401 lines
16 KiB
Python
401 lines
16 KiB
Python
# Parse gcode commands
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import os, re, logging, collections
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import homing
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# Parse out incoming GCode and find and translate head movements
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class GCodeParser:
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RETRY_TIME = 0.100
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def __init__(self, printer, fd, is_fileinput=False):
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self.printer = printer
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self.fd = fd
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self.is_fileinput = is_fileinput
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# Input handling
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self.reactor = printer.reactor
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self.is_processing_data = False
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self.fd_handle = None
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if not is_fileinput:
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self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
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self.input_commands = [""]
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self.bytes_read = 0
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self.input_log = collections.deque([], 50)
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# Command handling
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self.gcode_handlers = {}
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self.is_printer_ready = False
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self.need_ack = False
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self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
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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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self.build_handlers()
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def build_config(self):
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self.toolhead = self.printer.objects['toolhead']
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self.heater_nozzle = None
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extruder = self.printer.objects.get('extruder')
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if extruder:
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self.heater_nozzle = extruder.heater
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self.heater_bed = self.printer.objects.get('heater_bed')
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self.fan = self.printer.objects.get('fan')
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def build_handlers(self):
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handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
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'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M115',
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'M206', 'M400',
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'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN',
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'STATUS']
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if self.heater_nozzle is not None:
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handlers.extend(['M104', 'M109', 'PID_TUNE'])
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if self.heater_bed is not None:
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handlers.extend(['M140', 'M190'])
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if self.fan is not None:
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handlers.extend(['M106', 'M107'])
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if not self.is_printer_ready:
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handlers = [h for h in handlers
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if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
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self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h))
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for h in handlers)
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for h, f in self.gcode_handlers.items():
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aliases = getattr(self, 'cmd_'+h+'_aliases', [])
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self.gcode_handlers.update(dict([(a, f) for a in aliases]))
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def stats(self, eventtime):
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return "gcodein=%d" % (self.bytes_read,)
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def set_printer_ready(self, is_ready):
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if self.is_printer_ready == is_ready:
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return
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self.is_printer_ready = is_ready
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self.build_handlers()
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if is_ready and self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
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def motor_heater_off(self):
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if self.toolhead is None:
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return
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self.toolhead.motor_off()
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print_time = self.toolhead.get_last_move_time()
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if self.heater_nozzle is not None:
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self.heater_nozzle.set_temp(print_time, 0.)
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if self.heater_bed is not None:
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self.heater_bed.set_temp(print_time, 0.)
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if self.fan is not None:
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self.fan.set_speed(print_time, 0.)
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def dump_debug(self):
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logging.info("Dumping gcode input %d blocks" % (
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len(self.input_log),))
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for eventtime, data in self.input_log:
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logging.info("Read %f: %s" % (eventtime, repr(data)))
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# Parse input into commands
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args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])')
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def process_commands(self, eventtime):
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while len(self.input_commands) > 1:
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line = self.input_commands.pop(0)
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# Ignore comments and leading/trailing spaces
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line = origline = line.strip()
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cpos = line.find(';')
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if cpos >= 0:
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line = line[:cpos]
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# Break command into parts
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parts = self.args_r.split(line)[1:]
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params = dict((parts[i].upper(), parts[i+1].strip())
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for i in range(0, len(parts), 2))
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params['#original'] = origline
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if parts and parts[0].upper() == 'N':
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# Skip line number at start of command
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del parts[:2]
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if not parts:
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self.cmd_default(params)
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continue
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params['#command'] = cmd = parts[0].upper() + parts[1].strip()
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# Invoke handler for command
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self.need_ack = True
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handler = self.gcode_handlers.get(cmd, self.cmd_default)
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try:
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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.toolhead.force_shutdown()
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self.respond_error('Internal error on command:"%s"' % (cmd,))
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if self.is_fileinput:
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self.printer.request_exit_eof()
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break
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self.ack()
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def process_data(self, eventtime):
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data = os.read(self.fd, 4096)
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self.input_log.append((eventtime, data))
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self.bytes_read += len(data)
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lines = data.split('\n')
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lines[0] = self.input_commands.pop() + lines[0]
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self.input_commands.extend(lines)
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if self.is_processing_data:
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if len(lines) <= 1:
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return
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if not self.is_fileinput and lines[0].strip().upper() == 'M112':
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self.cmd_M112({})
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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return
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self.is_processing_data = True
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self.process_commands(eventtime)
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self.is_processing_data = False
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if self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
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if not data and self.is_fileinput:
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self.motor_heater_off()
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self.printer.request_exit_eof()
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# Response handling
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def ack(self, msg=None):
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if not self.need_ack or self.is_fileinput:
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return
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if msg:
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os.write(self.fd, "ok %s\n" % (msg,))
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else:
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os.write(self.fd, "ok\n")
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self.need_ack = False
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def respond(self, msg):
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logging.debug(msg)
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if self.is_fileinput:
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return
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os.write(self.fd, msg+"\n")
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def respond_info(self, msg):
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lines = [l.strip() for l in msg.strip().split('\n')]
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self.respond("// " + "\n// ".join(lines))
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def respond_error(self, msg):
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lines = msg.strip().split('\n')
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if len(lines) > 1:
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self.respond_info("\n".join(lines[:-1]))
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self.respond('!! %s' % (lines[-1].strip(),))
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# Temperature wrappers
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def get_temp(self):
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if not self.is_printer_ready:
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return "T:0"
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# T:XXX /YYY B:XXX /YYY
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out = []
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if self.heater_nozzle:
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cur, target = self.heater_nozzle.get_temp()
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out.append("T:%.1f /%.1f" % (cur, target))
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if self.heater_bed:
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cur, target = self.heater_bed.get_temp()
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out.append("B:%.1f /%.1f" % (cur, target))
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return " ".join(out)
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def bg_temp(self, heater):
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if self.is_fileinput:
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return
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eventtime = self.reactor.monotonic()
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while self.is_printer_ready and heater.check_busy(eventtime):
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print_time = self.toolhead.get_last_move_time()
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self.respond(self.get_temp())
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eventtime = self.reactor.pause(eventtime + 1.)
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def set_temp(self, heater, params, wait=False):
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print_time = self.toolhead.get_last_move_time()
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temp = float(params.get('S', '0'))
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heater.set_temp(print_time, temp)
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if wait:
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self.bg_temp(heater)
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# Individual 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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return
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cmd = params.get('#command')
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if not cmd:
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logging.debug(params['#original'])
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return
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self.respond('echo:Unknown command:"%s"' % (cmd,))
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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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for a, p in self.axis2pos.items():
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if a in params:
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v = float(params[a])
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if not self.absolutecoord or (p>2 and not self.absoluteextrude):
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# value relative to position of last move
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self.last_position[p] += v
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else:
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# value relative to base coordinate position
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self.last_position[p] = v + self.base_position[p]
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if 'F' in params:
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self.speed = float(params['F']) / 60.
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try:
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self.toolhead.move(self.last_position, self.speed)
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except homing.EndstopError, e:
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self.respond_error(str(e))
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self.last_position = self.toolhead.get_position()
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def cmd_G4(self, params):
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# Dwell
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if 'S' in params:
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delay = float(params['S'])
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else:
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delay = float(params.get('P', '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_G21(self, params):
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# Set units to millimeters
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pass
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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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for axis in 'XYZ':
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if axis in params:
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axes.append(self.axis2pos[axis])
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if not axes:
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axes = [0, 1, 2]
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homing_state = homing.Homing(self.toolhead, axes)
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if self.is_fileinput:
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homing_state.set_no_verify_retract()
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try:
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self.toolhead.home(homing_state)
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except homing.EndstopError, e:
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self.toolhead.motor_off()
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self.respond_error(str(e))
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return
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newpos = self.toolhead.get_position()
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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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def cmd_G90(self, params):
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# Use absolute coordinates
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self.absolutecoord = True
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def cmd_G91(self, params):
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# Use relative coordinates
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self.absolutecoord = False
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def cmd_G92(self, params):
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# Set position
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mcount = 0
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for a, p in self.axis2pos.items():
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if a in params:
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self.base_position[p] = self.last_position[p] - float(params[a])
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mcount += 1
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if not mcount:
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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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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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self.ack(self.get_temp())
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def cmd_M104(self, params):
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# Set Extruder Temperature
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self.set_temp(self.heater_nozzle, params)
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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(self.heater_nozzle, params, wait=True)
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cmd_M110_when_not_ready = True
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def cmd_M110(self, params):
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# Set Current Line Number
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pass
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def cmd_M112(self, params):
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# Emergency Stop
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self.toolhead.force_shutdown()
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cmd_M114_when_not_ready = True
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def cmd_M114(self, params):
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# Get Current Position
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if self.toolhead is None:
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self.cmd_default(params)
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return
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kinpos = self.toolhead.get_position()
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self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % (
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self.last_position[0], self.last_position[1],
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self.last_position[2], self.last_position[3],
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kinpos[0], kinpos[1], kinpos[2]))
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cmd_M115_when_not_ready = True
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def cmd_M115(self, params):
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# Get Firmware Version and Capabilities
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kw = {"FIRMWARE_NAME": "Klipper"
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, "FIRMWARE_VERSION": self.printer.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(self.heater_bed, params)
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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(self.heater_bed, params, wait=True)
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def cmd_M106(self, params):
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# Set fan speed
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print_time = self.toolhead.get_last_move_time()
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self.fan.set_speed(print_time, float(params.get('S', '255')) / 255.)
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def cmd_M107(self, params):
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# Turn fan off
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print_time = self.toolhead.get_last_move_time()
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self.fan.set_speed(print_time, 0.)
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def cmd_M206(self, params):
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# Set home offset
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for a, p in self.axis2pos.items():
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if a in params:
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v = float(params[a])
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self.base_position[p] += self.homing_add[p] - v
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self.homing_add[p] = v
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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_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
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cmd_QUERY_ENDSTOPS_aliases = ["M119"]
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def cmd_QUERY_ENDSTOPS(self, params):
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# Get Endstop Status
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if self.is_fileinput:
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return
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try:
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res = self.toolhead.query_endstops()
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except self.printer.mcu.error, e:
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self.respond_error(str(e))
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return
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self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
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for name, t in res]))
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cmd_PID_TUNE_help = "Run PID Tuning"
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cmd_PID_TUNE_aliases = ["M303"]
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def cmd_PID_TUNE(self, params):
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# Run PID tuning
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heater = int(params.get('E', '0'))
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heater = {0: self.heater_nozzle, -1: self.heater_bed}[heater]
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temp = float(params.get('S', '60'))
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heater.start_auto_tune(temp)
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self.bg_temp(heater)
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cmd_CLEAR_SHUTDOWN_when_not_ready = True
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cmd_CLEAR_SHUTDOWN_help = "Clear a firmware shutdown and restart"
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def cmd_CLEAR_SHUTDOWN(self, params):
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if self.toolhead is None:
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self.cmd_default(params)
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return
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self.printer.mcu.clear_shutdown()
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self.printer.request_restart()
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cmd_RESTART_when_not_ready = True
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cmd_RESTART_help = "Reload config file and restart host software"
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def cmd_RESTART(self, params):
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if self.is_printer_ready:
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self.respond_info("Preparing to restart...")
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self.motor_heater_off()
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self.toolhead.dwell(0.500)
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self.toolhead.wait_moves()
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self.printer.request_restart()
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cmd_STATUS_when_not_ready = True
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cmd_STATUS_help = "Report the printer status"
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def cmd_STATUS(self, params):
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msg = self.printer.get_state_message()
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if self.is_printer_ready:
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self.respond_info(msg)
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else:
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self.respond_error(msg)
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cmd_HELP_when_not_ready = True
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def cmd_HELP(self, params):
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cmdhelp = []
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if not self.is_printer_ready:
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cmdhelp.append("Printer is not ready - not all commands available.")
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cmdhelp.append("Available extended commands:")
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for cmd in self.gcode_handlers:
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desc = getattr(self, 'cmd_'+cmd+'_help', None)
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if desc is not None:
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cmdhelp.append("%-10s: %s" % (cmd, desc))
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self.respond_info("\n".join(cmdhelp))
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