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gcode: Limit build_handlers() method to just building available commands 

The set_printer_ready() can be called from a background thread on a
shutdown event, so don't try to lookup the printer components in that
case.  Simplify build_handlers() so that it no longer tests for
components being available - test for component availability in the
command handlers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-25 18:34:15 -04:00
parent ccb93068fe
commit c63754fc32
1 changed files with 41 additions and 35 deletions
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76
klippy/gcode.py
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@ -23,7 +23,7 @@ class GCodeParser:
self.bytes_read = 0
self.input_log = collections.deque([], 50)
# Command handling
self.gcode_handlers = {}
self.gcode_handlers = self.build_handlers(False)
self.is_printer_ready = False
self.need_ack = False
self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
@ -33,8 +33,26 @@ class GCodeParser:
self.last_position = [0.0, 0.0, 0.0, 0.0]
self.homing_add = [0.0, 0.0, 0.0, 0.0]
self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
self.build_handlers()
def build_handlers(self):
def build_handlers(self, is_ready):
handlers = self.all_handlers
if not is_ready:
handlers = [h for h in handlers
if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
gcode_handlers = dict((h, getattr(self, 'cmd_'+h)) for h in handlers)
for h, f in gcode_handlers.items():
aliases = getattr(self, 'cmd_'+h+'_aliases', [])
gcode_handlers.update(dict([(a, f) for a in aliases]))
return gcode_handlers
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def set_printer_ready(self, is_ready):
if self.is_printer_ready == is_ready:
return
self.is_printer_ready = is_ready
self.gcode_handlers = self.build_handlers(is_ready)
if not is_ready:
# Printer is shutdown (could be running in a background thread)
return
# Lookup printer components
self.toolhead = self.printer.objects.get('toolhead')
self.heater_nozzle = None
@ -43,34 +61,7 @@ class GCodeParser:
self.heater_nozzle = extruder.heater
self.heater_bed = self.printer.objects.get('heater_bed')
self.fan = self.printer.objects.get('fan')
# Map command handlers
handlers = ['G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M105', 'M112', 'M114', 'M115',
'M206', 'M400',
'HELP', 'IGNORE', 'QUERY_ENDSTOPS',
'RESTART', 'FIRMWARE_RESTART', 'STATUS']
if self.heater_nozzle is not None:
handlers.extend(['M104', 'M109', 'PID_TUNE'])
if self.heater_bed is not None:
handlers.extend(['M140', 'M190'])
if self.fan is not None:
handlers.extend(['M106', 'M107'])
if not self.is_printer_ready:
handlers = [h for h in handlers
if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h))
for h in handlers)
for h, f in self.gcode_handlers.items():
aliases = getattr(self, 'cmd_'+h+'_aliases', [])
self.gcode_handlers.update(dict([(a, f) for a in aliases]))
def stats(self, eventtime):
return "gcodein=%d" % (self.bytes_read,)
def set_printer_ready(self, is_ready):
if self.is_printer_ready == is_ready:
return
self.is_printer_ready = is_ready
self.build_handlers()
if is_ready and 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)
def motor_heater_off(self):
if self.toolhead is None:
@ -213,6 +204,9 @@ class GCodeParser:
self.respond(self.get_temp())
eventtime = self.reactor.pause(eventtime + 1.)
def set_temp(self, heater, params, wait=False):
if heater is None:
self.respond_error("Heater not configured")
return
print_time = self.toolhead.get_last_move_time()
temp = self.get_float('S', params, 0.)
try:
@ -222,6 +216,12 @@ class GCodeParser:
return
if wait:
self.bg_temp(heater)
def set_fan_speed(self, speed):
if self.fan is None:
self.respond_info("Fan not configured")
return
print_time = self.toolhead.get_last_move_time()
self.fan.set_speed(print_time, speed)
# Individual command handlers
def cmd_default(self, params):
if not self.is_printer_ready:
@ -232,6 +232,12 @@ class GCodeParser:
logging.debug(params['#original'])
return
self.respond('echo:Unknown command:"%s"' % (cmd,))
all_handlers = [
'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'RESTART', 'FIRMWARE_RESTART',
'STATUS', 'HELP']
cmd_G1_aliases = ['G0']
def cmd_G1(self, params):
# Move
@ -349,12 +355,10 @@ class GCodeParser:
self.set_temp(self.heater_bed, params, wait=True)
def cmd_M106(self, params):
# Set fan speed
print_time = self.toolhead.get_last_move_time()
self.fan.set_speed(print_time, self.get_float('S', params, 255.) / 255.)
self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
def cmd_M107(self, params):
# Turn fan off
print_time = self.toolhead.get_last_move_time()
self.fan.set_speed(print_time, 0.)
self.set_fan_speed(0.)
def cmd_M206(self, params):
# Set home offset
offsets = { p: self.get_float(a, params)
@ -389,6 +393,8 @@ class GCodeParser:
# Run PID tuning
heater = self.get_int('E', params, 0)
heater = {0: self.heater_nozzle, -1: self.heater_bed}[heater]
if heater is None:
self.respond_error("Heater not configured")
temp = self.get_float('S', params)
heater.start_auto_tune(temp)
self.bg_temp(heater)