -self.get_float(a, params)
|
|
for a in 'XYZ' if a in params }
|
|
for pos, offset in offsets.items():
|
|
delta = offset - self.homing_position[pos]
|
|
self.base_position[pos] += delta
|
|
self.homing_position[pos] = offset
|
|
cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state"
|
|
def cmd_SAVE_GCODE_STATE(self, params):
|
|
state_name = self.get_str('NAME', params, 'default')
|
|
self.saved_states[state_name] = {
|
|
'absolute_coord': self.absolute_coord,
|
|
'absolute_extrude': self.absolute_extrude,
|
|
'base_position': list(self.base_position),
|
|
'last_position': list(self.last_position),
|
|
'homing_position': list(self.homing_position),
|
|
'speed': self.speed, 'speed_factor': self.speed_factor,
|
|
'extrude_factor': self.extrude_factor,
|
|
}
|
|
cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state"
|
|
def cmd_RESTORE_GCODE_STATE(self, params):
|
|
state_name = self.get_str('NAME', params, 'default')
|
|
state = self.saved_states.get(state_name)
|
|
if state is None:
|
|
raise self.error("Unknown g-code state: %s" % (state_name,))
|
|
# Restore state
|
|
self.absolute_coord = state['absolute_coord']
|
|
self.absolute_extrude = state['absolute_extrude']
|
|
self.base_position = list(state['base_position'])
|
|
self.homing_position = list(state['homing_position'])
|
|
self.speed = state['speed']
|
|
self.speed_factor = state['speed_factor']
|
|
self.extrude_factor = state['extrude_factor']
|
|
# Restore the relative E position
|
|
e_diff = self.last_position[3] - state['last_position'][3]
|
|
self.base_position[3] += e_diff
|
|
# Move the toolhead back if requested
|
|
if self.get_int('MOVE', params, 0):
|
|
speed = self.get_float('MOVE_SPEED', params, self.speed, above=0.)
|
|
self.last_position[:3] = state['last_position'][:3]
|
|
self.move_with_transform(self.last_position, speed)
|
|
# G-Code temperature 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(msg)
|
|
def cmd_M104(self, params):
|
|
# Set Extruder Temperature
|
|
self._set_temp(params)
|
|
def cmd_M109(self, params):
|
|
# Set Extruder Temperature and Wait
|
|
self._set_temp(params, wait=True)
|
|
def cmd_M140(self, params):
|
|
# Set Bed Temperature
|
|
self._set_temp(params, is_bed=True)
|
|
def cmd_M190(self, params):
|
|
# Set Bed Temperature and Wait
|
|
self._set_temp(params, is_bed=True, wait=True)
|
|
# G-Code miscellaneous commands
|
|
cmd_M112_when_not_ready = True
|
|
def cmd_M112(self, params):
|
|
# Emergency Stop
|
|
self.printer.invoke_shutdown("Shutdown due to M112 command")
|
|
cmd_M115_when_not_ready = True
|
|
def cmd_M115(self, params):
|
|
# Get Firmware Version and Capabilities
|
|
software_version = self.printer.get_start_args().get('software_version')
|
|
kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
|
|
self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
|
|
cmd_IGNORE_when_not_ready = True
|
|
cmd_IGNORE_aliases = ["G21", "M110", "M21"]
|
|
def cmd_IGNORE(self, params):
|
|
# Commands that are just silently accepted
|
|
pass
|
|
cmd_GET_POSITION_when_not_ready = True
|
|
def cmd_GET_POSITION(self, params):
|
|
if self.toolhead is None:
|
|
self.cmd_default(params)
|
|
return
|
|
kin = self.toolhead.get_kinematics()
|
|
steppers = kin.get_steppers()
|
|
mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
|
|
for s in steppers])
|
|
for s in steppers:
|
|
s.set_tag_position(s.get_commanded_position())
|
|
stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
|
|
for s in steppers])
|
|
kin_pos = " ".join(["%s:%.6f" % (a, v)
|
|
for a, v in zip("XYZ", kin.calc_tag_position())])
|
|
toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
|
|
"XYZE", self.toolhead.get_position())])
|
|
gcode_pos = " ".join(["%s:%.6f" % (a, v)
|
|
for a, v in zip("XYZE", self.last_position)])
|
|
base_pos = " ".join(["%s:%.6f" % (a, v)
|
|
for a, v in zip("XYZE", self.base_position)])
|
|
homing_pos = " ".join(["%s:%.6f" % (a, v)
|
|
for a, v in zip("XYZ", self.homing_position)])
|
|
self.respond_info("mcu: %s\n"
|
|
"stepper: %s\n"
|
|
"kinematic: %s\n"
|
|
"toolhead: %s\n"
|
|
"gcode: %s\n"
|
|
"gcode base: %s\n"
|
|
"gcode homing: %s"
|
|
% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
|
|
gcode_pos, base_pos, homing_pos))
|
|
def request_restart(self, result):
|
|
if self.is_printer_ready:
|
|
print_time = self.toolhead.get_last_move_time()
|
|
self.printer.send_event("gcode:request_restart", print_time)
|
|
self.toolhead.dwell(0.500)
|
|
self.toolhead.wait_moves()
|
|
self.printer.request_exit(result)
|
|
cmd_RESTART_when_not_ready = True
|
|
cmd_RESTART_help = "Reload config file and restart host software"
|
|
def cmd_RESTART(self, params):
|
|
self.request_restart('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.request_restart('firmware_restart')
|
|
cmd_ECHO_when_not_ready = True
|
|
def cmd_ECHO(self, params):
|
|
self.respond_info(params['#original'], log=False)
|
|
cmd_STATUS_when_not_ready = True
|
|
cmd_STATUS_help = "Report the printer status"
|
|
def cmd_STATUS(self, params):
|
|
if self.is_printer_ready:
|
|
self._respond_state("Ready")
|
|
return
|
|
msg = self.printer.get_state_message()
|
|
msg = msg.rstrip() + "\nKlipper state: Not ready"
|
|
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 sorted(self.gcode_handlers):
|
|
if cmd in self.gcode_help:
|
|
cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
|
|
self.respond_info("\n".join(cmdhelp), log=False)
|