# Parse gcode commands # # Copyright (C) 2016-2024 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import os, re, logging, collections, shlex class CommandError(Exception): pass Coord = collections.namedtuple("Coord", ("x", "y", "z", "e")) class GCodeCommand: error = CommandError def __init__(self, gcode, command, commandline, params, need_ack): self._command = command self._commandline = commandline self._params = params self._need_ack = need_ack # Method wrappers self.respond_info = gcode.respond_info self.respond_raw = gcode.respond_raw def get_command(self): return self._command def get_commandline(self): return self._commandline def get_command_parameters(self): return self._params def get_raw_command_parameters(self): command = self._command origline = self._commandline param_start = len(command) param_end = len(origline) if origline[:param_start].upper() != command: # Skip any gcode line-number and ignore any trailing checksum param_start += origline.upper().find(command) end = origline.rfind("*") if end >= 0 and origline[end + 1 :].isdigit(): param_end = end if origline[param_start : param_start + 1].isspace(): param_start += 1 return origline[param_start:param_end] def ack(self, msg=None): if not self._need_ack: return False ok_msg = "ok" if msg: ok_msg = "ok %s" % (msg,) self.respond_raw(ok_msg) self._need_ack = False return True # Parameter parsing helpers class sentinel: pass def get( self, name, default=sentinel, parser=str, minval=None, maxval=None, above=None, below=None, ): value = self._params.get(name) if value is None: if default is self.sentinel: raise self.error( "Error on '%s': missing %s" % (self._commandline, name) ) return default try: value = parser(value) except: raise self.error( "Error on '%s': unable to parse %s" % (self._commandline, value) ) if minval is not None and value < minval: raise self.error( "Error on '%s': %s must have minimum of %s" % (self._commandline, name, minval) ) if maxval is not None and value > maxval: raise self.error( "Error on '%s': %s must have maximum of %s" % (self._commandline, name, maxval) ) if above is not None and value <= above: raise self.error( "Error on '%s': %s must be above %s" % (self._commandline, name, above) ) if below is not None and value >= below: raise self.error( "Error on '%s': %s must be below %s" % (self._commandline, name, below) ) return value def get_int(self, name, default=sentinel, minval=None, maxval=None): return self.get(name, default, parser=int, minval=minval, maxval=maxval) def get_float( self, name, default=sentinel, minval=None, maxval=None, above=None, below=None ): return self.get( name, default, parser=float, minval=minval, maxval=maxval, above=above, below=below, ) # Parse and dispatch G-Code commands class GCodeDispatch: error = CommandError Coord = Coord def __init__(self, printer): self.printer = printer self.is_fileinput = not not printer.get_start_args().get("debuginput") printer.register_event_handler("klippy:ready", self._handle_ready) printer.register_event_handler("klippy:shutdown", self._handle_shutdown) printer.register_event_handler("klippy:disconnect", self._handle_disconnect) # Command handling self.is_printer_ready = False self.mutex = printer.get_reactor().mutex() self.output_callbacks = [] self.base_gcode_handlers = self.gcode_handlers = {} self.ready_gcode_handlers = {} self.mux_commands = {} self.gcode_help = {} self.status_commands = {} # Register commands needed before config file is loaded handlers = [ "M110", "M112", "M115", "RESTART", "FIRMWARE_RESTART", "ECHO", "STATUS", "HELP", ] for cmd in handlers: func = getattr(self, "cmd_" + cmd) desc = getattr(self, "cmd_" + cmd + "_help", None) self.register_command(cmd, func, True, desc) def is_traditional_gcode(self, cmd): # A "traditional" g-code command is a letter and followed by a number try: cmd = cmd.upper().split()[0] val = float(cmd[1:]) return cmd[0].isupper() and cmd[1].isdigit() except: return False def register_command(self, cmd, func, when_not_ready=False, desc=None): if func is None: old_cmd = self.ready_gcode_handlers.get(cmd) if cmd in self.ready_gcode_handlers: del self.ready_gcode_handlers[cmd] if cmd in self.base_gcode_handlers: del self.base_gcode_handlers[cmd] self._build_status_commands() return old_cmd if cmd in self.ready_gcode_handlers: raise self.printer.config_error( "gcode command %s already registered" % (cmd,) ) if not self.is_traditional_gcode(cmd): if ( cmd.upper() != cmd or not cmd.replace("_", "A").isalnum() or cmd[0].isdigit() or cmd[1:2].isdigit() ): raise self.printer.config_error( "Can't register '%s' as it is an invalid name" % (cmd,) ) origfunc = func func = lambda params: origfunc(self._get_extended_params(params)) self.ready_gcode_handlers[cmd] = func if when_not_ready: self.base_gcode_handlers[cmd] = func if desc is not None: self.gcode_help[cmd] = desc self._build_status_commands() def register_mux_command(self, cmd, key, value, func, desc=None): prev = self.mux_commands.get(cmd) if prev is None: handler = lambda gcmd: self._cmd_mux(cmd, gcmd) self.register_command(cmd, handler, desc=desc) self.mux_commands[cmd] = prev = (key, {}) prev_key, prev_values = prev if prev_key != key: raise self.printer.config_error( "mux command %s %s %s may have only one key (%s)" % (cmd, key, value, prev_key) ) if value in prev_values: raise self.printer.config_error( "mux command %s %s %s already registered (%s)" % (cmd, key, value, prev_values) ) prev_values[value] = func def get_command_help(self): return dict(self.gcode_help) def get_status(self, eventtime): return {"commands": self.status_commands} def _build_status_commands(self): commands = {cmd: {} for cmd in self.gcode_handlers} for cmd in self.gcode_help: if cmd in commands: commands[cmd]["help"] = self.gcode_help[cmd] self.status_commands = commands def register_output_handler(self, cb): self.output_callbacks.append(cb) def _handle_shutdown(self): if not self.is_printer_ready: return self.is_printer_ready = False self.gcode_handlers = self.base_gcode_handlers self._build_status_commands() self._respond_state("Shutdown") def _handle_disconnect(self): self._respond_state("Disconnect") def _handle_ready(self): self.is_printer_ready = True self.gcode_handlers = self.ready_gcode_handlers self._build_status_commands() self._respond_state("Ready") # Parse input into commands args_r = re.compile("([A-Z_]+|[A-Z*])") def _process_commands(self, commands, need_ack=True): for line in commands: # Ignore comments and leading/trailing spaces line = origline = line.strip() cpos = line.find(";") if cpos >= 0: line = line[:cpos] # Break line into parts and determine command parts = self.args_r.split(line.upper()) if "".join(parts[:2]) == "N": # Skip line number at start of command cmd = "".join(parts[3:5]).strip() else: cmd = "".join(parts[:3]).strip() # Build gcode "params" dictionary params = {parts[i]: parts[i + 1].strip() for i in range(1, len(parts), 2)} gcmd = GCodeCommand(self, cmd, origline, params, need_ack) # Invoke handler for command handler = self.gcode_handlers.get(cmd, self.cmd_default) try: handler(gcmd) except self.error as e: self._respond_error(str(e)) self.printer.send_event("gcode:command_error") if not need_ack: raise except: msg = 'Internal error on command:"%s"' % (cmd,) logging.exception(msg) self.printer.invoke_shutdown(msg) self._respond_error(msg) if not need_ack: raise gcmd.ack() def run_script_from_command(self, script): self._process_commands(script.split("\n"), need_ack=False) def run_script(self, script): with self.mutex: self._process_commands(script.split("\n"), need_ack=False) def get_mutex(self): return self.mutex def create_gcode_command(self, command, commandline, params): return GCodeCommand(self, command, commandline, params, False) # Response handling def respond_raw(self, msg): for cb in self.output_callbacks: cb(msg) def respond_info(self, msg, log=True): if log: logging.info(msg) lines = [l.strip() for l in msg.strip().split("\n")] self.respond_raw("// " + "\n// ".join(lines)) def _respond_error(self, msg): logging.warning(msg) lines = msg.strip().split("\n") if len(lines) > 1: self.respond_info("\n".join(lines), log=False) self.respond_raw("!! %s" % (lines[0].strip(),)) if self.is_fileinput: self.printer.request_exit("error_exit") def _respond_state(self, state): self.respond_info("Klipper state: %s" % (state,), log=False) # Parameter parsing helpers def _get_extended_params(self, gcmd): rawparams = gcmd.get_raw_command_parameters() # Extract args while allowing shell style quoting s = shlex.shlex(rawparams, posix=True) s.whitespace_split = True s.commenters = "#;" try: eparams = [earg.split("=", 1) for earg in s] eparams = {k.upper(): v for k, v in eparams} except ValueError as e: raise self.error("Malformed command '%s'" % (gcmd.get_commandline(),)) # Update gcmd with new parameters gcmd._params.clear() gcmd._params.update(eparams) return gcmd # G-Code special command handlers def cmd_default(self, gcmd): cmd = gcmd.get_command() if cmd == "M105": # Don't warn about temperature requests when not ready gcmd.ack("T:0") return if cmd == "M21": # Don't warn about sd card init when not ready return if not self.is_printer_ready: raise gcmd.error(self.printer.get_state_message()[0]) return if not cmd: cmdline = gcmd.get_commandline() if cmdline: logging.debug(cmdline) return if " " in cmd: # Handle M117/M118 gcode with numeric and special characters realcmd = cmd.split()[0] if realcmd in ["M117", "M118", "M23"]: handler = self.gcode_handlers.get(realcmd, None) if handler is not None: gcmd._command = realcmd handler(gcmd) return elif cmd in ["M140", "M104"] and not gcmd.get_float("S", 0.0): # Don't warn about requests to turn off heaters when not present return elif cmd == "M107" or ( cmd == "M106" and (not gcmd.get_float("S", 1.0) or self.is_fileinput) ): # Don't warn about requests to turn off fan when fan not present return gcmd.respond_info('Unknown command:"%s"' % (cmd,)) def _cmd_mux(self, command, gcmd): key, values = self.mux_commands[command] if None in values: key_param = gcmd.get(key, None) else: key_param = gcmd.get(key) if key_param not in values: raise gcmd.error("The value '%s' is not valid for %s" % (key_param, key)) values[key_param](gcmd) # Low-level G-Code commands that are needed before the config file is loaded def cmd_M110(self, gcmd): # Set Current Line Number pass def cmd_M112(self, gcmd): # Emergency Stop self.printer.invoke_shutdown("Shutdown due to M112 command") 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} msg = " ".join(["%s:%s" % (k, v) for k, v in kw.items()]) did_ack = gcmd.ack(msg) if not did_ack: gcmd.respond_info(msg) def request_restart(self, result): if self.is_printer_ready: toolhead = self.printer.lookup_object("toolhead") print_time = toolhead.get_last_move_time() if result == "exit": logging.info("Exiting (print time %.3fs)" % (print_time,)) self.printer.send_event("gcode:request_restart", print_time) toolhead.dwell(0.500) toolhead.wait_moves() self.printer.request_exit(result) cmd_RESTART_help = "Reload config file and restart host software" def cmd_RESTART(self, gcmd): self.request_restart("restart") cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config" def cmd_FIRMWARE_RESTART(self, gcmd): self.request_restart("firmware_restart") def cmd_ECHO(self, gcmd): gcmd.respond_info(gcmd.get_commandline(), log=False) cmd_STATUS_help = "Report the printer status" def cmd_STATUS(self, gcmd): if self.is_printer_ready: self._respond_state("Ready") return msg = self.printer.get_state_message()[0] msg = msg.rstrip() + "\nKlipper state: Not ready" raise gcmd.error(msg) cmd_HELP_help = "Report the list of available extended G-Code commands" def cmd_HELP(self, gcmd): cmdhelp = [] if not self.is_printer_ready: cmdhelp.append("Printer is not ready - not all commands available.") cmdhelp.append("Available extended commands:") for cmd in sorted(self.gcode_handlers): if cmd in self.gcode_help: cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd])) gcmd.respond_info("\n".join(cmdhelp), log=False) # Support reading gcode from a pseudo-tty interface class GCodeIO: def __init__(self, printer): self.printer = printer printer.register_event_handler("klippy:ready", self._handle_ready) printer.register_event_handler("klippy:shutdown", self._handle_shutdown) self.gcode = printer.lookup_object("gcode") self.gcode_mutex = self.gcode.get_mutex() self.fd = printer.get_start_args().get("gcode_fd") self.reactor = printer.get_reactor() self.is_printer_ready = False self.is_processing_data = False self.is_fileinput = not not printer.get_start_args().get("debuginput") self.pipe_is_active = True self.fd_handle = None if not self.is_fileinput: self.gcode.register_output_handler(self._respond_raw) self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) self.partial_input = "" self.pending_commands = [] self.bytes_read = 0 self.input_log = collections.deque([], 50) def _handle_ready(self): self.is_printer_ready = True if self.is_fileinput and self.fd_handle is None: self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) def _dump_debug(self): out = [] out.append("Dumping gcode input %d blocks" % (len(self.input_log),)) for eventtime, data in self.input_log: out.append("Read %f: %s" % (eventtime, repr(data))) logging.info("\n".join(out)) def _handle_shutdown(self): if not self.is_printer_ready: return self.is_printer_ready = False self._dump_debug() if self.is_fileinput: self.printer.request_exit("error_exit") m112_r = re.compile(r"^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)") def _process_data(self, eventtime): # Read input, separate by newline, and add to pending_commands try: data = str(os.read(self.fd, 4096).decode()) except (os.error, UnicodeDecodeError): logging.exception("Read g-code") return self.input_log.append((eventtime, data)) self.bytes_read += len(data) lines = data.split("\n") lines[0] = self.partial_input + lines[0] self.partial_input = lines.pop() pending_commands = self.pending_commands pending_commands.extend(lines) self.pipe_is_active = True # Special handling for debug file input EOF if not data and self.is_fileinput: if not self.is_processing_data: self.reactor.unregister_fd(self.fd_handle) self.fd_handle = None self.gcode.request_restart("exit") pending_commands.append("") # Handle case where multiple commands pending if self.is_processing_data or len(pending_commands) > 1: if len(pending_commands) < 20: # Check for M112 out-of-order for line in lines: if self.m112_r.match(line) is not None: self.gcode.cmd_M112(None) if self.is_processing_data: if len(pending_commands) >= 20: # Stop reading input self.reactor.unregister_fd(self.fd_handle) self.fd_handle = None return # Process commands self.is_processing_data = True while pending_commands: self.pending_commands = [] with self.gcode_mutex: self.gcode._process_commands(pending_commands) pending_commands = self.pending_commands self.is_processing_data = False if self.fd_handle is None: self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) def _respond_raw(self, msg): if self.pipe_is_active: try: os.write(self.fd, (msg + "\n").encode()) except os.error: logging.exception("Write g-code response") self.pipe_is_active = False def stats(self, eventtime): return False, "gcodein=%d" % (self.bytes_read,) def add_early_printer_objects(printer): printer.add_object("gcode", GCodeDispatch(printer)) printer.add_object("gcode_io", GCodeIO(printer))