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homing: Support querying the current status of endstops

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-22 11:09:20 -04:00
parent c8ff439722
commit 0685802cb8
6 changed files with 75 additions and 17 deletions
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16
klippy/gcode.py
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@ -44,7 +44,7 @@ class GCodeParser:
def build_handlers(self):
shutdown_handlers = ['M105', 'M110', 'M114']
handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M206']
'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M119', 'M206']
if self.heater_nozzle is not None:
handlers.extend(['M104', 'M105', 'M109', 'M303'])
if self.heater_bed is not None:
@ -294,6 +294,20 @@ class GCodeParser:
self.last_position[0], self.last_position[1],
self.last_position[2], self.last_position[3],
kinpos[0], kinpos[1], kinpos[2]))
def cmd_M119(self, params):
# Get Endstop Status
if self.inputfile:
return
# Wrapper class for check_busy() that responds with final status
class endstop_handler_wrapper:
gcode = self
state = self.toolhead.query_endstops()
def check_busy(self, eventtime):
busy = self.state.check_busy(eventtime)
if not busy:
self.gcode.respond(self.state.get_msg())
return busy
self.set_busy(endstop_handler_wrapper())
def cmd_M140(self, params):
# Set Bed Temperature
self.set_temp(self.heater_bed, params)