diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index c6d5e23d..2c6a983b 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -45,6 +45,8 @@ class GCodeParser: self.homing_add = [0.0, 0.0, 0.0, 0.0] self.speed_factor = 1. / 60. self.extrude_factor = 1. + self.move_transform = self.move_with_transform = None + self.position_with_transform = (lambda: [0., 0., 0., 0.]) # G-Code state self.need_ack = False self.toolhead = self.fan = self.extruder = None @@ -66,6 +68,13 @@ class GCodeParser: self.base_gcode_handlers[cmd] = func if desc is not None: self.gcode_help[cmd] = desc + def set_move_transform(self, transform): + if self.move_transform is not None: + raise self.printer.config_error( + "G-Code move transform already specified") + self.move_transform = transform + self.move_with_transform = transform.move + self.position_with_transform = transform.get_position def stats(self, eventtime): return "gcodein=%d" % (self.bytes_read,) def printer_state(self, state): @@ -84,6 +93,9 @@ class GCodeParser: self.gcode_handlers = self.ready_gcode_handlers # Lookup printer components self.toolhead = self.printer.lookup_object('toolhead') + if self.move_transform is None: + self.move_with_transform = self.toolhead.move + self.position_with_transform = self.toolhead.get_position extruders = extruder.get_printer_extruders(self.printer) if extruders: self.extruder = extruders[0] @@ -94,8 +106,7 @@ class GCodeParser: if self.is_fileinput and self.fd_handle is None: self.fd_handle = self.reactor.register_fd(self.fd, self.process_data) def reset_last_position(self): - if self.toolhead is not None: - self.last_position = self.toolhead.get_position() + self.last_position = self.position_with_transform() def motor_heater_off(self): if self.toolhead is None: return @@ -361,7 +372,7 @@ class GCodeParser: except ValueError as e: raise error("Unable to parse move '%s'" % (params['#original'],)) try: - self.toolhead.move(self.last_position, self.speed) + self.move_with_transform(self.last_position, self.speed) except homing.EndstopError as e: raise error(str(e)) def cmd_G4(self, params): |