gcode: Group similar G-Code commands together
Group commands by category instead of listing them in numerical order. This is just code movement; no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
d778ae1846
commit
9313e58123
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@ -38,15 +38,16 @@ class GCodeParser:
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self.register_command(cmd, func, wnr, desc)
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for a in getattr(self, 'cmd_' + cmd + '_aliases', []):
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self.register_command(a, func, wnr)
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# G-Code coordinate manipulation
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self.absolutecoord = self.absoluteextrude = True
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self.base_position = [0.0, 0.0, 0.0, 0.0]
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self.last_position = [0.0, 0.0, 0.0, 0.0]
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self.homing_add = [0.0, 0.0, 0.0, 0.0]
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# G-Code state
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self.need_ack = False
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self.toolhead = self.fan = self.extruder = None
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self.heaters = []
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self.speed = 25.0
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self.absolutecoord = self.absoluteextrude = True
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self.base_position = [0.0, 0.0, 0.0, 0.0]
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self.last_position = [0.0, 0.0, 0.0, 0.0]
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self.homing_add = [0.0, 0.0, 0.0, 0.0]
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self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
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def register_command(self, cmd, func, when_not_ready=False, desc=None):
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if not (len(cmd) >= 2 and not cmd[0].isupper() and cmd[1].isdigit()):
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@ -271,7 +272,7 @@ class GCodeParser:
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return
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print_time = self.toolhead.get_last_move_time()
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self.fan.set_speed(print_time, speed)
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# Individual command handlers
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# G-Code special command handlers
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def cmd_default(self, params):
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if not self.is_printer_ready:
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self.respond_error(self.printer.get_state_message())
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@ -306,11 +307,12 @@ class GCodeParser:
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activate_gcode = self.extruder.get_activate_gcode(True)
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self.process_commands(activate_gcode.split('\n'), need_ack=False)
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all_handlers = [
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'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
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'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
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'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
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'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
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'G1', 'G4', 'G28', 'M18', 'M400',
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'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M206',
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'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
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'M112', 'M114', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
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'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
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# G-Code movement commands
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cmd_G1_aliases = ['G0']
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def cmd_G1(self, params):
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# Move
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@ -343,9 +345,6 @@ class GCodeParser:
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else:
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delay = self.get_float('P', params, 0.) / 1000.
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self.toolhead.dwell(delay)
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def cmd_G20(self, params):
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# Set units to inches
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self.respond_error('Machine does not support G20 (inches) command')
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def cmd_G28(self, params):
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# Move to origin
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axes = []
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@ -365,6 +364,23 @@ class GCodeParser:
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for axis in homing_state.get_axes():
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self.last_position[axis] = newpos[axis]
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self.base_position[axis] = -self.homing_add[axis]
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cmd_M18_aliases = ["M84"]
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def cmd_M18(self, params):
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# Turn off motors
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self.toolhead.motor_off()
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def cmd_M400(self, params):
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# Wait for current moves to finish
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self.toolhead.wait_moves()
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# G-Code coordinate manipulation
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def cmd_G20(self, params):
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# Set units to inches
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self.respond_error('Machine does not support G20 (inches) command')
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def cmd_M82(self, params):
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# Use absolute distances for extrusion
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self.absoluteextrude = True
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def cmd_M83(self, params):
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# Use relative distances for extrusion
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self.absoluteextrude = False
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def cmd_G90(self, params):
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# Use absolute coordinates
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self.absolutecoord = True
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@ -379,16 +395,14 @@ class GCodeParser:
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self.base_position[p] = self.last_position[p] - offset
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if not offsets:
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self.base_position = list(self.last_position)
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def cmd_M82(self, params):
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# Use absolute distances for extrusion
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self.absoluteextrude = True
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def cmd_M83(self, params):
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# Use relative distances for extrusion
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self.absoluteextrude = False
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cmd_M18_aliases = ["M84"]
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def cmd_M18(self, params):
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# Turn off motors
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self.toolhead.motor_off()
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def cmd_M206(self, params):
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# Set home offset
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offsets = { p: self.get_float(a, params)
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for a, p in self.axis2pos.items() if a in params }
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for p, offset in offsets.items():
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self.base_position[p] += self.homing_add[p] - offset
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self.homing_add[p] = offset
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# G-Code temperature and fan commands
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cmd_M105_when_not_ready = True
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def cmd_M105(self, params):
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# Get Extruder Temperature
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@ -399,6 +413,19 @@ class GCodeParser:
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def cmd_M109(self, params):
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# Set Extruder Temperature and Wait
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self.set_temp(params, wait=True)
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def cmd_M140(self, params):
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# Set Bed Temperature
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self.set_temp(params, is_bed=True)
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def cmd_M190(self, params):
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# Set Bed Temperature and Wait
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self.set_temp(params, is_bed=True, wait=True)
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def cmd_M106(self, params):
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# Set fan speed
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self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
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def cmd_M107(self, params):
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# Turn fan off
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self.set_fan_speed(0.)
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# G-Code miscellaneous commands
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cmd_M112_when_not_ready = True
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def cmd_M112(self, params):
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# Emergency Stop
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@ -420,28 +447,6 @@ class GCodeParser:
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software_version = self.printer.get_start_args().get('software_version')
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kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
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self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
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def cmd_M140(self, params):
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# Set Bed Temperature
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self.set_temp(params, is_bed=True)
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def cmd_M190(self, params):
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# Set Bed Temperature and Wait
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self.set_temp(params, is_bed=True, wait=True)
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def cmd_M106(self, params):
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# Set fan speed
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self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
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def cmd_M107(self, params):
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# Turn fan off
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self.set_fan_speed(0.)
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def cmd_M206(self, params):
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# Set home offset
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offsets = { p: self.get_float(a, params)
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for a, p in self.axis2pos.items() if a in params }
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for p, offset in offsets.items():
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self.base_position[p] += self.homing_add[p] - offset
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self.homing_add[p] = offset
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def cmd_M400(self, params):
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# Wait for current moves to finish
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self.toolhead.wait_moves()
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cmd_IGNORE_when_not_ready = True
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cmd_IGNORE_aliases = ["G21", "M110", "M21"]
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def cmd_IGNORE(self, params):
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