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https://github.com/Klipper3d/klipper.git
synced 2025-07-16 11:17:52 -06:00
gcode: Split G0/G1 command handling to new gcode_move class
Split up the main GCodeParser class into GCodeDispatch and GCodeMove classes. The GCodeMove class is now available using the "gcode_move" printer object name. This split simplifies the gcode.py code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
cd7c1b8e68
commit
4c5e93d51d
15 changed files with 219 additions and 194 deletions
316
klippy/gcode.py
316
klippy/gcode.py
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@ -66,8 +66,8 @@ class GCodeCommand:
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return self.get(name, default, parser=float, minval=minval,
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maxval=maxval, above=above, below=below)
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# Parse and handle G-Code commands
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class GCodeParser:
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# Parse and dispatch G-Code commands
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class GCodeDispatch:
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error = homing.CommandError
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def __init__(self, printer):
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self.printer = printer
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@ -76,12 +76,6 @@ class GCodeParser:
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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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printer.register_event_handler("toolhead:set_position",
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self.reset_last_position)
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printer.register_event_handler("toolhead:manual_move",
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self.reset_last_position)
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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# Command handling
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self.is_printer_ready = False
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self.mutex = printer.get_reactor().mutex()
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@ -90,26 +84,13 @@ class GCodeParser:
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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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# Register commands needed before config file is loaded
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handlers = ['M110', 'M112', 'M115',
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'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
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for cmd in 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.toolhead = None
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self.register_command(cmd, func, True, desc)
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def is_traditional_gcode(self, cmd):
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# A "traditional" g-code command is a letter and followed by a number
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try:
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@ -156,44 +137,6 @@ class GCodeParser:
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return dict(self.gcode_help)
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def register_output_handler(self, cb):
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self.output_callbacks.append(cb)
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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 _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=None):
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move_position = self._get_gcode_position()
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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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'absolute_coordinates': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'homing_origin': homing.Coord(*self.homing_position),
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'position': homing.Coord(*self.last_position),
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'gcode_position': homing.Coord(*move_position),
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}
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def dump_state(self):
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return ("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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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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@ -205,18 +148,7 @@ class GCodeParser:
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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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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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self._respond_state("Ready")
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def _handle_activate_extruder(self):
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self.reset_last_position()
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self.extrude_factor = 1.
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self.base_position[3] = self.last_position[3]
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def reset_last_position(self):
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if self.is_printer_ready:
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self.last_position = self.position_with_transform()
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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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@ -245,7 +177,6 @@ class GCodeParser:
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handler(gcmd)
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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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self.printer.send_event("gcode:command_error")
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if not need_ack:
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raise
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@ -313,6 +244,9 @@ class GCodeParser:
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# Don't warn about temperature requests when not ready
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gcmd.ack("T:0")
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return
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if cmd == 'M21':
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# Don't warn about sd card init when not ready
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return
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if not self.is_printer_ready:
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raise gcmd.error(self.printer.get_state_message()[0])
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return
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@ -343,14 +277,151 @@ class GCodeParser:
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raise gcmd.error("The value '%s' is not valid for %s"
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% (key_param, key))
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values[key_param](gcmd)
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all_handlers = [
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'G1', 'G28',
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'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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'M112', 'M115', 'IGNORE', 'GET_POSITION',
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'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
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# Low-level G-Code commands that are needed before the config file is loaded
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def cmd_M110(self, gcmd):
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# Set Current Line Number
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pass
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def cmd_M112(self, gcmd):
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# Emergency Stop
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self.printer.invoke_shutdown("Shutdown due to M112 command")
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def cmd_M115(self, gcmd):
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# Get Firmware Version and Capabilities
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software_version = self.printer.get_start_args().get('software_version')
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kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
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gcmd.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
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def request_restart(self, result):
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if self.is_printer_ready:
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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if result == 'exit':
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logging.info("Exiting (print time %.3fs)" % (print_time,))
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self.printer.send_event("gcode:request_restart", print_time)
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toolhead.dwell(0.500)
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toolhead.wait_moves()
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self.printer.request_exit(result)
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cmd_RESTART_help = "Reload config file and restart host software"
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def cmd_RESTART(self, gcmd):
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self.request_restart('restart')
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cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
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def cmd_FIRMWARE_RESTART(self, gcmd):
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self.request_restart('firmware_restart')
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def cmd_ECHO(self, gcmd):
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gcmd.respond_info(gcmd.get_commandline(), log=False)
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cmd_STATUS_help = "Report the printer status"
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def cmd_STATUS(self, gcmd):
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if self.is_printer_ready:
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self._respond_state("Ready")
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return
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msg = self.printer.get_state_message()[0]
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msg = msg.rstrip() + "\nKlipper state: Not ready"
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raise gcmd.error(msg)
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def cmd_HELP(self, gcmd):
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cmdhelp = []
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if not self.is_printer_ready:
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cmdhelp.append("Printer is not ready - not all commands available.")
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cmdhelp.append("Available extended commands:")
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for cmd in sorted(self.gcode_handlers):
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if cmd in self.gcode_help:
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cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
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gcmd.respond_info("\n".join(cmdhelp), log=False)
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# G1 movement commands (and associated coordinate manipulation)
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class GCodeMove:
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def __init__(self, printer):
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self.printer = printer
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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("toolhead:set_position",
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self.reset_last_position)
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printer.register_event_handler("toolhead:manual_move",
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self.reset_last_position)
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printer.register_event_handler("gcode:command_error",
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self.reset_last_position)
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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self.is_printer_ready = False
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# Register g-code commands
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gcode = self.printer.lookup_object('gcode')
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handlers = [
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'G1', 'G28', 'G20', 'G21',
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'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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]
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for cmd in handlers:
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func = getattr(self, 'cmd_' + cmd)
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desc = getattr(self, 'cmd_' + cmd + '_help', None)
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gcode.register_command(cmd, func, False, desc)
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gcode.register_command('G0', self.cmd_G1)
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gcode.register_command('M114', self.cmd_M114, True)
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gcode.register_command('GET_POSITION', self.cmd_GET_POSITION, True)
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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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def _handle_ready(self):
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self.is_printer_ready = True
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if self.move_transform is None:
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toolhead = self.printer.lookup_object('toolhead')
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self.move_with_transform = toolhead.move
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self.position_with_transform = toolhead.get_position
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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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logging.info("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,
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self.homing_position, self.speed_factor,
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self.extrude_factor, self.speed)
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def _handle_activate_extruder(self):
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self.reset_last_position()
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self.extrude_factor = 1.
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self.base_position[3] = self.last_position[3]
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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.printer.lookup_object('toolhead', None)
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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 _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=None):
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move_position = self._get_gcode_position()
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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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'absolute_coordinates': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'homing_origin': homing.Coord(*self.homing_position),
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'position': homing.Coord(*self.last_position),
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'gcode_position': homing.Coord(*move_position),
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}
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def reset_last_position(self):
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if self.is_printer_ready:
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self.last_position = self.position_with_transform()
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# G-Code movement commands
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cmd_G1_aliases = ['G0']
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def cmd_G1(self, gcmd):
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# Move
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params = gcmd._params
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@ -391,8 +462,6 @@ class GCodeParser:
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if not axes:
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axes = [0, 1, 2]
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homing_state = homing.Homing(self.printer)
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if self.is_fileinput:
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homing_state.set_no_verify_retract()
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homing_state.home_axes(axes)
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for axis in homing_state.get_axes():
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self.base_position[axis] = self.homing_position[axis]
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@ -400,6 +469,9 @@ class GCodeParser:
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def cmd_G20(self, gcmd):
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# Set units to inches
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raise gcmd.error('Machine does not support G20 (inches) command')
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def cmd_G21(self, gcmd):
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# Set units to millimeters
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pass
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def cmd_M82(self, gcmd):
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# Use absolute distances for extrusion
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self.absolute_extrude = True
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@ -422,7 +494,6 @@ class GCodeParser:
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self.base_position[i] = self.last_position[i] - offset
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if offsets == [None, None, None, None]:
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self.base_position = list(self.last_position)
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cmd_M114_when_not_ready = True
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def cmd_M114(self, gcmd):
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# Get Current Position
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p = self._get_gcode_position()
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@ -493,28 +564,11 @@ class GCodeParser:
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speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.)
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self.last_position[:3] = state['last_position'][:3]
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self.move_with_transform(self.last_position, speed)
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# G-Code miscellaneous commands
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cmd_M112_when_not_ready = True
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def cmd_M112(self, gcmd):
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# Emergency Stop
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self.printer.invoke_shutdown("Shutdown due to M112 command")
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cmd_M115_when_not_ready = True
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def cmd_M115(self, gcmd):
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# Get Firmware Version and Capabilities
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software_version = self.printer.get_start_args().get('software_version')
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kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
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gcmd.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
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cmd_IGNORE_when_not_ready = True
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cmd_IGNORE_aliases = ["G21", "M110", "M21"]
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def cmd_IGNORE(self, gcmd):
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# Commands that are just silently accepted
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pass
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cmd_GET_POSITION_when_not_ready = True
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def cmd_GET_POSITION(self, gcmd):
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if self.toolhead is None:
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self.cmd_default(gcmd)
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return
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kin = self.toolhead.get_kinematics()
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toolhead = self.printer.lookup_object('toolhead', None)
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if toolhead is None:
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raise gcmd.error("Printer not ready")
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kin = toolhead.get_kinematics()
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steppers = kin.get_steppers()
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mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
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for s in steppers])
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@ -525,7 +579,7 @@ class GCodeParser:
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kin_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZ", kin.calc_tag_position())])
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toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
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"XYZE", self.toolhead.get_position())])
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"XYZE", toolhead.get_position())])
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gcode_pos = " ".join(["%s:%.6f" % (a, v)
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for a, v in zip("XYZE", self.last_position)])
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base_pos = " ".join(["%s:%.6f" % (a, v)
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@ -541,45 +595,6 @@ class GCodeParser:
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"gcode homing: %s"
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% (mcu_pos, stepper_pos, kin_pos, toolhead_pos,
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gcode_pos, base_pos, homing_pos))
|
||||
def request_restart(self, result):
|
||||
if self.is_printer_ready:
|
||||
print_time = self.toolhead.get_last_move_time()
|
||||
if result == 'exit':
|
||||
logging.info("Exiting (print time %.3fs)" % (print_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, gcmd):
|
||||
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, gcmd):
|
||||
self.request_restart('firmware_restart')
|
||||
cmd_ECHO_when_not_ready = True
|
||||
def cmd_ECHO(self, gcmd):
|
||||
gcmd.respond_info(gcmd.get_commandline(), log=False)
|
||||
cmd_STATUS_when_not_ready = True
|
||||
cmd_STATUS_help = "Report the printer status"
|
||||
def cmd_STATUS(self, gcmd):
|
||||
if self.is_printer_ready:
|
||||
self._respond_state("Ready")
|
||||
return
|
||||
msg = self.printer.get_state_message()[0]
|
||||
msg = msg.rstrip() + "\nKlipper state: Not ready"
|
||||
raise gcmd.error(msg)
|
||||
cmd_HELP_when_not_ready = True
|
||||
def cmd_HELP(self, gcmd):
|
||||
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]))
|
||||
gcmd.respond_info("\n".join(cmdhelp), log=False)
|
||||
|
||||
# Support reading gcode from a pseudo-tty interface
|
||||
class GCodeIO:
|
||||
|
|
@ -611,11 +626,9 @@ class GCodeIO:
|
|||
self._process_data)
|
||||
def _dump_debug(self):
|
||||
out = []
|
||||
out.append("Dumping gcode input %d blocks" % (
|
||||
len(self.input_log),))
|
||||
out.append("Dumping gcode input %d blocks" % (len(self.input_log),))
|
||||
for eventtime, data in self.input_log:
|
||||
out.append("Read %f: %s" % (eventtime, repr(data)))
|
||||
out.append(self.gcode.dump_state())
|
||||
logging.info("\n".join(out))
|
||||
def _handle_shutdown(self):
|
||||
if not self.is_printer_ready:
|
||||
|
|
@ -682,5 +695,6 @@ class GCodeIO:
|
|||
return False, "gcodein=%d" % (self.bytes_read,)
|
||||
|
||||
def add_early_printer_objects(printer):
|
||||
printer.add_object('gcode', GCodeParser(printer))
|
||||
printer.add_object('gcode', GCodeDispatch(printer))
|
||||
printer.add_object('gcode_move', GCodeMove(printer))
|
||||
printer.add_object('gcode_io', GCodeIO(printer))
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue