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klippy: Rework shutdown handling

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If an MCU signals a shutdown from the background thread, notify the
main thread and handle the shutdown there.  Dispatch shutdown handling
from the main Printer() class instead of from the Toolhead class.
This simplifies the shutdown logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-12 15:15:14 -04:00
parent 3033b03789
commit f8750b142f
4 changed files with 72 additions and 63 deletions
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42
klippy/gcode.py
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@ -23,8 +23,9 @@ class GCodeParser:
self.bytes_read = 0
self.input_log = collections.deque([], 50)
# Command handling
self.gcode_handlers = self.build_handlers(False)
self.is_printer_ready = False
self.gcode_handlers = {}
self.build_handlers()
self.need_ack = False
self.toolhead = self.fan = self.extruder = None
self.heaters = []
@ -34,28 +35,21 @@ class GCodeParser:
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
def build_handlers(self, is_ready):
def build_handlers(self):
handlers = self.all_handlers
if not is_ready:
if not self.is_printer_ready:
handlers = [h for h in handlers
if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
gcode_handlers = { h: getattr(self, 'cmd_'+h) for h in handlers }
for h, f in list(gcode_handlers.items()):
aliases = getattr(self, 'cmd_'+h+'_aliases', [])
gcode_handlers.update({ a: f for a in aliases })
return gcode_handlers
self.gcode_handlers = gcode_handlers
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def set_printer_ready(self, is_ready):
if self.is_printer_ready == is_ready:
return
self.is_printer_ready = is_ready
self.gcode_handlers = self.build_handlers(is_ready)
if not is_ready:
# Printer is shutdown (could be running in a background thread)
if self.is_fileinput:
self.printer.request_exit()
return
def connect(self):
self.is_printer_ready = True
self.build_handlers()
# Lookup printer components
self.toolhead = self.printer.objects.get('toolhead')
extruders = extruder.get_printer_extruders(self.printer)
@ -67,6 +61,14 @@ class GCodeParser:
self.fan = self.printer.objects.get('fan')
if self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def do_shutdown(self):
if not self.is_printer_ready:
return
self.is_printer_ready = False
self.build_handlers()
self.dump_debug()
if self.is_fileinput:
self.printer.request_exit()
def motor_heater_off(self):
if self.toolhead is None:
return
@ -114,12 +116,10 @@ class GCodeParser:
except error as e:
self.respond_error(str(e))
except:
logging.exception("Exception in command handler")
self.toolhead.force_shutdown()
self.respond_error('Internal error on command:"%s"' % (cmd,))
if self.is_fileinput:
self.printer.request_exit()
break
msg = 'Internal error on command:"%s"' % (cmd,)
logging.exception(msg)
self.printer.invoke_shutdown(msg)
self.respond_error(msg)
self.ack()
self.need_ack = prev_need_ack
def process_data(self, eventtime):
@ -396,7 +396,7 @@ class GCodeParser:
self.set_temp(params, wait=True)
def cmd_M112(self, params):
# Emergency Stop
self.toolhead.force_shutdown()
self.printer.invoke_shutdown("Shutdown due to M112 command")
cmd_M114_when_not_ready = True
def cmd_M114(self, params):
# Get Current Position