diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 62 |
1 files changed, 38 insertions, 24 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 5b1d8904..d2235979 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -45,20 +45,23 @@ class GCodeParser: self.heater_bed = self.printer.objects.get('heater_bed') self.fan = self.printer.objects.get('fan') def build_handlers(self): - shutdown_handlers = ['M105', 'M110', 'M114'] - handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', - 'M18', 'M82', 'M83', 'M84', - 'M105', 'M110', 'M114', 'M119', 'M206'] + handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', + 'M18', 'M82', 'M83', 'M105', 'M110', 'M114', 'M206', + 'HELP', 'QUERY_ENDSTOPS'] if self.heater_nozzle is not None: - handlers.extend(['M104', 'M109', 'M303']) + handlers.extend(['M104', 'M109', 'PID_TUNE']) if self.heater_bed is not None: handlers.extend(['M140', 'M190']) if self.fan is not None: handlers.extend(['M106', 'M107']) if not self.is_printer_ready: - handlers = [h for h in handlers if h in shutdown_handlers] + handlers = [h for h in handlers + if getattr(self, 'cmd_'+h+'_when_not_ready', False)] self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h)) for h in handlers) + for h, f in self.gcode_handlers.items(): + aliases = getattr(self, 'cmd_'+h+'_aliases', []) + self.gcode_handlers.update(dict([(a, f) for a in aliases])) def finish(self): self.reactor.end() self.toolhead.motor_off() @@ -85,7 +88,7 @@ class GCodeParser: for eventtime, data in self.input_log: logging.info("Read %f: %s" % (eventtime, repr(data))) # Parse input into commands - args_r = re.compile('([a-zA-Z*])') + args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])') def process_commands(self, eventtime): i = -1 for i in range(len(self.input_commands)-1): @@ -106,7 +109,7 @@ class GCodeParser: if not parts: self.cmd_default(params) continue - params['#command'] = cmd = parts[0] + parts[1].strip() + params['#command'] = cmd = parts[0].upper() + parts[1].strip() # Invoke handler for command self.need_ack = True handler = self.gcode_handlers.get(cmd, self.cmd_default) @@ -226,9 +229,8 @@ class GCodeParser: logging.debug(params['#original']) return self.respond('echo:Unknown command:"%s"' % (cmd,)) - def cmd_G0(self, params): - self.cmd_G1(params, sloppy=True) - def cmd_G1(self, params, sloppy=False): + cmd_G1_aliases = ['G0'] + def cmd_G1(self, params): # Move for a, p in self.axis2pos.items(): if a in params: @@ -242,7 +244,7 @@ class GCodeParser: if 'F' in params: self.speed = float(params['F']) / 60. try: - self.toolhead.move(self.last_position, self.speed, sloppy) + self.toolhead.move(self.last_position, self.speed) except homing.EndstopError, e: self.respond_error(str(e)) self.last_position = self.toolhead.get_position() @@ -299,12 +301,11 @@ class GCodeParser: def cmd_M83(self, params): # Use relative distances for extrusion self.absoluteextrude = False + cmd_M18_aliases = ["M84"] def cmd_M18(self, params): # Turn off motors self.toolhead.motor_off() - def cmd_M84(self, params): - # Stop idle hold - self.toolhead.motor_off() + cmd_M105_when_not_ready = True def cmd_M105(self, params): # Get Extruder Temperature self.ack(self.get_temp()) @@ -314,9 +315,11 @@ class GCodeParser: def cmd_M109(self, params): # Set Extruder Temperature and Wait self.set_temp(self.heater_nozzle, params, wait=True) + cmd_M110_when_not_ready = True def cmd_M110(self, params): # Set Current Line Number pass + cmd_M114_when_not_ready = True def cmd_M114(self, params): # Get Current Position if self.toolhead is None: @@ -327,14 +330,6 @@ class GCodeParser: self.last_position[0], self.last_position[1], self.last_position[2], self.last_position[3], kinpos[0], kinpos[1], kinpos[2])) - def cmd_M119(self, params): - # Get Endstop Status - if self.is_fileinput: - return - print_time = self.toolhead.get_last_move_time() - query_state = homing.QueryEndstops(print_time, self.respond) - self.toolhead.query_endstops(query_state) - self.set_busy(query_state) def cmd_M140(self, params): # Set Bed Temperature self.set_temp(self.heater_bed, params) @@ -356,10 +351,29 @@ class GCodeParser: v = float(params[a]) self.base_position[p] += self.homing_add[p] - v self.homing_add[p] = v - def cmd_M303(self, params): + cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop" + cmd_QUERY_ENDSTOPS_aliases = ["M119"] + def cmd_QUERY_ENDSTOPS(self, params): + # Get Endstop Status + if self.is_fileinput: + return + print_time = self.toolhead.get_last_move_time() + query_state = homing.QueryEndstops(print_time, self.respond) + self.toolhead.query_endstops(query_state) + self.set_busy(query_state) + cmd_PID_TUNE_help = "Run PID Tuning" + cmd_PID_TUNE_aliases = ["M303"] + def cmd_PID_TUNE(self, params): # Run PID tuning heater = int(params.get('E', '0')) heater = {0: self.heater_nozzle, -1: self.heater_bed}[heater] temp = float(params.get('S', '60')) heater.start_auto_tune(temp) self.bg_temp(heater) + def cmd_HELP(self, params): + cmdhelp = ["// Available extended commands:"] + for cmd in self.gcode_handlers: + desc = getattr(self, 'cmd_'+cmd+'_help', None) + if desc is not None: + cmdhelp.append("%-10s: %s" % (cmd, desc)) + self.respond("\n// ".join(cmdhelp)) |