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gcode: Add support for M400 command 

Add ability to fully stall the input until all moves are complete.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-28 21:24:12 -05:00
parent f2b406fc5e
commit 2e03d84755
2 changed files with 10 additions and 1 deletions
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6
klippy/gcode.py
View File

@ -44,7 +44,8 @@ class GCodeParser:
self.fan = self.printer.objects.get('fan') self.fan = self.printer.objects.get('fan')
def build_handlers(self): def build_handlers(self):
handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M206', 'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114',
'M206', 'M400',
'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN', 'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN',
'STATUS'] 'STATUS']
if self.heater_nozzle is not None: if self.heater_nozzle is not None:
@ -323,6 +324,9 @@ class GCodeParser:
v = float(params[a]) v = float(params[a])
self.base_position[p] += self.homing_add[p] - v self.base_position[p] += self.homing_add[p] - v
self.homing_add[p] = v self.homing_add[p] = v
def cmd_M400(self, params):
# Wait for current moves to finish
self.toolhead.wait_moves()
cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop" cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
cmd_QUERY_ENDSTOPS_aliases = ["M119"] cmd_QUERY_ENDSTOPS_aliases = ["M119"]
def cmd_QUERY_ENDSTOPS(self, params): def cmd_QUERY_ENDSTOPS(self, params):

5
klippy/toolhead.py
View File

@ -287,6 +287,11 @@ class ToolHead:
self.extruder.motor_off(last_move_time) self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME) self.dwell(STALL_TIME)
logging.debug('; Max time of %f' % (last_move_time,)) logging.debug('; Max time of %f' % (last_move_time,))
def wait_moves(self):
self.move_queue.flush()
eventtime = time.time()
while self.print_time:
eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self): def query_endstops(self):
last_move_time = self.get_last_move_time() last_move_time = self.get_last_move_time()
return self.kin.query_endstops(last_move_time) return self.kin.query_endstops(last_move_time)