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gcode: Simplify exception handling 

Translate caught exceptions into a gcode.error() exception.  This way
there is one standard place to invoke respond_error().  Also, always
reset the last_position on a handled error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-03 19:30:49 -05:00
parent 3a2d16abb3
commit 80f23441dd
2 changed files with 21 additions and 20 deletions
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35
klippy/gcode.py
View File

@ -1,12 +1,15 @@
# Parse gcode commands # Parse gcode commands
# #
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections import os, re, logging, collections
import homing, extruder, chipmisc import homing, extruder, chipmisc
# Parse out incoming GCode and find and translate head movements class error(Exception):
pass
# Parse and handle G-Code commands
class GCodeParser: class GCodeParser:
RETRY_TIME = 0.100 RETRY_TIME = 0.100
def __init__(self, printer, fd): def __init__(self, printer, fd):
@ -61,6 +64,9 @@ class GCodeParser:
self.fan = self.printer.objects.get('fan') self.fan = self.printer.objects.get('fan')
if self.is_fileinput and self.fd_handle is None: if self.is_fileinput and self.fd_handle is None:
self.fd_handle = self.reactor.register_fd(self.fd, self.process_data) self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
def reset_last_position(self):
if self.toolhead is not None:
self.last_position = self.toolhead.get_position()
def do_shutdown(self): def do_shutdown(self):
if not self.is_printer_ready: if not self.is_printer_ready:
return return
@ -115,6 +121,7 @@ class GCodeParser:
handler(params) handler(params)
except error as e: except error as e:
self.respond_error(str(e)) self.respond_error(str(e))
self.reset_last_position()
except: except:
msg = 'Internal error on command:"%s"' % (cmd,) msg = 'Internal error on command:"%s"' % (cmd,)
logging.exception(msg) logging.exception(msg)
@ -250,8 +257,7 @@ class GCodeParser:
try: try:
heater.set_temp(print_time, temp) heater.set_temp(print_time, temp)
except heater.error as e: except heater.error as e:
self.respond_error(str(e)) raise error(str(e))
return
if wait: if wait:
self.bg_temp(heater) self.bg_temp(heater)
def set_fan_speed(self, speed): def set_fan_speed(self, speed):
@ -290,10 +296,9 @@ class GCodeParser:
try: try:
self.toolhead.set_extruder(e) self.toolhead.set_extruder(e)
except homing.EndstopError as e: except homing.EndstopError as e:
self.respond_error(str(e)) raise error(str(e))
return
self.extruder = e self.extruder = e
self.last_position = self.toolhead.get_position() self.reset_last_position()
activate_gcode = self.extruder.get_activate_gcode(True) activate_gcode = self.extruder.get_activate_gcode(True)
self.process_commands(activate_gcode.split('\n'), need_ack=False) self.process_commands(activate_gcode.split('\n'), need_ack=False)
all_handlers = [ all_handlers = [
@ -319,16 +324,14 @@ class GCodeParser:
if 'F' in params: if 'F' in params:
speed = float(params['F']) / 60. speed = float(params['F']) / 60.
if speed <= 0.: if speed <= 0.:
raise ValueError() raise error("Invalid speed in '%s'" % (params['#original'],))
self.speed = speed self.speed = speed
except ValueError as e: except ValueError as e:
self.last_position = self.toolhead.get_position()
raise error("Unable to parse move '%s'" % (params['#original'],)) raise error("Unable to parse move '%s'" % (params['#original'],))
try: try:
self.toolhead.move(self.last_position, self.speed) self.toolhead.move(self.last_position, self.speed)
except homing.EndstopError as e: except homing.EndstopError as e:
self.respond_error(str(e)) raise error(str(e))
self.last_position = self.toolhead.get_position()
def cmd_G4(self, params): def cmd_G4(self, params):
# Dwell # Dwell
if 'S' in params: if 'S' in params:
@ -353,9 +356,7 @@ class GCodeParser:
try: try:
self.toolhead.home(homing_state) self.toolhead.home(homing_state)
except homing.EndstopError as e: except homing.EndstopError as e:
self.toolhead.motor_off() raise error(str(e))
self.respond_error(str(e))
return
newpos = self.toolhead.get_position() newpos = self.toolhead.get_position()
for axis in homing_state.get_axes(): for axis in homing_state.get_axes():
self.last_position[axis] = newpos[axis] self.last_position[axis] = newpos[axis]
@ -451,8 +452,7 @@ class GCodeParser:
try: try:
res = self.toolhead.query_endstops() res = self.toolhead.query_endstops()
except homing.EndstopError as e: except homing.EndstopError as e:
self.respond_error(str(e)) raise error(str(e))
return
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t]) self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
for name, t in res])) for name, t in res]))
cmd_PID_TUNE_help = "Run PID Tuning" cmd_PID_TUNE_help = "Run PID Tuning"
@ -519,6 +519,3 @@ class GCodeParser:
if desc is not None: if desc is not None:
cmdhelp.append("%-10s: %s" % (cmd, desc)) cmdhelp.append("%-10s: %s" % (cmd, desc))
self.respond_info("\n".join(cmdhelp)) self.respond_info("\n".join(cmdhelp))
class error(Exception):
pass

6
klippy/toolhead.py
View File

@ -328,7 +328,11 @@ class ToolHead:
if self.print_time > self.need_check_stall: if self.print_time > self.need_check_stall:
self._check_stall() self._check_stall()
def home(self, homing_state): def home(self, homing_state):
self.kin.home(homing_state) try:
self.kin.home(homing_state)
except homing.EndstopError as e:
self.motor_off()
raise
def dwell(self, delay, check_stall=True): def dwell(self, delay, check_stall=True):
self.get_last_move_time() self.get_last_move_time()
self.update_move_time(delay) self.update_move_time(delay)