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>

10 files changed, 42 insertions, 36 deletions

diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py
index cfc7807e..b1c0f6b8 100644
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -87,7 +87,9 @@ class BedMesh:
         self.gcode.register_command(
             'BED_MESH_CLEAR', self.cmd_BED_MESH_CLEAR,
             desc=self.cmd_BED_MESH_CLEAR_help)
-        self.gcode.set_move_transform(self)
+        # Register transform
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.set_move_transform(self)
     def handle_ready(self):
         self.toolhead = self.printer.lookup_object('toolhead')
         self.bmc.print_generated_points(logging.info)
@@ -126,7 +128,8 @@ class BedMesh:
         self.z_mesh = mesh
         self.splitter.initialize(mesh)
         # cache the current position before a transform takes place
-        self.gcode.reset_last_position()
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.reset_last_position()
     def get_z_factor(self, z_pos):
         if z_pos >= self.fade_end:
             return 0.
diff --git a/klippy/extras/bed_tilt.py b/klippy/extras/bed_tilt.py
index dd75655a..dfcb682f 100644
--- a/klippy/extras/bed_tilt.py
+++ b/klippy/extras/bed_tilt.py
@@ -19,8 +19,8 @@ class BedTilt:
             BedTiltCalibrate(config, self)
         self.toolhead = None
         # Register move transform with g-code class
-        gcode = self.printer.lookup_object('gcode')
-        gcode.set_move_transform(self)
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.set_move_transform(self)
     def handle_connect(self):
         self.toolhead = self.printer.lookup_object('toolhead')
     def get_position(self):
@@ -34,6 +34,8 @@ class BedTilt:
         self.x_adjust = x_adjust
         self.y_adjust = y_adjust
         self.z_adjust = z_adjust
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.reset_last_position()
         configfile = self.printer.lookup_object('configfile')
         configfile.set('bed_tilt', 'x_adjust', "%.6f" % (x_adjust,))
         configfile.set('bed_tilt', 'y_adjust', "%.6f" % (y_adjust,))
@@ -80,7 +82,6 @@ class BedTiltCalibrate:
         z_adjust = (new_params['z_adjust'] - z_offset
                     - x_adjust * offsets[0] - y_adjust * offsets[1])
         self.bedtilt.update_adjust(x_adjust, y_adjust, z_adjust)
-        self.gcode.reset_last_position()
         # Log and report results
         logging.info("Calculated bed_tilt parameters: %s", new_params)
         for pos in positions:
diff --git a/klippy/extras/display/display.cfg b/klippy/extras/display/display.cfg
index 35a68dd7..a6377914 100644
--- a/klippy/extras/display/display.cfg
+++ b/klippy/extras/display/display.cfg
@@ -83,7 +83,7 @@ text: { render("_heater_temperature", param_heater_name="heater_bed") }
 position: 1, 10
 text:
   ~feedrate~
-  { "{:>4.0%}".format(printer.gcode.speed_factor) }
+  { "{:>4.0%}".format(printer.gcode_move.speed_factor) }
 
 [display_data _default_16x4 print_progress]
 position: 2, 0
@@ -164,7 +164,7 @@ text:
 position: 2, 0
 text:
   ~feedrate~
-  { "{:^4.0%}".format(printer.gcode.speed_factor) }
+  { "{:^4.0%}".format(printer.gcode_move.speed_factor) }
 
 [display_data _default_20x4 print_progress]
 position: 2, 8
diff --git a/klippy/extras/display/menu.cfg b/klippy/extras/display/menu.cfg
index 8ac61c4e..77009a1d 100644
--- a/klippy/extras/display/menu.cfg
+++ b/klippy/extras/display/menu.cfg
@@ -96,7 +96,7 @@ name: Tune
 [menu __main __tune __speed]
 type: input
 name: Speed: {'%3d' % (menu.input*100)}%
-input: {printer.gcode.speed_factor}
+input: {printer.gcode_move.speed_factor}
 input_min: 0
 input_max: 2
 input_step: 0.01
@@ -107,7 +107,7 @@ gcode:
 [menu __main __tune __flow]
 type: input
 name: Flow: {'%3d' % (menu.input*100)}%
-input: {printer.gcode.extrude_factor}
+input: {printer.gcode_move.extrude_factor}
 input_min: 0
 input_max: 2
 input_step: 0.01
@@ -118,7 +118,7 @@ gcode:
 [menu __main __tune __offsetz]
 type: input
 name: Offset Z:{'%05.3f' % menu.input}
-input: {printer.gcode.homing_origin.z}
+input: {printer.gcode_move.homing_origin.z}
 input_min: -5
 input_max: 5
 input_step: 0.005
@@ -260,7 +260,7 @@ name: Move 10mm
 [menu __main __control __move_10mm __axis_x]
 type: input
 name: Move X:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.x}
+input: {printer.gcode_move.gcode_position.x}
 input_min: 0
 input_max: 200
 input_step: 10.0
@@ -273,7 +273,7 @@ gcode:
 [menu __main __control __move_10mm __axis_y]
 type: input
 name: Move Y:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.y}
+input: {printer.gcode_move.gcode_position.y}
 input_min: 0
 input_max: 200
 input_step: 10.0
@@ -287,7 +287,7 @@ gcode:
 type: input
 enable: {not printer.idle_timeout.state == "Printing"}
 name: Move Z:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.z}
+input: {printer.gcode_move.gcode_position.z}
 input_min: 0
 input_max: 200
 input_step: 10.0
@@ -320,7 +320,7 @@ name: Move 1mm
 [menu __main __control __move_1mm __axis_x]
 type: input
 name: Move X:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.x}
+input: {printer.gcode_move.gcode_position.x}
 input_min: 0
 input_max: 200
 input_step: 1.0
@@ -333,7 +333,7 @@ gcode:
 [menu __main __control __move_1mm __axis_y]
 type: input
 name: Move Y:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.y}
+input: {printer.gcode_move.gcode_position.y}
 input_min: 0
 input_max: 200
 input_step: 1.0
@@ -347,7 +347,7 @@ gcode:
 type: input
 enable: {not printer.idle_timeout.state == "Printing"}
 name: Move Z:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.z}
+input: {printer.gcode_move.gcode_position.z}
 input_min: 0
 input_max: 200
 input_step: 1.0
@@ -380,7 +380,7 @@ name: Move 0.1mm
 [menu __main __control __move_01mm __axis_x]
 type: input
 name: Move X:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.x}
+input: {printer.gcode_move.gcode_position.x}
 input_min: 0
 input_max: 200
 input_step: 0.1
@@ -393,7 +393,7 @@ gcode:
 [menu __main __control __move_01mm __axis_y]
 type: input
 name: Move Y:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.y}
+input: {printer.gcode_move.gcode_position.y}
 input_min: 0
 input_max: 200
 input_step: 0.1
@@ -407,7 +407,7 @@ gcode:
 type: input
 enable: {not printer.idle_timeout.state == "Printing"}
 name: Move Z:{'%05.1f' % menu.input}
-input: {printer.gcode.gcode_position.z}
+input: {printer.gcode_move.gcode_position.z}
 input_min: 0
 input_max: 200
 input_step: 0.1
@@ -677,7 +677,7 @@ gcode:
 [menu __main __setup __calib __delta_calib_man __move_z]
 type: input
 name: Move Z: {'%03.2f' % menu.input}
-input: {printer.gcode.gcode_position.z}
+input: {printer.gcode_move.gcode_position.z}
 input_step: 1
 realtime: True
 gcode:
diff --git a/klippy/extras/gcode_arcs.py b/klippy/extras/gcode_arcs.py
index 13a02697..ad973562 100644
--- a/klippy/extras/gcode_arcs.py
+++ b/klippy/extras/gcode_arcs.py
@@ -17,14 +17,15 @@ class ArcSupport:
         self.printer = config.get_printer()
         self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0)
 
+        self.gcode_move = self.printer.lookup_object('gcode_move')
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("G2", self.cmd_G2)
         self.gcode.register_command("G3", self.cmd_G2)
 
     def cmd_G2(self, gcmd):
-        gcodestatus = self.gcode.get_status()
+        gcodestatus = self.gcode_move.get_status()
         if not gcodestatus['absolute_coordinates']:
-            raise self.gcode.error("G2/G3 does not support relative move mode")
+            raise gcmd.error("G2/G3 does not support relative move mode")
         currentPos = gcodestatus['gcode_position']
 
         # Parse parameters
@@ -60,7 +61,7 @@ class ArcSupport:
             if asF is not None:
                 g1_params['F'] = asF
             g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
-            self.gcode.cmd_G1(g1_gcmd)
+            self.gcode_move.cmd_G1(g1_gcmd)
 
     # function planArc() originates from marlin plan_arc()
     # https://github.com/MarlinFirmware/Marlin
diff --git a/klippy/extras/homing_override.py b/klippy/extras/homing_override.py
index d7a9a874..9d683537 100644
--- a/klippy/extras/homing_override.py
+++ b/klippy/extras/homing_override.py
@@ -32,14 +32,14 @@ class HomingOverride:
         if no_axis:
             override = True
         else:
-            # check if we home an axsis which needs the override
+            # check if we home an axis which needs the override
             override = False
             for axis in self.axes:
                 if gcmd.get(axis, None) is not None:
                     override = True
 
         if not override:
-            self.gcode.cmd_G28(gcmd)
+            self.prev_G28(gcmd)
             return
 
         # Calculate forced position (if configured)
diff --git a/klippy/extras/print_stats.py b/klippy/extras/print_stats.py
index 1a3fcb22..67bb2f33 100644
--- a/klippy/extras/print_stats.py
+++ b/klippy/extras/print_stats.py
@@ -7,11 +7,11 @@
 class PrintStats:
     def __init__(self, config):
         printer = config.get_printer()
-        self.gcode = printer.lookup_object('gcode')
+        self.gcode_move = printer.lookup_object('gcode_move')
         self.reactor = printer.get_reactor()
         self.reset()
     def _update_filament_usage(self, eventtime):
-        gc_status = self.gcode.get_status(eventtime)
+        gc_status = self.gcode_move.get_status(eventtime)
         cur_epos = gc_status['position'].e
         self.filament_used += (cur_epos - self.last_epos) \
             / gc_status['extrude_factor']
@@ -29,7 +29,7 @@ class PrintStats:
             self.prev_pause_duration += pause_duration
             self.last_pause_time = None
         # Reset last e-position
-        gc_status = self.gcode.get_status(curtime)
+        gc_status = self.gcode_move.get_status(curtime)
         self.last_epos = gc_status['position'].e
         self.state = "printing"
         self.error_message = ""
diff --git a/klippy/extras/skew_correction.py b/klippy/extras/skew_correction.py
index afb68bbb..9a0ee2ad 100644
--- a/klippy/extras/skew_correction.py
+++ b/klippy/extras/skew_correction.py
@@ -40,8 +40,8 @@ class PrinterSkew:
         gcode.register_command('SKEW_PROFILE', self.cmd_SKEW_PROFILE,
                                desc=self.cmd_SKEW_PROFILE_help)
     def _handle_ready(self):
-        gcode = self.printer.lookup_object('gcode')
-        self.next_transform = gcode.set_move_transform(self, force=True)
+        gcode_move = self.printer.lookup_object('gcode_move')
+        self.next_transform = gcode_move.set_move_transform(self, force=True)
     def _load_storage(self, config):
         stored_profs = config.get_prefix_sections(self.name)
         # Remove primary skew_correction section, as it is not a stored profile
@@ -73,8 +73,8 @@ class PrinterSkew:
         self.xy_factor = xy_factor
         self.xz_factor = xz_factor
         self.yz_factor = yz_factor
-        gcode = self.printer.lookup_object('gcode')
-        gcode.reset_last_position()
+        gcode_move = self.printer.lookup_object('gcode_move')
+        gcode_move.reset_last_position()
     cmd_GET_CURRENT_SKEW_help = "Report current printer skew"
     def cmd_GET_CURRENT_SKEW(self, gcmd):
         out = "Current Printer Skew:"
diff --git a/klippy/extras/tuning_tower.py b/klippy/extras/tuning_tower.py
index 87a0093d..e16192d5 100644
--- a/klippy/extras/tuning_tower.py
+++ b/klippy/extras/tuning_tower.py
@@ -15,6 +15,7 @@ class TuningTower:
         self.last_z = self.start = self.factor = self.band = 0.
         self.last_command_value = None
         self.command_fmt = ""
+        self.gcode_move = self.printer.lookup_object("gcode_move")
         # Register command
         self.gcode = self.printer.lookup_object("gcode")
         self.gcode.register_command("TUNING_TOWER", self.cmd_TUNING_TOWER,
@@ -34,7 +35,8 @@ class TuningTower:
             self.command_fmt = "%s %s%%.9f" % (command, parameter)
         else:
             self.command_fmt = "%s %s=%%.9f" % (command, parameter)
-        self.normal_transform = self.gcode.set_move_transform(self, force=True)
+        nt = self.gcode_move.set_move_transform(self, force=True)
+        self.normal_transform = nt
         self.last_z = -99999999.9
         self.last_command_value = None
         self.get_position()
@@ -59,7 +61,7 @@ class TuningTower:
                 self.end_test()
             else:
                 # Process update
-                gcode_z = self.gcode.get_status()['gcode_position'].z
+                gcode_z = self.gcode_move.get_status()['gcode_position'].z
                 newval = self.calc_value(gcode_z)
                 self.last_z = z
                 if newval != self.last_command_value:
@@ -71,7 +73,7 @@ class TuningTower:
         normal_transform.move(newpos, speed)
     def end_test(self):
         self.gcode.respond_info("Ending tuning test mode")
-        self.gcode.set_move_transform(self.normal_transform, force=True)
+        self.gcode_move.set_move_transform(self.normal_transform, force=True)
         self.normal_transform = None
 
 def load_config(config):
diff --git a/klippy/extras/virtual_sdcard.py b/klippy/extras/virtual_sdcard.py
index 7ab58654..699add31 100644
--- a/klippy/extras/virtual_sdcard.py
+++ b/klippy/extras/virtual_sdcard.py
@@ -24,7 +24,6 @@ class VirtualSD:
         self.work_timer = None
         # Register commands
         self.gcode = printer.lookup_object('gcode')
-        self.gcode.register_command('M21', None)
         for cmd in ['M20', 'M21', 'M23', 'M24', 'M25', 'M26', 'M27']:
             self.gcode.register_command(cmd, getattr(self, 'cmd_' + cmd))
         for cmd in ['M28', 'M29', 'M30']: