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gcode: Handle M112 emergency stop command 

Also try to support the command if it is sent out of order.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-09 13:55:18 -05:00
parent edd7dfe1c8
commit f25ead109c
1 changed files with 16 additions and 11 deletions
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27
klippy/gcode.py
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@ -44,7 +44,7 @@ class GCodeParser:
self.fan = self.printer.objects.get('fan') self.fan = self.printer.objects.get('fan')
def build_handlers(self): def build_handlers(self):
handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M105', 'M110', 'M114', 'M206', 'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M206',
'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN'] 'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN']
if self.heater_nozzle is not None: if self.heater_nozzle is not None:
handlers.extend(['M104', 'M109', 'PID_TUNE']) handlers.extend(['M104', 'M109', 'PID_TUNE'])
@ -84,9 +84,8 @@ class GCodeParser:
# Parse input into commands # Parse input into commands
args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])') args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])')
def process_commands(self, eventtime): def process_commands(self, eventtime):
i = -1 while len(self.input_commands) > 1:
for i in range(len(self.input_commands)-1): line = self.input_commands.pop(0)
line = self.input_commands[i]
# Ignore comments and leading/trailing spaces # Ignore comments and leading/trailing spaces
line = origline = line.strip() line = origline = line.strip()
cpos = line.find(';') cpos = line.find(';')
@ -114,18 +113,21 @@ class GCodeParser:
self.toolhead.force_shutdown() self.toolhead.force_shutdown()
self.respond_error('Internal error on command:"%s"' % (cmd,)) self.respond_error('Internal error on command:"%s"' % (cmd,))
self.ack() self.ack()
del self.input_commands[:i+1]
def process_data(self, eventtime): def process_data(self, eventtime):
if self.is_processing_data:
self.reactor.unregister_fd(self.fd_handle)
self.fd_handle = None
return
data = os.read(self.fd, 4096) data = os.read(self.fd, 4096)
self.input_log.append((eventtime, data)) self.input_log.append((eventtime, data))
self.bytes_read += len(data) self.bytes_read += len(data)
lines = data.split('\n') lines = data.split('\n')
lines[0] = self.input_commands[0] + lines[0] lines[0] = self.input_commands.pop() + lines[0]
self.input_commands = lines self.input_commands.extend(lines)
if self.is_processing_data:
if len(lines) <= 1:
return
if not self.is_fileinput and lines[0].strip().upper() == 'M112':
self.cmd_M112({})
self.reactor.unregister_fd(self.fd_handle)
self.fd_handle = None
return
self.is_processing_data = True self.is_processing_data = True
self.process_commands(eventtime) self.process_commands(eventtime)
self.is_processing_data = False self.is_processing_data = False
@ -282,6 +284,9 @@ class GCodeParser:
def cmd_M110(self, params): def cmd_M110(self, params):
# Set Current Line Number # Set Current Line Number
pass pass
def cmd_M112(self, params):
# Emergency Stop
self.toolhead.force_shutdown()
cmd_M114_when_not_ready = True cmd_M114_when_not_ready = True
def cmd_M114(self, params): def cmd_M114(self, params):
# Get Current Position # Get Current Position