diff options
| -rw-r--r-- | klippy/gcode.py | 42 | ||||
| -rw-r--r-- | klippy/klippy.py | 73 | ||||
| -rw-r--r-- | klippy/mcu.py | 10 | ||||
| -rw-r--r-- | klippy/toolhead.py | 10 |
4 files changed, 72 insertions, 63 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 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() diff --git a/klippy/mcu.py b/klippy/mcu.py index 9d76e0fa..17e93e0b 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -472,7 +472,7 @@ class MCU: prefix = "MCU '%s' shutdown: " % (self._name,) if params['#name'] == 'is_shutdown': prefix = "Previous MCU '%s' shutdown: " % (self._name,) - self._printer.note_shutdown(prefix + msg + error_help(msg)) + self._printer.invoke_async_shutdown(prefix + msg + error_help(msg)) # Connection phase def _check_restart(self, reason): start_reason = self._printer.get_start_args().get("start_reason") @@ -723,11 +723,11 @@ class MCU: return offset, freq = self._clocksync.calibrate_clock(print_time, eventtime) self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq) - if self._clocksync.is_active(eventtime): + if self._clocksync.is_active(eventtime) or self.is_fileoutput(): return logging.info("Timeout with MCU '%s' (eventtime=%f)", self._name, eventtime) - self._printer.note_mcu_error("Lost communication with MCU '%s'" % ( + self._printer.invoke_shutdown("Lost communication with MCU '%s'" % ( self._name,)) def stats(self, eventtime): msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( @@ -735,7 +735,9 @@ class MCU: self._mcu_tick_stddev) return ' '.join([msg, self._serial.stats(eventtime), self._clocksync.stats(eventtime)]) - def force_shutdown(self): + def do_shutdown(self): + if self._is_shutdown or self._emergency_stop_cmd is None: + return self.send(self._emergency_stop_cmd.encode()) def disconnect(self): self._serial.disconnect() diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 6df5e17f..50fea974 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -292,7 +292,7 @@ class ToolHead: self.last_flush_from_idle = True except: logging.exception("Exception in flush_handler") - self.force_shutdown() + self.printer.invoke_shutdown("Exception in flush_handler") return self.reactor.NEVER # Motor off timer def _motor_off_handler(self, eventtime): @@ -305,7 +305,7 @@ class ToolHead: self.motor_off() except: logging.exception("Exception in motor_off_handler") - self.force_shutdown() + self.printer.invoke_shutdown("Exception in motor_off_handler") return eventtime + self.motor_off_time # Movement commands def get_position(self): @@ -371,14 +371,12 @@ class ToolHead: buffer_time = max(0., self.print_time - est_print_time) return "print_time=%.3f buffer_time=%.3f print_stall=%d" % ( self.print_time, buffer_time, self.print_stall) - def force_shutdown(self): + def do_shutdown(self): try: - for m in self.all_mcus: - m.force_shutdown() self.move_queue.reset() self.reset_print_time() except: - logging.exception("Exception in force_shutdown") + logging.exception("Exception in do_shutdown") def get_max_velocity(self): return self.max_velocity, self.max_accel def get_max_axis_halt(self): |