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gcode: Add support for SAVE_GCODE_STATE and RESTORE_GCODE_STATE commands

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Add commands to save and restore the current g-code state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-26 11:08:48 -04:00 • committed by KevinOConnor
parent 9e7ef3cf89
commit c54b8da530
3 changed files with 71 additions and 2 deletions
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42
klippy/gcode.py
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@ -53,9 +53,10 @@ class GCodeParser:
self.speed = 25.
self.speed_factor = 1. / 60.
self.extrude_factor = 1.
# G-Code state
self.saved_states = {}
self.move_transform = self.move_with_transform = None
self.position_with_transform = (lambda: [0., 0., 0., 0.])
# G-Code state
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
self.heaters = None
@ -485,7 +486,7 @@ class GCodeParser:
all_handlers = [
'G1', 'G4', 'G28', 'M18', 'M400',
'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
'SET_GCODE_OFFSET', 'M206',
'SET_GCODE_OFFSET', 'M206', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
'M112', 'M115', 'IGNORE', 'GET_POSITION',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
@ -631,6 +632,43 @@ class GCodeParser:
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 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]
try:
self.move_with_transform(self.last_position, speed)
except homing.EndstopError as e:
raise error(str(e))
# G-Code temperature and fan commands
cmd_M105_when_not_ready = True
def cmd_M105(self, params):