klippy: Rework shutdown handling

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>

1 files changed, 21 insertions, 21 deletions

diff --git a/klippy/gcode.py b/klippy/gcode.py
index 37e1c2af..12101331 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -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