toolhead: Force a firmware shutdown on an unhandled exception
Check for unhandled exceptions and force the MCU to shutdown in that case. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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0824d32319
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a7b81dc05c
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@ -101,7 +101,8 @@ class GCodeParser:
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handler(params)
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except:
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logging.exception("Exception in command handler")
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self.respond('echo:Internal error on command:"%s"' % (cmd,))
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self.toolhead.force_shutdown()
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self.respond('Error: Internal error on command:"%s"' % (cmd,))
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# Check if machine can process next command or must stall input
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if self.busy_state is not None:
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break
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@ -142,7 +143,13 @@ class GCodeParser:
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self.busy_state = busy_handler
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self.reactor.update_timer(self.busy_timer, self.reactor.NOW)
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def busy_handler(self, eventtime):
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busy = self.busy_state.check_busy(eventtime)
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try:
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busy = self.busy_state.check_busy(eventtime)
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except:
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logging.exception("Exception in busy handler")
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self.toolhead.force_shutdown()
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self.respond('Error: Internal error in busy handler')
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busy = False
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if busy:
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self.toolhead.reset_motor_off_time(eventtime)
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return eventtime + self.RETRY_TIME
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@ -252,6 +252,7 @@ class MCU:
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self.is_shutdown = False
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self.output_file_mode = False
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# Config building
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self._emergency_stop_cmd = None
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self._num_oids = 0
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self._config_cmds = []
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self._config_crc = None
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@ -328,6 +329,8 @@ class MCU:
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if err:
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stats += " step_errors=%d" % (err,)
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return stats
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def force_shutdown(self):
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self.send(self._emergency_stop_cmd.encode())
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# Configuration phase
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def _add_custom(self):
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data = self._config.get('custom', '')
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@ -340,6 +343,7 @@ class MCU:
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continue
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self.add_config_cmd(line)
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def build_config(self):
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self._emergency_stop_cmd = self.lookup_command("emergency_stop")
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# Build config commands
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self._add_custom()
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self._config_cmds.insert(0, "allocate_oids count=%d" % (
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@ -504,6 +508,8 @@ class DummyMCU:
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pass
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def stats(self, eventtime):
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return ""
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def force_shutdown(self):
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pass
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def build_config(self):
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pass
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def create_stepper(self, step_pin, dir_pin, min_stop_interval, max_error):
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@ -85,6 +85,9 @@ class MoveQueue:
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self.queue = []
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self.prev_junction_max = 0.
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self.junction_flush = 0.
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def reset(self):
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del self.queue[:]
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self.prev_junction_max = self.junction_flush = 0.
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def flush(self, lazy=False):
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can_flush = not lazy
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flush_count = len(self.queue)
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@ -186,26 +189,30 @@ class ToolHead:
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eventtime, self.print_time)
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return buffer_time > self.buffer_time_high
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def flush_handler(self, eventtime):
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if not self.print_time:
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self.move_queue.flush()
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try:
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if not self.print_time:
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if eventtime >= self.motor_off_time:
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self.motor_off()
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self.reset_print_time()
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self.motor_off_time = self.reactor.NEVER
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return self.motor_off_time
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print_time = self.print_time
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, print_time)
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if buffer_time > self.buffer_time_low:
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return eventtime + buffer_time - self.buffer_time_low
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self.move_queue.flush()
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if print_time != self.print_time:
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self.print_time_stall += 1
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self.dwell(self.buffer_time_low + STALL_TIME)
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return self.reactor.NOW
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self.reset_print_time()
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return self.motor_off_time
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self.move_queue.flush()
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if not self.print_time:
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if eventtime >= self.motor_off_time:
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self.motor_off()
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self.reset_print_time()
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self.motor_off_time = self.reactor.NEVER
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return self.motor_off_time
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print_time = self.print_time
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, print_time)
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if buffer_time > self.buffer_time_low:
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return eventtime + buffer_time - self.buffer_time_low
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self.move_queue.flush()
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if print_time != self.print_time:
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self.print_time_stall += 1
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self.dwell(self.buffer_time_low + STALL_TIME)
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return self.reactor.NOW
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self.reset_print_time()
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return self.motor_off_time
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except:
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logging.exception("Exception in flush_handler")
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self.force_shutdown()
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def stats(self, eventtime):
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buffer_time = 0.
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if self.print_time:
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@ -273,3 +280,6 @@ class ToolHead:
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self.extruder.motor_off(last_move_time)
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self.dwell(STALL_TIME)
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logging.debug('; Max time of %f' % (last_move_time,))
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def force_shutdown(self):
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self.printer.mcu.force_shutdown()
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self.move_queue.reset()
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