439 lines
18 KiB
Python
439 lines
18 KiB
Python
# Parse gcode commands
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#
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# Copyright (C) 2016-2021 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, shlex
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class CommandError(Exception):
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pass
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Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e'))
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class GCodeCommand:
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error = CommandError
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def __init__(self, gcode, command, commandline, params, need_ack):
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self._command = command
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self._commandline = commandline
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self._params = params
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self._need_ack = need_ack
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# Method wrappers
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self.respond_info = gcode.respond_info
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self.respond_raw = gcode.respond_raw
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def get_command(self):
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return self._command
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def get_commandline(self):
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return self._commandline
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def get_command_parameters(self):
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return self._params
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def ack(self, msg=None):
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if not self._need_ack:
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return False
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ok_msg = "ok"
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if msg:
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ok_msg = "ok %s" % (msg,)
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self.respond_raw(ok_msg)
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self._need_ack = False
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return True
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# Parameter parsing helpers
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class sentinel: pass
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def get(self, name, default=sentinel, parser=str, minval=None, maxval=None,
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above=None, below=None):
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value = self._params.get(name)
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if value is None:
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if default is self.sentinel:
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raise self.error("Error on '%s': missing %s"
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% (self._commandline, name))
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return default
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try:
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value = parser(value)
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except:
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raise self.error("Error on '%s': unable to parse %s"
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% (self._commandline, value))
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if minval is not None and value < minval:
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raise self.error("Error on '%s': %s must have minimum of %s"
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% (self._commandline, name, minval))
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if maxval is not None and value > maxval:
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raise self.error("Error on '%s': %s must have maximum of %s"
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% (self._commandline, name, maxval))
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if above is not None and value <= above:
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raise self.error("Error on '%s': %s must be above %s"
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% (self._commandline, name, above))
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if below is not None and value >= below:
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raise self.error("Error on '%s': %s must be below %s"
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% (self._commandline, name, below))
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return value
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def get_int(self, name, default=sentinel, minval=None, maxval=None):
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return self.get(name, default, parser=int, minval=minval, maxval=maxval)
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def get_float(self, name, default=sentinel, minval=None, maxval=None,
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above=None, below=None):
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return self.get(name, default, parser=float, minval=minval,
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maxval=maxval, above=above, below=below)
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# Parse and dispatch G-Code commands
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class GCodeDispatch:
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error = CommandError
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Coord = Coord
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def __init__(self, printer):
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self.printer = printer
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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printer.register_event_handler("klippy:disconnect",
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self._handle_disconnect)
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# Command handling
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self.is_printer_ready = False
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self.mutex = printer.get_reactor().mutex()
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self.output_callbacks = []
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self.base_gcode_handlers = self.gcode_handlers = {}
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self.ready_gcode_handlers = {}
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self.mux_commands = {}
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self.gcode_help = {}
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# Register commands needed before config file is loaded
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handlers = ['M110', 'M112', 'M115',
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'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
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for cmd in handlers:
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func = getattr(self, 'cmd_' + cmd)
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desc = getattr(self, 'cmd_' + cmd + '_help', None)
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self.register_command(cmd, func, True, desc)
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def is_traditional_gcode(self, cmd):
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# A "traditional" g-code command is a letter and followed by a number
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try:
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cmd = cmd.upper().split()[0]
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val = float(cmd[1:])
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return cmd[0].isupper() and cmd[1].isdigit()
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except:
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return False
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def register_command(self, cmd, func, when_not_ready=False, desc=None):
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if func is None:
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old_cmd = self.ready_gcode_handlers.get(cmd)
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if cmd in self.ready_gcode_handlers:
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del self.ready_gcode_handlers[cmd]
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if cmd in self.base_gcode_handlers:
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del self.base_gcode_handlers[cmd]
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return old_cmd
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if cmd in self.ready_gcode_handlers:
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raise self.printer.config_error(
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"gcode command %s already registered" % (cmd,))
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if not self.is_traditional_gcode(cmd):
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origfunc = func
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func = lambda params: origfunc(self._get_extended_params(params))
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self.ready_gcode_handlers[cmd] = func
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if when_not_ready:
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self.base_gcode_handlers[cmd] = func
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if desc is not None:
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self.gcode_help[cmd] = desc
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def register_mux_command(self, cmd, key, value, func, desc=None):
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prev = self.mux_commands.get(cmd)
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if prev is None:
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self.register_command(cmd, self._cmd_mux, desc=desc)
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self.mux_commands[cmd] = prev = (key, {})
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prev_key, prev_values = prev
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if prev_key != key:
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raise self.printer.config_error(
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"mux command %s %s %s may have only one key (%s)" % (
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cmd, key, value, prev_key))
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if value in prev_values:
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raise self.printer.config_error(
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"mux command %s %s %s already registered (%s)" % (
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cmd, key, value, prev_values))
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prev_values[value] = func
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def get_command_help(self):
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return dict(self.gcode_help)
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def register_output_handler(self, cb):
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self.output_callbacks.append(cb)
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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self.gcode_handlers = self.base_gcode_handlers
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self._respond_state("Shutdown")
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def _handle_disconnect(self):
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self._respond_state("Disconnect")
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def _handle_ready(self):
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self.is_printer_ready = True
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self.gcode_handlers = self.ready_gcode_handlers
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self._respond_state("Ready")
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# Parse input into commands
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args_r = re.compile('([A-Z_]+|[A-Z*/])')
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def _process_commands(self, commands, need_ack=True):
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for line in commands:
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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 line into parts and determine command
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parts = self.args_r.split(line.upper())
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numparts = len(parts)
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cmd = ""
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if numparts >= 3 and parts[1] != 'N':
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cmd = parts[1] + parts[2].strip()
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elif numparts >= 5 and parts[1] == 'N':
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# Skip line number at start of command
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cmd = parts[3] + parts[4].strip()
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# Build gcode "params" dictionary
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params = { parts[i]: parts[i+1].strip()
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for i in range(1, numparts, 2) }
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gcmd = GCodeCommand(self, cmd, origline, params, need_ack)
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# Invoke handler for command
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handler = self.gcode_handlers.get(cmd, self.cmd_default)
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try:
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handler(gcmd)
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except self.error as e:
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self._respond_error(str(e))
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self.printer.send_event("gcode:command_error")
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if not need_ack:
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raise
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except:
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msg = 'Internal error on command:"%s"' % (cmd,)
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logging.exception(msg)
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self.printer.invoke_shutdown(msg)
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self._respond_error(msg)
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if not need_ack:
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raise
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gcmd.ack()
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def run_script_from_command(self, script):
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self._process_commands(script.split('\n'), need_ack=False)
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def run_script(self, script):
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with self.mutex:
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self._process_commands(script.split('\n'), need_ack=False)
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def get_mutex(self):
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return self.mutex
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def create_gcode_command(self, command, commandline, params):
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return GCodeCommand(self, command, commandline, params, False)
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# Response handling
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def respond_raw(self, msg):
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for cb in self.output_callbacks:
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cb(msg)
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def respond_info(self, msg, log=True):
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if log:
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logging.info(msg)
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lines = [l.strip() for l in msg.strip().split('\n')]
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self.respond_raw("// " + "\n// ".join(lines))
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def _respond_error(self, msg):
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logging.warning(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), log=False)
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self.respond_raw('!! %s' % (lines[0].strip(),))
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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def _respond_state(self, state):
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self.respond_info("Klipper state: %s" % (state,), log=False)
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# Parameter parsing helpers
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extended_r = re.compile(
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r'^\s*(?:N[0-9]+\s*)?'
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r'(?P<cmd>[a-zA-Z_][a-zA-Z0-9_]+)(?:\s+|$)'
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r'(?P<args>[^#*;]*?)'
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r'\s*(?:[#*;].*)?$')
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def _get_extended_params(self, gcmd):
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m = self.extended_r.match(gcmd.get_commandline())
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if m is None:
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raise self.error("Malformed command '%s'"
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% (gcmd.get_commandline(),))
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eargs = m.group('args')
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try:
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eparams = [earg.split('=', 1) for earg in shlex.split(eargs)]
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eparams = { k.upper(): v for k, v in eparams }
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gcmd._params.clear()
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gcmd._params.update(eparams)
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return gcmd
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except ValueError as e:
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raise self.error("Malformed command '%s'"
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% (gcmd.get_commandline(),))
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# G-Code special command handlers
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def cmd_default(self, gcmd):
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cmd = gcmd.get_command()
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if cmd == 'M105':
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# Don't warn about temperature requests when not ready
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gcmd.ack("T:0")
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return
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if cmd == 'M21':
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# Don't warn about sd card init when not ready
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return
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if not self.is_printer_ready:
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raise gcmd.error(self.printer.get_state_message()[0])
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return
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if not cmd:
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cmdline = gcmd.get_commandline()
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if cmdline:
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logging.debug(cmdline)
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return
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if cmd.startswith("M117 "):
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# Handle M117 gcode with numeric and special characters
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handler = self.gcode_handlers.get("M117", None)
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if handler is not None:
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handler(gcmd)
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return
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elif cmd in ['M140', 'M104'] and not gcmd.get_float('S', 0.):
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# Don't warn about requests to turn off heaters when not present
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return
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elif cmd == 'M107' or (cmd == 'M106' and (
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not gcmd.get_float('S', 1.) or self.is_fileinput)):
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# Don't warn about requests to turn off fan when fan not present
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return
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gcmd.respond_info('Unknown command:"%s"' % (cmd,))
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def _cmd_mux(self, gcmd):
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key, values = self.mux_commands[gcmd.get_command()]
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if None in values:
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key_param = gcmd.get(key, None)
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else:
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key_param = gcmd.get(key)
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if key_param not in values:
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raise gcmd.error("The value '%s' is not valid for %s"
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% (key_param, key))
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values[key_param](gcmd)
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# Low-level G-Code commands that are needed before the config file is loaded
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def cmd_M110(self, gcmd):
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# Set Current Line Number
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pass
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def cmd_M112(self, gcmd):
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# Emergency Stop
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self.printer.invoke_shutdown("Shutdown due to M112 command")
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def cmd_M115(self, gcmd):
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# Get Firmware Version and Capabilities
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software_version = self.printer.get_start_args().get('software_version')
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kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
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msg = " ".join(["%s:%s" % (k, v) for k, v in kw.items()])
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did_ack = gcmd.ack(msg)
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if not did_ack:
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gcmd.respond_info(msg)
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def request_restart(self, result):
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if self.is_printer_ready:
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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if result == 'exit':
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logging.info("Exiting (print time %.3fs)" % (print_time,))
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self.printer.send_event("gcode:request_restart", print_time)
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toolhead.dwell(0.500)
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toolhead.wait_moves()
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self.printer.request_exit(result)
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cmd_RESTART_help = "Reload config file and restart host software"
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def cmd_RESTART(self, gcmd):
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self.request_restart('restart')
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cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
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def cmd_FIRMWARE_RESTART(self, gcmd):
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self.request_restart('firmware_restart')
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def cmd_ECHO(self, gcmd):
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gcmd.respond_info(gcmd.get_commandline(), log=False)
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cmd_STATUS_help = "Report the printer status"
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def cmd_STATUS(self, gcmd):
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if self.is_printer_ready:
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self._respond_state("Ready")
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return
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msg = self.printer.get_state_message()[0]
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msg = msg.rstrip() + "\nKlipper state: Not ready"
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raise gcmd.error(msg)
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def cmd_HELP(self, gcmd):
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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 sorted(self.gcode_handlers):
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if cmd in self.gcode_help:
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cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
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gcmd.respond_info("\n".join(cmdhelp), log=False)
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# Support reading gcode from a pseudo-tty interface
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class GCodeIO:
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def __init__(self, printer):
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self.printer = printer
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printer.register_event_handler("klippy:ready", self._handle_ready)
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printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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self.gcode = printer.lookup_object('gcode')
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self.gcode_mutex = self.gcode.get_mutex()
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self.fd = printer.get_start_args().get("gcode_fd")
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self.reactor = printer.get_reactor()
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self.is_printer_ready = False
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self.is_processing_data = False
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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self.pipe_is_active = True
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self.fd_handle = None
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if not self.is_fileinput:
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self.gcode.register_output_handler(self._respond_raw)
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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self.partial_input = ""
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self.pending_commands = []
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self.bytes_read = 0
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self.input_log = collections.deque([], 50)
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def _handle_ready(self):
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self.is_printer_ready = True
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if self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd,
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self._process_data)
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def _dump_debug(self):
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out = []
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out.append("Dumping gcode input %d blocks" % (len(self.input_log),))
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for eventtime, data in self.input_log:
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out.append("Read %f: %s" % (eventtime, repr(data)))
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logging.info("\n".join(out))
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def _handle_shutdown(self):
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if not self.is_printer_ready:
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return
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self.is_printer_ready = False
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self._dump_debug()
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if self.is_fileinput:
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self.printer.request_exit('error_exit')
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m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)')
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def _process_data(self, eventtime):
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# Read input, separate by newline, and add to pending_commands
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try:
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data = os.read(self.fd, 4096)
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except os.error:
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logging.exception("Read g-code")
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return
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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.partial_input + lines[0]
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self.partial_input = lines.pop()
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pending_commands = self.pending_commands
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pending_commands.extend(lines)
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self.pipe_is_active = True
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# Special handling for debug file input EOF
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if not data and self.is_fileinput:
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if not self.is_processing_data:
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self.reactor.unregister_fd(self.fd_handle)
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self.fd_handle = None
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self.gcode.request_restart('exit')
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pending_commands.append("")
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# Handle case where multiple commands pending
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if self.is_processing_data or len(pending_commands) > 1:
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if len(pending_commands) < 20:
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# Check for M112 out-of-order
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for line in lines:
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if self.m112_r.match(line) is not None:
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self.gcode.cmd_M112(None)
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if self.is_processing_data:
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if len(pending_commands) >= 20:
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# Stop reading input
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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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# Process commands
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self.is_processing_data = True
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while pending_commands:
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self.pending_commands = []
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with self.gcode_mutex:
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self.gcode._process_commands(pending_commands)
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pending_commands = self.pending_commands
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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,
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self._process_data)
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def _respond_raw(self, msg):
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if self.pipe_is_active:
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try:
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os.write(self.fd, msg+"\n")
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except os.error:
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logging.exception("Write g-code response")
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self.pipe_is_active = False
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def stats(self, eventtime):
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return False, "gcodein=%d" % (self.bytes_read,)
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def add_early_printer_objects(printer):
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printer.add_object('gcode', GCodeDispatch(printer))
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printer.add_object('gcode_io', GCodeIO(printer))
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