diff options
Diffstat (limited to 'klippy/gcode.py')
| -rw-r--r-- | klippy/gcode.py | 42 |
1 files changed, 40 insertions, 2 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 5328ae4e..975bfcfe 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -53,9 +53,10 @@ class GCodeParser: self.speed = 25. self.speed_factor = 1. / 60. self.extrude_factor = 1. + # G-Code state + self.saved_states = {} 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 self.heaters = None @@ -485,7 +486,7 @@ class GCodeParser: all_handlers = [ 'G1', 'G4', 'G28', 'M18', 'M400', 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221', - 'SET_GCODE_OFFSET', 'M206', + 'SET_GCODE_OFFSET', 'M206', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE', 'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107', 'M112', 'M115', 'IGNORE', 'GET_POSITION', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] @@ -631,6 +632,43 @@ class GCodeParser: delta = offset - self.homing_position[pos] self.base_position[pos] += delta self.homing_position[pos] = offset + cmd_SAVE_GCODE_STATE_help = "Save G-Code coordinate state" + def cmd_SAVE_GCODE_STATE(self, params): + state_name = self.get_str('NAME', params, 'default') + self.saved_states[state_name] = { + 'absolute_coord': self.absolute_coord, + 'absolute_extrude': self.absolute_extrude, + 'base_position': list(self.base_position), + 'last_position': list(self.last_position), + 'homing_position': list(self.homing_position), + 'speed': self.speed, 'speed_factor': self.speed_factor, + 'extrude_factor': self.extrude_factor, + } + cmd_RESTORE_GCODE_STATE_help = "Restore a previously saved G-Code state" + def cmd_RESTORE_GCODE_STATE(self, params): + state_name = self.get_str('NAME', params, 'default') + state = self.saved_states.get(state_name) + if state is None: + raise error("Unknown g-code state: %s" % (state_name,)) + # Restore state + self.absolute_coord = state['absolute_coord'] + self.absolute_extrude = state['absolute_extrude'] + self.base_position = list(state['base_position']) + self.homing_position = list(state['homing_position']) + self.speed = state['speed'] + self.speed_factor = state['speed_factor'] + self.extrude_factor = state['extrude_factor'] + # Restore the relative E position + e_diff = self.last_position[3] - state['last_position'][3] + self.base_position[3] += e_diff + # Move the toolhead back if requested + if self.get_int('MOVE', params, 0): + speed = self.get_float('MOVE_SPEED', params, self.speed, above=0.) + self.last_position[:3] = state['last_position'][:3] + try: + self.move_with_transform(self.last_position, speed) + except homing.EndstopError as e: + raise error(str(e)) # G-Code temperature and fan commands cmd_M105_when_not_ready = True def cmd_M105(self, params): |