gcode: Separate IO handling to its own class
Move the pseudo-tty IO handling from the main gcode class to a new gcode_io class. This simplifies the main gcode class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
795bd03b33
commit
447374f73e
238
klippy/gcode.py
238
klippy/gcode.py
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@ -69,29 +69,15 @@ class GCodeCommand:
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# Parse and handle G-Code commands
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class GCodeParser:
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error = homing.CommandError
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RETRY_TIME = 0.100
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def __init__(self, printer):
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self.printer = printer
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self.fd = printer.get_start_args().get("gcode_fd")
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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printer.register_event_handler("klippy:disconnect",
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self._handle_disconnect)
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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# Input handling
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self.reactor = printer.get_reactor()
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self.is_processing_data = False
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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self.pipe_is_active = not self.is_fileinput
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self.fd_handle = None
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if not self.is_fileinput:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self.partial_input = ""
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self.pending_commands = []
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self.bytes_read = 0
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self.input_log = collections.deque([], 50)
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# Register webhooks
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webhooks = self.printer.lookup_object('webhooks')
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webhooks.register_endpoint(
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@ -104,7 +90,7 @@ class GCodeParser:
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"gcode/firmware_restart", self._handle_remote_restart)
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# Command handling
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self.is_printer_ready = False
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self.mutex = self.reactor.mutex()
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self.mutex = printer.get_reactor().mutex()
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self.output_callbacks = []
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self.base_gcode_handlers = self.gcode_handlers = {}
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self.ready_gcode_handlers = {}
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@ -185,8 +171,6 @@ class GCodeParser:
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self.move_with_transform = transform.move
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self.position_with_transform = transform.get_position
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return old_transform
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def stats(self, eventtime):
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return False, "gcodein=%d" % (self.bytes_read,)
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def _action_emergency_stop(self, msg="action_emergency_stop"):
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self.printer.invoke_shutdown("Shutdown due to %s" % (msg,))
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return ""
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@ -206,14 +190,12 @@ class GCodeParser:
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return self.speed_factor * 60.
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def get_status(self, eventtime=None):
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move_position = self._get_gcode_position()
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busy = self.is_processing_data
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return {
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'speed_factor': self._get_gcode_speed_override(),
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'speed': self._get_gcode_speed(),
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'extrude_factor': self.extrude_factor,
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'absolute_coordinates': self.absolute_coord,
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'absolute_extrude': self.absolute_extrude,
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'busy': busy,
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'move_xpos': move_position[0],
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'move_ypos': move_position[1],
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'move_zpos': move_position[2],
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@ -239,9 +221,6 @@ class GCodeParser:
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return
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self.is_printer_ready = False
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self.gcode_handlers = self.base_gcode_handlers
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self._dump_debug()
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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self._respond_state("Shutdown")
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def _handle_disconnect(self):
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self._respond_state("Disconnect")
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@ -252,9 +231,6 @@ class GCodeParser:
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if self.move_transform is None:
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self.move_with_transform = self.toolhead.move
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self.position_with_transform = self.toolhead.get_position
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if self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self._respond_state("Ready")
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def _handle_activate_extruder(self):
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self.reset_last_position()
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@ -263,20 +239,6 @@ class GCodeParser:
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def reset_last_position(self):
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if self.is_printer_ready:
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self.last_position = self.position_with_transform()
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def _dump_debug(self):
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out = []
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out.append("Dumping gcode input %d blocks" % (
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len(self.input_log),))
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for eventtime, data in self.input_log:
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out.append("Read %f: %s" % (eventtime, repr(data)))
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out.append(
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"gcode state: absolute_coord=%s absolute_extrude=%s"
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" base_position=%s last_position=%s homing_position=%s"
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" speed_factor=%s extrude_factor=%s speed=%s" % (
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self.absolute_coord, self.absolute_extrude,
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self.base_position, self.last_position, self.homing_position,
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self.speed_factor, self.extrude_factor, self.speed))
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logging.info("\n".join(out))
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# Parse input into commands
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args_r = re.compile('([A-Z_]+|[A-Z*/])')
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def _process_commands(self, commands, need_ack=True):
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@ -317,71 +279,6 @@ class GCodeParser:
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if not need_ack:
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raise
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gcmd.ack()
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m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)')
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def _process_data(self, eventtime):
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# Read input, separate by newline, and add to pending_commands
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try:
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data = os.read(self.fd, 4096)
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except os.error:
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logging.exception("Read g-code")
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return
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self.input_log.append((eventtime, data))
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self.bytes_read += len(data)
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lines = data.split('\n')
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lines[0] = self.partial_input + lines[0]
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self.partial_input = lines.pop()
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pending_commands = self.pending_commands
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pending_commands.extend(lines)
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if not self.is_fileinput:
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self.pipe_is_active = True
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elif not data:
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# Special handling for debug file input EOF
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if not self.is_processing_data:
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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self.request_restart('exit')
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pending_commands.append("")
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# Handle case where multiple commands pending
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if self.is_processing_data or len(pending_commands) > 1:
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if len(pending_commands) < 20:
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# Check for M112 out-of-order
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for line in lines:
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if self.m112_r.match(line) is not None:
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self.cmd_M112(None)
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if self.is_processing_data:
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if len(pending_commands) >= 20:
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# Stop reading input
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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return
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# Process commands
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self.is_processing_data = True
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while pending_commands:
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self.pending_commands = []
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with self.mutex:
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self._process_commands(pending_commands)
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pending_commands = self.pending_commands
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self.is_processing_data = False
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if self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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def _handle_remote_help(self, web_request):
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if web_request.get_method() != 'GET':
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raise web_request.error("Invalid Request Method")
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web_request.send(dict(self.gcode_help))
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def _handle_remote_restart(self, web_request):
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if web_request.get_method() != 'POST':
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raise web_request.error("Invalid Request Method")
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path = web_request.get_path()
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if path == "gcode/restart":
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self.run_script('restart')
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elif path == "gcode/firmware_restart":
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self.run_script('firmware_restart')
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def _handle_remote_script(self, web_request):
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if web_request.get_method() != 'POST':
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raise web_request.error("Invalid Request Method")
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script = web_request.get('script')
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self.run_script(script)
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def run_script_from_command(self, script):
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self._process_commands(script.split('\n'), need_ack=False)
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def run_script(self, script):
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@ -395,12 +292,6 @@ class GCodeParser:
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def respond_raw(self, msg):
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for cb in self.output_callbacks:
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cb(msg)
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if self.pipe_is_active:
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try:
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os.write(self.fd, msg+"\n")
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except os.error:
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logging.exception("Write g-code response")
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self.pipe_is_active = False
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def respond_info(self, msg, log=True):
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if log:
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logging.info(msg)
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@ -719,6 +610,131 @@ class GCodeParser:
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if cmd in self.gcode_help:
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cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
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gcmd.respond_info("\n".join(cmdhelp), log=False)
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# Webhooks
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def _handle_remote_help(self, web_request):
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if web_request.get_method() != 'GET':
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raise web_request.error("Invalid Request Method")
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web_request.send(dict(self.gcode_help))
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def _handle_remote_restart(self, web_request):
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if web_request.get_method() != 'POST':
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raise web_request.error("Invalid Request Method")
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path = web_request.get_path()
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if path == "gcode/restart":
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self.run_script('restart')
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elif path == "gcode/firmware_restart":
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self.run_script('firmware_restart')
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def _handle_remote_script(self, web_request):
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if web_request.get_method() != 'POST':
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raise web_request.error("Invalid Request Method")
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script = web_request.get('script')
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self.run_script(script)
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# Support reading gcode from a pseudo-tty interface
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class GCodeIO:
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def __init__(self, printer):
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self.printer = printer
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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self.gcode = printer.lookup_object('gcode')
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self.gcode_mutex = self.gcode.get_mutex()
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self.fd = printer.get_start_args().get("gcode_fd")
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self.reactor = printer.get_reactor()
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self.is_printer_ready = False
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self.is_processing_data = False
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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self.pipe_is_active = True
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self.fd_handle = None
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if not self.is_fileinput:
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self.gcode.register_output_handler(self._respond_raw)
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self.partial_input = ""
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self.pending_commands = []
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self.bytes_read = 0
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self.input_log = collections.deque([], 50)
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def _handle_ready(self):
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self.is_printer_ready = True
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if self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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def _dump_debug(self):
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out = []
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out.append("Dumping gcode input %d blocks" % (
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len(self.input_log),))
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for eventtime, data in self.input_log:
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out.append("Read %f: %s" % (eventtime, repr(data)))
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out.append(
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"gcode state: absolute_coord=%s absolute_extrude=%s"
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" base_position=%s last_position=%s homing_position=%s"
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" speed_factor=%s extrude_factor=%s speed=%s" % (
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self.absolute_coord, self.absolute_extrude,
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self.base_position, self.last_position, self.homing_position,
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self.speed_factor, self.extrude_factor, self.speed))
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logging.info("\n".join(out))
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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self._dump_debug()
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)')
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def _process_data(self, eventtime):
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# Read input, separate by newline, and add to pending_commands
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try:
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data = os.read(self.fd, 4096)
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except os.error:
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logging.exception("Read g-code")
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return
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self.input_log.append((eventtime, data))
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self.bytes_read += len(data)
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lines = data.split('\n')
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lines[0] = self.partial_input + lines[0]
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self.partial_input = lines.pop()
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pending_commands = self.pending_commands
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pending_commands.extend(lines)
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self.pipe_is_active = True
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# Special handling for debug file input EOF
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if not data and self.is_fileinput:
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if not self.is_processing_data:
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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self.gcode.request_restart('exit')
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pending_commands.append("")
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# Handle case where multiple commands pending
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if self.is_processing_data or len(pending_commands) > 1:
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if len(pending_commands) < 20:
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# Check for M112 out-of-order
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for line in lines:
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if self.m112_r.match(line) is not None:
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self.cmd_M112(None)
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if self.is_processing_data:
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if len(pending_commands) >= 20:
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# Stop reading input
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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return
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# Process commands
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self.is_processing_data = True
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while pending_commands:
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self.pending_commands = []
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with self.gcode_mutex:
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self.gcode._process_commands(pending_commands)
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pending_commands = self.pending_commands
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self.is_processing_data = False
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if self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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def _respond_raw(self, msg):
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if self.pipe_is_active:
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try:
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os.write(self.fd, msg+"\n")
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except os.error:
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logging.exception("Write g-code response")
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self.pipe_is_active = False
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def stats(self, eventtime):
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return False, "gcodein=%d" % (self.bytes_read,)
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def add_early_printer_objects(printer):
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printer.add_object('gcode', GCodeParser(printer))
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printer.add_object('gcode_io', GCodeIO(printer))
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