klipper-dgus/klippy/extras/pause_resume.py

57 lines
2.3 KiB
Python

# Pause/Resume functionality with position capture/restore
#
# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
class PauseResume:
def __init__(self, config):
self.printer = config.get_printer()
self.gcode = self.printer.lookup_object('gcode')
self.recover_velocity = config.getfloat('recover_velocity', 50.)
self.captured_position = None
self.captured_speed = 0.
self.toolhead = self.v_sd = None
self.sd_paused = False
self.printer.register_event_handler("klippy:ready", self.handle_ready)
self.gcode.register_command("PAUSE", self.cmd_PAUSE)
self.gcode.register_command("RESUME", self.cmd_RESUME)
def handle_ready(self):
self.toolhead = self.printer.lookup_object('toolhead')
self.v_sd = self.printer.lookup_object('virtual_sdcard', None)
def cmd_PAUSE(self, params):
if self.v_sd is not None and self.v_sd.is_active():
# Printing from virtual sd, run pause command
self.sd_paused = True
self.v_sd.cmd_M25({})
else:
self.sd_paused = False
self.gcode.respond_info("action:pause")
self.toolhead.wait_moves()
self.captured_position = self.toolhead.get_position()
reactor = self.printer.get_reactor()
gc_status = self.gcode.get_status(reactor.monotonic())
self.captured_speed = gc_status['speed']
def cmd_RESUME(self, params):
velocity = self.gcode.get_float(
'VELOCITY', params, self.recover_velocity)
if self.captured_position is not None:
# restore previous xyz position
cur_pos = self.toolhead.get_position()
self.captured_position[3] = cur_pos[3]
self.toolhead.move(self.captured_position, velocity)
self.toolhead.get_last_move_time()
self.gcode.reset_last_position()
# restore previous speed
self.gcode.run_script_from_command(
"G1 F%.6f" % (self.captured_speed))
self.captured_position = None
if self.sd_paused:
# Printing from virtual sd, run pause command
self.v_sd.cmd_M24({})
else:
self.gcode.respond_info("action:resume")
def load_config(config):
return PauseResume(config)