diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/gcode.py | 162 |
1 files changed, 80 insertions, 82 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 3ea4d12c..faa5d29f 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -111,7 +111,6 @@ class GCodeParser: self.position_with_transform = (lambda: [0., 0., 0., 0.]) self.need_ack = False self.toolhead = None - self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3} def is_traditional_gcode(self, cmd): # A "traditional" g-code command is a letter and followed by a number try: @@ -430,42 +429,42 @@ class GCodeParser: raise self.error("Malformed command '%s'" % (gcmd.get_commandline(),)) # G-Code special command handlers - def cmd_default(self, params): - cmd = params.get('#command') + def cmd_default(self, gcmd): + cmd = gcmd.get_command() if cmd == 'M105': # Don't warn about temperature requests when not ready self.ack("T:0") return if not self.is_printer_ready: - raise self.error(self.printer.get_state_message()) + raise gcmd.error(self.printer.get_state_message()) return if not cmd: - logging.debug(params['#original']) + logging.debug(gcmd.get_commandline()) return if cmd.startswith("M117 "): # Handle M117 gcode with numeric and special characters handler = self.gcode_handlers.get("M117", None) if handler is not None: - handler(params) + handler(gcmd) return - elif cmd in ['M140', 'M104'] and not self.get_float('S', params, 0.): + elif cmd in ['M140', 'M104'] and not gcmd.get_float('S', 0.): # Don't warn about requests to turn off heaters when not present return elif cmd == 'M107' or (cmd == 'M106' and ( - not self.get_float('S', params, 1.) or self.is_fileinput)): + not gcmd.get_float('S', 1.) or self.is_fileinput)): # Don't warn about requests to turn off fan when fan not present return - self.respond_info('Unknown command:"%s"' % (cmd,)) - def _cmd_mux(self, params): - key, values = self.mux_commands[params['#command']] + gcmd.respond_info('Unknown command:"%s"' % (cmd,)) + def _cmd_mux(self, gcmd): + key, values = self.mux_commands[gcmd.get_command()] if None in values: - key_param = self.get_str(key, params, None) + key_param = gcmd.get(key, None) else: - key_param = self.get_str(key, params) + key_param = gcmd.get(key) if key_param not in values: - raise self.error("The value '%s' is not valid for %s" % ( - key_param, key)) - values[key_param](params) + raise gcmd.error("The value '%s' is not valid for %s" + % (key_param, key)) + values[key_param](gcmd) all_handlers = [ 'G1', 'G4', 'G28', 'M400', 'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221', @@ -474,13 +473,13 @@ class GCodeParser: 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] # G-Code movement commands cmd_G1_aliases = ['G0'] - def cmd_G1(self, params): + def cmd_G1(self, gcmd): # Move + params = gcmd._params try: - for axis in 'XYZ': + for pos, axis in enumerate('XYZ'): if axis in params: v = float(params[axis]) - pos = self.axis2pos[axis] if not self.absolute_coord: # value relative to position of last move self.last_position[pos] += v @@ -498,23 +497,23 @@ class GCodeParser: if 'F' in params: gcode_speed = float(params['F']) if gcode_speed <= 0.: - raise self.error("Invalid speed in '%s'" % ( - params['#original'],)) + raise gcmd.error("Invalid speed in '%s'" + % (gcmd.get_commandline(),)) self.speed = gcode_speed * self.speed_factor except ValueError as e: - raise self.error("Unable to parse move '%s'" % ( - params['#original'],)) + raise gcmd.error("Unable to parse move '%s'" + % (gcmd.get_commandline(),)) self.move_with_transform(self.last_position, self.speed) - def cmd_G4(self, params): + def cmd_G4(self, gcmd): # Dwell - delay = self.get_float('P', params, 0., minval=0.) / 1000. + delay = gcmd.get_float('P', 0., minval=0.) / 1000. self.toolhead.dwell(delay) - def cmd_G28(self, params): + def cmd_G28(self, gcmd): # Move to origin axes = [] - for axis in 'XYZ': - if axis in params: - axes.append(self.axis2pos[axis]) + for pos, axis in enumerate('XYZ'): + if gcmd.get(axis, None) is not None: + axes.append(pos) if not axes: axes = [0, 1, 2] homing_state = homing.Homing(self.printer) @@ -524,76 +523,75 @@ class GCodeParser: for axis in homing_state.get_axes(): self.base_position[axis] = self.homing_position[axis] self.reset_last_position() - def cmd_M400(self, params): + def cmd_M400(self, gcmd): # Wait for current moves to finish self.toolhead.wait_moves() # G-Code coordinate manipulation - def cmd_G20(self, params): + def cmd_G20(self, gcmd): # Set units to inches - raise self.error('Machine does not support G20 (inches) command') - def cmd_M82(self, params): + raise gcmd.error('Machine does not support G20 (inches) command') + def cmd_M82(self, gcmd): # Use absolute distances for extrusion self.absolute_extrude = True - def cmd_M83(self, params): + def cmd_M83(self, gcmd): # Use relative distances for extrusion self.absolute_extrude = False - def cmd_G90(self, params): + def cmd_G90(self, gcmd): # Use absolute coordinates self.absolute_coord = True - def cmd_G91(self, params): + def cmd_G91(self, gcmd): # Use relative coordinates self.absolute_coord = False - def cmd_G92(self, params): + def cmd_G92(self, gcmd): # Set position - offsets = { p: self.get_float(a, params) - for a, p in self.axis2pos.items() if a in params } - for p, offset in offsets.items(): - if p == 3: - offset *= self.extrude_factor - self.base_position[p] = self.last_position[p] - offset - if not offsets: + offsets = [ gcmd.get_float(a, None) for a in 'XYZE' ] + for i, offset in enumerate(offsets): + if offset is not None: + if i == 3: + offset *= self.extrude_factor + self.base_position[i] = self.last_position[i] - offset + if offsets == [None, None, None, None]: self.base_position = list(self.last_position) cmd_M114_when_not_ready = True - def cmd_M114(self, params): + def cmd_M114(self, gcmd): # Get Current Position p = self._get_gcode_position() - self.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) - def cmd_M220(self, params): + gcmd.respond_raw("X:%.3f Y:%.3f Z:%.3f E:%.3f" % tuple(p)) + def cmd_M220(self, gcmd): # Set speed factor override percentage - value = self.get_float('S', params, 100., above=0.) / (60. * 100.) + value = gcmd.get_float('S', 100., above=0.) / (60. * 100.) self.speed = self._get_gcode_speed() * value self.speed_factor = value - def cmd_M221(self, params): + def cmd_M221(self, gcmd): # Set extrude factor override percentage - new_extrude_factor = self.get_float('S', params, 100., above=0.) / 100. + new_extrude_factor = gcmd.get_float('S', 100., above=0.) / 100. last_e_pos = self.last_position[3] e_value = (last_e_pos - self.base_position[3]) / self.extrude_factor self.base_position[3] = last_e_pos - e_value * new_extrude_factor self.extrude_factor = new_extrude_factor cmd_SET_GCODE_OFFSET_help = "Set a virtual offset to g-code positions" - def cmd_SET_GCODE_OFFSET(self, params): + def cmd_SET_GCODE_OFFSET(self, gcmd): move_delta = [0., 0., 0., 0.] - for axis, pos in self.axis2pos.items(): - if axis in params: - offset = self.get_float(axis, params) - elif axis + '_ADJUST' in params: - offset = self.homing_position[pos] - offset += self.get_float(axis + '_ADJUST', params) - else: - continue + for pos, axis in enumerate('XYZE'): + offset = gcmd.get_float(axis, None) + if offset is None: + offset = gcmd.get_float(axis + '_ADJUST', None) + if offset is None: + continue + offset += self.homing_position[pos] delta = offset - self.homing_position[pos] move_delta[pos] = delta self.base_position[pos] += delta self.homing_position[pos] = offset # Move the toolhead the given offset if requested - if self.get_int('MOVE', params, 0): - speed = self.get_float('MOVE_SPEED', params, self.speed, above=0.) + if gcmd.get_int('MOVE', 0): + speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.) for pos, delta in enumerate(move_delta): self.last_position[pos] += delta self.move_with_transform(self.last_position, speed) 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') + def cmd_SAVE_GCODE_STATE(self, gcmd): + state_name = gcmd.get('NAME', 'default') self.saved_states[state_name] = { 'absolute_coord': self.absolute_coord, 'absolute_extrude': self.absolute_extrude, @@ -604,11 +602,11 @@ class GCodeParser: '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') + def cmd_RESTORE_GCODE_STATE(self, gcmd): + state_name = gcmd.get('NAME', 'default') state = self.saved_states.get(state_name) if state is None: - raise self.error("Unknown g-code state: %s" % (state_name,)) + raise gcmd.error("Unknown g-code state: %s" % (state_name,)) # Restore state self.absolute_coord = state['absolute_coord'] self.absolute_extrude = state['absolute_extrude'] @@ -621,30 +619,30 @@ class GCodeParser: 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.) + if gcmd.get_int('MOVE', 0): + speed = gcmd.get_float('MOVE_SPEED', self.speed, above=0.) self.last_position[:3] = state['last_position'][:3] self.move_with_transform(self.last_position, speed) # G-Code miscellaneous commands cmd_M112_when_not_ready = True - def cmd_M112(self, params): + def cmd_M112(self, gcmd): # Emergency Stop self.printer.invoke_shutdown("Shutdown due to M112 command") cmd_M115_when_not_ready = True - def cmd_M115(self, params): + def cmd_M115(self, gcmd): # Get Firmware Version and Capabilities software_version = self.printer.get_start_args().get('software_version') kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version} self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()])) cmd_IGNORE_when_not_ready = True cmd_IGNORE_aliases = ["G21", "M110", "M21"] - def cmd_IGNORE(self, params): + def cmd_IGNORE(self, gcmd): # Commands that are just silently accepted pass cmd_GET_POSITION_when_not_ready = True - def cmd_GET_POSITION(self, params): + def cmd_GET_POSITION(self, gcmd): if self.toolhead is None: - self.cmd_default(params) + self.cmd_default(gcmd) return kin = self.toolhead.get_kinematics() steppers = kin.get_steppers() @@ -664,7 +662,7 @@ class GCodeParser: for a, v in zip("XYZE", self.base_position)]) homing_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip("XYZ", self.homing_position)]) - self.respond_info("mcu: %s\n" + gcmd.respond_info("mcu: %s\n" "stepper: %s\n" "kinematic: %s\n" "toolhead: %s\n" @@ -682,26 +680,26 @@ class GCodeParser: self.printer.request_exit(result) cmd_RESTART_when_not_ready = True cmd_RESTART_help = "Reload config file and restart host software" - def cmd_RESTART(self, params): + def cmd_RESTART(self, gcmd): self.request_restart('restart') cmd_FIRMWARE_RESTART_when_not_ready = True cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config" - def cmd_FIRMWARE_RESTART(self, params): + def cmd_FIRMWARE_RESTART(self, gcmd): self.request_restart('firmware_restart') cmd_ECHO_when_not_ready = True - def cmd_ECHO(self, params): - self.respond_info(params['#original'], log=False) + def cmd_ECHO(self, gcmd): + gcmd.respond_info(gcmd.get_commandline(), log=False) cmd_STATUS_when_not_ready = True cmd_STATUS_help = "Report the printer status" - def cmd_STATUS(self, params): + def cmd_STATUS(self, gcmd): if self.is_printer_ready: self._respond_state("Ready") return msg = self.printer.get_state_message() msg = msg.rstrip() + "\nKlipper state: Not ready" - raise self.error(msg) + raise gcmd.error(msg) cmd_HELP_when_not_ready = True - def cmd_HELP(self, params): + def cmd_HELP(self, gcmd): cmdhelp = [] if not self.is_printer_ready: cmdhelp.append("Printer is not ready - not all commands available.") @@ -709,4 +707,4 @@ class GCodeParser: for cmd in sorted(self.gcode_handlers): if cmd in self.gcode_help: cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd])) - self.respond_info("\n".join(cmdhelp), log=False) + gcmd.respond_info("\n".join(cmdhelp), log=False) |