gcode: Use an event to handle restart request actions

Instead of directly turning off motors, heaters, and fans from
gcode.py, raise a new event and allow the heater, fan, and toolhead to
handle the event as needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/fan.py

@@ -10,9 +10,12 @@ class PrinterFan:
     def __init__(self, config, default_shutdown_speed=0.):
         self.last_fan_value = 0.
         self.last_fan_time = 0.
+        printer = config.get_printer()
+        printer.register_event_handler("gcode:request_restart",
+                                       self.handle_request_restart)
         self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
         self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
-        ppins = config.get_printer().lookup_object('pins')
+        ppins = printer.lookup_object('pins')
         self.mcu_fan = ppins.setup_pin('pwm', config.get('pin'))
         self.mcu_fan.setup_max_duration(0.)
         cycle_time = config.getfloat('cycle_time', 0.010, above=0.)
@@ -22,6 +25,8 @@ class PrinterFan:
             'shutdown_speed', default_shutdown_speed, minval=0., maxval=1.)
         self.mcu_fan.setup_start_value(
             0., max(0., min(self.max_power, shutdown_speed)))
+    def handle_request_restart(self, print_time):
+        self.set_speed(print_time, 0.)
     def set_speed(self, print_time, value):
         value = max(0., min(self.max_power, value * self.max_power))
         if value == self.last_fan_value:

klippy/gcode.py

@@ -673,13 +673,8 @@ class GCodeParser:
                 gcode_pos, base_pos, homing_pos))
     def request_restart(self, result):
         if self.is_printer_ready:
-            self.toolhead.motor_off()
             print_time = self.toolhead.get_last_move_time()
-            if self.heaters is not None:
-                for heater in self.heaters.get_all_heaters():
-                    heater.set_temp(print_time, 0.)
-            if self.fan is not None:
-                self.fan.set_speed(print_time, 0.)
+            self.printer.send_event("gcode:request_restart", print_time)
             self.toolhead.dwell(0.500)
             self.toolhead.wait_moves()
         self.printer.request_exit(result)

klippy/heater.py

@@ -230,6 +230,8 @@ class PrinterHeaters:
         self.sensor_factories = {}
         self.heaters = {}
         self.gcode_id_to_sensor = {}
+        self.printer.register_event_handler("gcode:request_restart",
+                                            self.turn_off_all_heaters)
         # Register TURN_OFF_HEATERS command
         gcode = self.printer.lookup_object('gcode')
         gcode.register_command("TURN_OFF_HEATERS", self.cmd_TURN_OFF_HEATERS,
@@ -265,15 +267,15 @@ class PrinterHeaters:
             raise self.printer.config_error(
                 "Unknown temperature sensor '%s'" % (sensor_type,))
         return self.sensor_factories[sensor_type](config)
-    def get_all_heaters(self):
-        return self.heaters.values()
     def get_gcode_sensors(self):
         return self.gcode_id_to_sensor.items()
+    def turn_off_all_heaters(self, print_time):
+        for heater in self.heaters.values():
+            heater.set_temp(print_time, 0.)
     cmd_TURN_OFF_HEATERS_help = "Turn off all heaters"
     def cmd_TURN_OFF_HEATERS(self, params):
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        for heater in self.heaters.values():
-            heater.set_temp(print_time, 0.)
+        self.turn_off_all_heaters(print_time)
 
 def add_printer_objects(config):
     config.get_printer().add_object('heater', PrinterHeaters(config))

klippy/toolhead.py

@@ -205,6 +205,8 @@ class ToolHead:
         self.mcu = self.all_mcus[0]
         self.move_queue = MoveQueue()
         self.commanded_pos = [0., 0., 0., 0.]
+        self.printer.register_event_handler("gcode:request_restart",
+                                            self._handle_request_restart)
         self.printer.register_event_handler("klippy:shutdown",
                                             self._handle_shutdown)
         # Velocity and acceleration control
@@ -416,6 +418,8 @@ class ToolHead:
         return { 'status': status, 'print_time': print_time,
                  'estimated_print_time': estimated_print_time,
                  'printing_time': print_time - last_print_start_time }
+    def _handle_request_restart(self, print_time):
+        self.motor_off()
     def _handle_shutdown(self):
         self.move_queue.reset()
         self.reset_print_time()