diff options
| -rw-r--r-- | klippy/gcode.py | 6 | ||||
| -rw-r--r-- | klippy/toolhead.py | 5 |
2 files changed, 10 insertions, 1 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 9127fb31..b1e856d6 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -44,7 +44,8 @@ class GCodeParser: self.fan = self.printer.objects.get('fan') def build_handlers(self): handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', - 'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M206', + 'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', + 'M206', 'M400', 'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN', 'STATUS'] if self.heater_nozzle is not None: @@ -323,6 +324,9 @@ class GCodeParser: v = float(params[a]) self.base_position[p] += self.homing_add[p] - v self.homing_add[p] = v + def cmd_M400(self, params): + # Wait for current moves to finish + self.toolhead.wait_moves() cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop" cmd_QUERY_ENDSTOPS_aliases = ["M119"] def cmd_QUERY_ENDSTOPS(self, params): diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 504848f3..f4edd521 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -287,6 +287,11 @@ class ToolHead: self.extruder.motor_off(last_move_time) self.dwell(STALL_TIME) logging.debug('; Max time of %f' % (last_move_time,)) + def wait_moves(self): + self.move_queue.flush() + eventtime = time.time() + while self.print_time: + eventtime = self.reactor.pause(eventtime + 0.100) def query_endstops(self): last_move_time = self.get_last_move_time() return self.kin.query_endstops(last_move_time) |