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# Pause/Resume functionality with position capture/restore
#
# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
class PauseResume:
def __init__(self, config):
self.printer = config.get_printer()
self.gcode = self.printer.lookup_object('gcode')
self.recover_velocity = config.getfloat('recover_velocity', 50.)
self.captured_position = None
self.captured_speed = 0.
self.captured_epos = None
self.toolhead = self.v_sd = None
self.sd_paused = False
self.printer.register_event_handler("klippy:ready", self.handle_ready)
self.gcode.register_command("PAUSE", self.cmd_PAUSE)
self.gcode.register_command("RESUME", self.cmd_RESUME)
def handle_ready(self):
self.toolhead = self.printer.lookup_object('toolhead')
self.v_sd = self.printer.lookup_object('virtual_sdcard', None)
def get_status(self, eventtime):
paused = self.captured_position is not None
return {
'is_paused': paused
}
def cmd_PAUSE(self, params):
if self.captured_position is not None:
self.gcode.respond_info("Print already paused")
return
if self.v_sd is not None and self.v_sd.is_active():
# Printing from virtual sd, run pause command
self.sd_paused = True
self.v_sd.cmd_M25({})
else:
self.sd_paused = False
self.gcode.respond_info("action:pause")
self.toolhead.wait_moves()
self.captured_position = self.toolhead.get_position()
reactor = self.printer.get_reactor()
gcs = self.gcode.get_status(reactor.monotonic())
self.captured_speed = gcs['speed']
if gcs['abs_extrude']:
self.captured_epos = gcs['last_epos'] - gcs['base_epos']
def cmd_RESUME(self, params):
if self.captured_position is None:
self.gcode.respond_info("Print is not paused, resume aborted")
return
velocity = self.gcode.get_float(
'VELOCITY', params, self.recover_velocity)
cur_pos = self.toolhead.get_position()
self.captured_position[3] = cur_pos[3]
self.toolhead.move(self.captured_position, velocity)
self.toolhead.get_last_move_time()
self.gcode.reset_last_position()
# restore previous speed
self.gcode.run_script_from_command(
"G1 F%.6f" % (self.captured_speed))
if self.captured_epos is not None:
self.gcode.run_script_from_command(
"G92 E%.6f" % (self.captured_epos))
self.captured_position = self.captured_epos = None
if self.sd_paused:
# Printing from virtual sd, run pause command
self.v_sd.cmd_M24({})
else:
self.gcode.respond_info("action:resume")
def load_config(config):
return PauseResume(config)
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