80 lines
3.2 KiB
Python
80 lines
3.2 KiB
Python
# Pause/Resume functionality with position capture/restore
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#
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# Copyright (C) 2019 Eric Callahan <arksine.code@gmail.com>
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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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class PauseResume:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.gcode = self.printer.lookup_object('gcode')
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self.recover_velocity = config.getfloat('recover_velocity', 50.)
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self.captured_position = None
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self.captured_speed = 0.
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self.captured_epos = None
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self.toolhead = self.v_sd = None
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self.pause_command_sent = False
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self.sd_paused = False
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self.printer.register_event_handler("klippy:ready", self.handle_ready)
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self.gcode.register_command("PAUSE", self.cmd_PAUSE)
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self.gcode.register_command("RESUME", self.cmd_RESUME)
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def handle_ready(self):
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self.toolhead = self.printer.lookup_object('toolhead')
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self.v_sd = self.printer.lookup_object('virtual_sdcard', None)
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def get_status(self, eventtime):
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paused = self.captured_position is not None
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return {
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'is_paused': paused
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}
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def send_pause_command(self):
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# This sends the appropriate pause command from an event.
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if not self.pause_command_sent:
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if self.v_sd is not None and self.v_sd.is_active():
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# Printing from virtual sd, run pause command
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self.sd_paused = True
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self.v_sd.do_pause()
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else:
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self.sd_paused = False
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self.gcode.respond_info("action:pause")
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self.pause_command_sent = True
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def cmd_PAUSE(self, params):
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if self.captured_position is not None:
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self.gcode.respond_info("Print already paused")
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return
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self.send_pause_command()
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self.toolhead.wait_moves()
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self.captured_position = self.toolhead.get_position()
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reactor = self.printer.get_reactor()
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gcs = self.gcode.get_status(reactor.monotonic())
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self.captured_speed = gcs['speed']
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if gcs['abs_extrude']:
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self.captured_epos = gcs['last_epos'] - gcs['base_epos']
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def cmd_RESUME(self, params):
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if self.captured_position is None:
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self.gcode.respond_info("Print is not paused, resume aborted")
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return
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velocity = self.gcode.get_float(
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'VELOCITY', params, self.recover_velocity)
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cur_pos = self.toolhead.get_position()
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self.captured_position[3] = cur_pos[3]
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self.toolhead.move(self.captured_position, velocity)
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self.toolhead.get_last_move_time()
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self.gcode.reset_last_position()
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# restore previous speed
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self.gcode.run_script_from_command(
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"G1 F%.6f" % (self.captured_speed))
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if self.captured_epos is not None:
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self.gcode.run_script_from_command(
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"G92 E%.6f" % (self.captured_epos))
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self.captured_position = self.captured_epos = None
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self.pause_command_sent = False
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if self.sd_paused:
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# Printing from virtual sd, run pause command
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self.v_sd.cmd_M24({})
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else:
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self.gcode.respond_info("action:resume")
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def load_config(config):
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return PauseResume(config)
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