gcode: Group similar G-Code commands together

Group commands by category instead of listing them in numerical
order.  This is just code movement; no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 49 insertions, 44 deletions

diff --git a/klippy/gcode.py b/klippy/gcode.py
index ce6a59f5..0f97cfc0 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -38,15 +38,16 @@ class GCodeParser:
             self.register_command(cmd, func, wnr, desc)
             for a in getattr(self, 'cmd_' + cmd + '_aliases', []):
                 self.register_command(a, func, wnr)
+        # G-Code coordinate manipulation
+        self.absolutecoord = self.absoluteextrude = True
+        self.base_position = [0.0, 0.0, 0.0, 0.0]
+        self.last_position = [0.0, 0.0, 0.0, 0.0]
+        self.homing_add = [0.0, 0.0, 0.0, 0.0]
         # G-Code state
         self.need_ack = False
         self.toolhead = self.fan = self.extruder = None
         self.heaters = []
         self.speed = 25.0
-        self.absolutecoord = self.absoluteextrude = True
-        self.base_position = [0.0, 0.0, 0.0, 0.0]
-        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 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()):
@@ -271,7 +272,7 @@ class GCodeParser:
             return
         print_time = self.toolhead.get_last_move_time()
         self.fan.set_speed(print_time, speed)
-    # Individual command handlers
+    # G-Code special command handlers
     def cmd_default(self, params):
         if not self.is_printer_ready:
             self.respond_error(self.printer.get_state_message())
@@ -306,11 +307,12 @@ class GCodeParser:
         activate_gcode = self.extruder.get_activate_gcode(True)
         self.process_commands(activate_gcode.split('\n'), need_ack=False)
     all_handlers = [
-        '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',
+        'G1', 'G4', 'G28', 'M18', 'M400',
+        'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206',
+        'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
+        'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
+    # G-Code movement commands
     cmd_G1_aliases = ['G0']
     def cmd_G1(self, params):
         # Move
@@ -343,9 +345,6 @@ class GCodeParser:
         else:
             delay = self.get_float('P', params, 0.) / 1000.
         self.toolhead.dwell(delay)
-    def cmd_G20(self, params):
-        # Set units to inches
-        self.respond_error('Machine does not support G20 (inches) command')
     def cmd_G28(self, params):
         # Move to origin
         axes = []
@@ -365,6 +364,23 @@ class GCodeParser:
         for axis in homing_state.get_axes():
             self.last_position[axis] = newpos[axis]
             self.base_position[axis] = -self.homing_add[axis]
+    cmd_M18_aliases = ["M84"]
+    def cmd_M18(self, params):
+        # Turn off motors
+        self.toolhead.motor_off()
+    def cmd_M400(self, params):
+        # Wait for current moves to finish
+        self.toolhead.wait_moves()
+    # G-Code coordinate manipulation
+    def cmd_G20(self, params):
+        # Set units to inches
+        self.respond_error('Machine does not support G20 (inches) command')
+    def cmd_M82(self, params):
+        # Use absolute distances for extrusion
+        self.absoluteextrude = True
+    def cmd_M83(self, params):
+        # Use relative distances for extrusion
+        self.absoluteextrude = False
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True
@@ -379,16 +395,14 @@ class GCodeParser:
             self.base_position[p] = self.last_position[p] - offset
         if not offsets:
             self.base_position = list(self.last_position)
-    def cmd_M82(self, params):
-        # Use absolute distances for extrusion
-        self.absoluteextrude = True
-    def cmd_M83(self, params):
-        # Use relative distances for extrusion
-        self.absoluteextrude = False
-    cmd_M18_aliases = ["M84"]
-    def cmd_M18(self, params):
-        # Turn off motors
-        self.toolhead.motor_off()
+    def cmd_M206(self, params):
+        # Set home offset
+        offsets = { p: self.get_float(a, params)
+                    for a, p in self.axis2pos.items() if a in params }
+        for p, offset in offsets.items():
+            self.base_position[p] += self.homing_add[p] - offset
+            self.homing_add[p] = offset
+    # G-Code temperature and fan commands
     cmd_M105_when_not_ready = True
     def cmd_M105(self, params):
         # Get Extruder Temperature
@@ -399,6 +413,19 @@ class GCodeParser:
     def cmd_M109(self, params):
         # Set Extruder Temperature and Wait
         self.set_temp(params, wait=True)
+    def cmd_M140(self, params):
+        # Set Bed Temperature
+        self.set_temp(params, is_bed=True)
+    def cmd_M190(self, params):
+        # Set Bed Temperature and Wait
+        self.set_temp(params, is_bed=True, wait=True)
+    def cmd_M106(self, params):
+        # Set fan speed
+        self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
+    def cmd_M107(self, params):
+        # Turn fan off
+        self.set_fan_speed(0.)
+    # G-Code miscellaneous commands
     cmd_M112_when_not_ready = True
     def cmd_M112(self, params):
         # Emergency Stop
@@ -420,28 +447,6 @@ class GCodeParser:
         software_version = self.printer.get_start_args().get('software_version')
         kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
         self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
-    def cmd_M140(self, params):
-        # Set Bed Temperature
-        self.set_temp(params, is_bed=True)
-    def cmd_M190(self, params):
-        # Set Bed Temperature and Wait
-        self.set_temp(params, is_bed=True, wait=True)
-    def cmd_M106(self, params):
-        # Set fan speed
-        self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
-    def cmd_M107(self, params):
-        # Turn fan off
-        self.set_fan_speed(0.)
-    def cmd_M206(self, params):
-        # Set home offset
-        offsets = { p: self.get_float(a, params)
-                    for a, p in self.axis2pos.items() if a in params }
-        for p, offset in offsets.items():
-            self.base_position[p] += self.homing_add[p] - offset
-            self.homing_add[p] = offset
-    def cmd_M400(self, params):
-        # Wait for current moves to finish
-        self.toolhead.wait_moves()
     cmd_IGNORE_when_not_ready = True
     cmd_IGNORE_aliases = ["G21", "M110", "M21"]
     def cmd_IGNORE(self, params):