diff options
| -rw-r--r-- | klippy/extras/pause_resume.py | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/klippy/extras/pause_resume.py b/klippy/extras/pause_resume.py new file mode 100644 index 00000000..93bfe5ee --- /dev/null +++ b/klippy/extras/pause_resume.py @@ -0,0 +1,56 @@ +# Pause/Resume functionality with position capture/restore +# +# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com> +# +# This file may be distributed under the terms of the GNU GPLv3 license. + +class PauseResume: + def __init__(self, config): + self.printer = config.get_printer() + self.gcode = self.printer.lookup_object('gcode') + self.recover_velocity = config.getfloat('recover_velocity', 50.) + self.captured_position = None + self.captured_speed = 0. + self.toolhead = self.v_sd = None + self.sd_paused = False + self.printer.register_event_handler("klippy:ready", self.handle_ready) + self.gcode.register_command("PAUSE", self.cmd_PAUSE) + self.gcode.register_command("RESUME", self.cmd_RESUME) + def handle_ready(self): + self.toolhead = self.printer.lookup_object('toolhead') + self.v_sd = self.printer.lookup_object('virtual_sdcard', None) + def cmd_PAUSE(self, params): + if self.v_sd is not None and self.v_sd.is_active(): + # Printing from virtual sd, run pause command + self.sd_paused = True + self.v_sd.cmd_M25({}) + else: + self.sd_paused = False + self.gcode.respond_info("action:pause") + self.toolhead.wait_moves() + self.captured_position = self.toolhead.get_position() + reactor = self.printer.get_reactor() + gc_status = self.gcode.get_status(reactor.monotonic()) + self.captured_speed = gc_status['speed'] + def cmd_RESUME(self, params): + velocity = self.gcode.get_float( + 'VELOCITY', params, self.recover_velocity) + if self.captured_position is not None: + # restore previous xyz position + cur_pos = self.toolhead.get_position() + self.captured_position[3] = cur_pos[3] + self.toolhead.move(self.captured_position, velocity) + self.toolhead.get_last_move_time() + self.gcode.reset_last_position() + # restore previous speed + self.gcode.run_script_from_command( + "G1 F%.6f" % (self.captured_speed)) + self.captured_position = None + if self.sd_paused: + # Printing from virtual sd, run pause command + self.v_sd.cmd_M24({}) + else: + self.gcode.respond_info("action:resume") + +def load_config(config): + return PauseResume(config) |