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gcode: Move SET_SERVO command from gcode.py to chipmisc.py

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Now that commands can be registered dynamically, move the code for
SET_SERVO from gcode.py to the PrinterServo() class in chipmisc.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-03 20:22:44 -05:00
parent b5a41d0dd1
commit bc9cbc8133
3 changed files with 25 additions and 19 deletions
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20
klippy/gcode.py
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@ -4,13 +4,14 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections
import homing, extruder, chipmisc
import homing, extruder
class error(Exception):
pass
# Parse and handle G-Code commands
class GCodeParser:
error = error
RETRY_TIME = 0.100
def __init__(self, printer, fd):
self.printer = printer
@ -48,6 +49,9 @@ class GCodeParser:
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
def register_command(self, cmd, func, when_not_ready=False, desc=None):
if not (len(cmd) >= 2 and not cmd[0].isupper() and cmd[1].isdigit()):
origfunc = func
func = lambda params: origfunc(self.get_extended_params(params))
self.ready_gcode_handlers[cmd] = func
if when_not_ready:
self.base_gcode_handlers[cmd] = func
@ -305,7 +309,7 @@ class GCodeParser:
'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
cmd_G1_aliases = ['G0']
def cmd_G1(self, params):
@ -467,18 +471,6 @@ class GCodeParser:
temp = self.get_float('S', params)
heater.start_auto_tune(temp)
self.bg_temp(heater)
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
params = self.get_extended_params(params)
name = self.get_str('SERVO', params)
s = chipmisc.get_printer_servo(self.printer, name)
if s is None:
raise error("Servo not configured")
print_time = self.toolhead.get_last_move_time()
if 'WIDTH' in params:
s.set_pulse_width(print_time, self.get_float('WIDTH', params))
return
s.set_angle(print_time, self.get_float('ANGLE', params))
def prep_restart(self):
if self.is_printer_ready:
self.respond_info("Preparing to restart...")