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, 41 insertions, 32 deletions

diff --git a/klippy/klippy.py b/klippy/klippy.py
index ff3b2280..cdcdbedb 100644
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -136,18 +136,15 @@ class Printer:
         self.connect_timer = self.reactor.register_timer(
             self._connect, self.reactor.NOW)
         self.all_config_options = {}
-        self.need_dump_debug = False
         self.state_message = message_startup
+        self.is_shutdown = False
+        self.async_shutdown_msg = ""
         self.run_result = None
         self.fileconfig = None
         self.mcus = []
     def get_start_args(self):
         return self.start_args
     def _stats(self, eventtime, force_output=False):
-        if self.need_dump_debug:
-            # Call dump_debug here so it is executed in the main thread
-            self.gcode.dump_debug()
-            self.need_dump_debug = False
         toolhead = self.objects.get('toolhead')
         if toolhead is None:
             return eventtime + 1.
@@ -196,7 +193,7 @@ class Printer:
             self._load_config()
             for m in self.mcus:
                 m.connect()
-            self.gcode.set_printer_ready(True)
+            self.gcode.connect()
             self.state_message = message_ready
             if self.start_args.get('debugoutput') is None:
                 self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
@@ -219,34 +216,46 @@ class Printer:
         monotime = self.reactor.monotonic()
         logging.info("Start printer at %s (%.1f %.1f)",
                      time.asctime(time.localtime(systime)), systime, monotime)
-        # Enter main reactor loop
-        try:
-            self.reactor.run()
-        except:
-            logging.exception("Unhandled exception during run")
-            return "exit"
-        # Check restart flags
-        run_result = self.run_result
-        try:
-            self._stats(self.reactor.monotonic(), force_output=True)
-            for m in self.mcus:
-                if run_result == 'firmware_restart':
-                    m.microcontroller_restart()
-                m.disconnect()
-        except:
-            logging.exception("Unhandled exception during post run")
-        return run_result
+        while 1:
+            # Enter main reactor loop
+            try:
+                self.reactor.run()
+            except:
+                logging.exception("Unhandled exception during run")
+                return "exit"
+            # Check restart flags
+            run_result = self.run_result
+            try:
+                if run_result == 'shutdown':
+                    self.invoke_shutdown(self.async_shutdown_msg, True)
+                    continue
+                self._stats(self.reactor.monotonic(), force_output=True)
+                for m in self.mcus:
+                    if run_result == 'firmware_restart':
+                        m.microcontroller_restart()
+                    m.disconnect()
+            except:
+                logging.exception("Unhandled exception during post run")
+            return run_result
     def get_state_message(self):
         return self.state_message
-    def note_shutdown(self, msg):
-        if self.state_message == message_ready:
-            self.need_dump_debug = True
-        self.state_message = "%s%s" % (msg, message_shutdown)
-        self.gcode.set_printer_ready(False)
-    def note_mcu_error(self, msg):
-        self.state_message = "%s%s" % (msg, message_restart)
-        self.gcode.set_printer_ready(False)
-        self.gcode.motor_heater_off()
+    def invoke_shutdown(self, msg, is_mcu_shutdown=False):
+        if self.is_shutdown:
+            return
+        self.is_shutdown = True
+        if is_mcu_shutdown:
+            self.state_message = "%s%s" % (msg, message_shutdown)
+        else:
+            self.state_message = "%s%s" % (msg, message_restart)
+        for m in self.mcus:
+            m.do_shutdown()
+        self.gcode.do_shutdown()
+        toolhead = self.objects.get('toolhead')
+        if toolhead is not None:
+            toolhead.do_shutdown()
+    def invoke_async_shutdown(self, msg):
+        self.async_shutdown_msg = msg
+        self.request_exit("shutdown")
     def request_exit(self, result="exit"):
         self.run_result = result
         self.reactor.end()