# Parse gcode commands # # Copyright (C) 2016-2021 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import os, re, logging, collections, shlex from extras.tool import reportInformation class CommandError(Exception): pass Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e')) class GCodeCommand: error = CommandError def __init__(self, gcode, command, commandline, params, need_ack): self._command = command self._commandline = commandline self._params = params self._need_ack = need_ack # Method wrappers self.respond_info = gcode.respond_info self.respond_raw = gcode.respond_raw def get_command(self): return self._command def get_commandline(self): return self._commandline def get_command_parameters(self): return self._params def get_raw_command_parameters(self): command = self._command if command.startswith("M117 ") or command.startswith("M118 "): command = command[:4] rawparams = self._commandline urawparams = rawparams.upper() if not urawparams.startswith(command): rawparams = rawparams[urawparams.find(command):] end = rawparams.rfind('*') if end >= 0: rawparams = rawparams[:end] rawparams = rawparams[len(command):] if rawparams.startswith(' '): rawparams = rawparams[1:] return rawparams def ack(self, msg=None): if not self._need_ack: return False ok_msg = "ok" if msg: ok_msg = "ok %s" % (msg,) self.respond_raw(ok_msg) self._need_ack = False return True # Parameter parsing helpers class sentinel: pass def get(self, name, default=sentinel, parser=str, minval=None, maxval=None, above=None, below=None): value = self._params.get(name) if value is None: if default is self.sentinel: raise self.error("""{"code":"key251", "msg":"Error on '%s': missing %s", "values":["%s",%s"]}""" % (self._commandline, name, self._commandline, name)) return default try: value = parser(value) except: raise self.error( """{"code":"key171", "msg": "Unable to parse '%s' as a %s", "values": ["%s", "%s"]}""" % (self._commandline, value, self._commandline, value) ) if minval is not None and value < minval: raise self.error("""{"code":"key252","msg":"Error on '%s': %s must have minimum of %s","values":["%s","%s","%s"]}""" % (self._commandline, name, minval, self._commandline, name, minval)) if maxval is not None and value > maxval: raise self.error("""{"code":"key253", "msg":"Error on '%s': %s must have maximumof %s", "values":["%s","%s","%s"]}""" % (self._commandline, name, maxval, self._commandline, name, maxval)) if above is not None and value <= above: raise self.error("""{"code":"key254", "msg":"Error on '%s': %s must be above %s", "values":["%s","%s","%s"]}""" % (self._commandline, name, above, self._commandline, name, above)) if below is not None and value >= below: raise self.error("""{"code":"key255", "msg":"Error on '%s': %s must be below %s", "values":["%s","%s","%s"]}""" % (self._commandline, name, below, self._commandline, name, below)) return value def get_int(self, name, default=sentinel, minval=None, maxval=None): return self.get(name, default, parser=int, minval=minval, maxval=maxval) def get_float(self, name, default=sentinel, minval=None, maxval=None, above=None, below=None): return self.get(name, default, parser=float, minval=minval, maxval=maxval, above=above, below=below) # Parse and dispatch G-Code commands class GCodeDispatch: error = CommandError Coord = Coord def __init__(self, printer): self.printer = printer self.is_fileinput = not not printer.get_start_args().get("debuginput") printer.register_event_handler("klippy:ready", self._handle_ready) printer.register_event_handler("klippy:shutdown", self._handle_shutdown) printer.register_event_handler("klippy:disconnect", self._handle_disconnect) # Command handling self.is_printer_ready = False self.mutex = printer.get_reactor().mutex() self.output_callbacks = [] self.base_gcode_handlers = self.gcode_handlers = {} self.ready_gcode_handlers = {} self.mux_commands = {} self.gcode_help = {} # Register commands needed before config file is loaded handlers = ['M110', 'M112', 'M115', 'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP'] for cmd in handlers: func = getattr(self, 'cmd_' + cmd) desc = getattr(self, 'cmd_' + cmd + '_help', None) self.register_command(cmd, func, True, desc) self.last_temperature_info = "/usr/data/creality/userdata/config/temperature_info.json" self.exclude_object_info = "/usr/data/creality/userdata/config/exclude_object_info.json" def is_traditional_gcode(self, cmd): # A "traditional" g-code command is a letter and followed by a number try: cmd = cmd.upper().split()[0] val = float(cmd[1:]) return cmd[0].isupper() and cmd[1].isdigit() except: return False def register_command(self, cmd, func, when_not_ready=False, desc=None): if func is None: old_cmd = self.ready_gcode_handlers.get(cmd) if cmd in self.ready_gcode_handlers: del self.ready_gcode_handlers[cmd] if cmd in self.base_gcode_handlers: del self.base_gcode_handlers[cmd] return old_cmd if cmd in self.ready_gcode_handlers: raise self.printer.config_error( """{"code":"key57", "msg":"gcode command %s already registered", "values": ["%s"]}""" % (cmd, cmd)) if not self.is_traditional_gcode(cmd): origfunc = func func = lambda params: origfunc(self._get_extended_params(params)) self.ready_gcode_handlers[cmd] = func if when_not_ready: self.base_gcode_handlers[cmd] = func if desc is not None: self.gcode_help[cmd] = desc def register_mux_command(self, cmd, key, value, func, desc=None): prev = self.mux_commands.get(cmd) if prev is None: handler = lambda gcmd: self._cmd_mux(cmd, gcmd) self.register_command(cmd, handler, desc=desc) self.mux_commands[cmd] = prev = (key, {}) prev_key, prev_values = prev if prev_key != key: raise self.printer.config_error( """{"code":"key58", "msg":"mux command %s %s %s may have only one key (%s)", "values": ["%s", "%s", "%s", "%s"]}""" % ( cmd, key, value, prev_key, cmd, key, value, prev_key)) if value in prev_values: raise self.printer.config_error( """{"code":"key59", "msg":"mux command %s %s %s already registered (%s)", "values": ["%s", "%s", "%s", "%s"]}""" % ( cmd, key, value, prev_values, cmd, key, value, prev_values)) prev_values[value] = func def get_command_help(self): return dict(self.gcode_help) def register_output_handler(self, cb): self.output_callbacks.append(cb) def _handle_shutdown(self): if not self.is_printer_ready: return self.is_printer_ready = False self.gcode_handlers = self.base_gcode_handlers self._respond_state("Shutdown") def _handle_disconnect(self): self._respond_state("Disconnect") def _handle_ready(self): self.is_printer_ready = True self.gcode_handlers = self.ready_gcode_handlers self._respond_state("Ready") # Parse input into commands args_r = re.compile('([A-Z_]+|[A-Z*/])') def _process_commands(self, commands, need_ack=True): for line in commands: # Ignore comments and leading/trailing spaces line = origline = line.strip() cpos = line.find(';') if cpos >= 0: line = line[:cpos] # Break line into parts and determine command parts = self.args_r.split(line.upper()) numparts = len(parts) cmd = "" if numparts >= 3 and parts[1] != 'N': cmd = parts[1] + parts[2].strip() elif numparts >= 5 and parts[1] == 'N': # Skip line number at start of command cmd = parts[3] + parts[4].strip() # Build gcode "params" dictionary params = { parts[i]: parts[i+1].strip() for i in range(1, numparts, 2) } gcmd = GCodeCommand(self, cmd, origline, params, need_ack) # Invoke handler for command handler = self.gcode_handlers.get(cmd, self.cmd_default) try: handler(gcmd) except self.error as e: self._respond_error(str(e)) self.printer.send_event("gcode:command_error") if not need_ack: raise except: msg = """{"code":"key60", "msg":"Internal error on command:%s", "values": ["%s"]}""" % (cmd, cmd) logging.exception(msg) self.printer.invoke_shutdown(msg) self._respond_error(msg) if not need_ack: raise gcmd.ack() if line.startswith("G1") or line.startswith("G0"): pass elif line.startswith("M104"): self.set_temperature("extruder", line) elif line.startswith("M140"): self.set_temperature("bed", line) elif line.startswith("M109"): self.set_temperature("extruder", line) elif line.startswith("M190"): self.set_temperature("bed", line) elif line.startswith("EXCLUDE_OBJECT_DEFINE") or line.startswith("EXCLUDE_OBJECT NAME"): self.record_exclude_object_info(line) def set_temperature(self, key, value): import json try: # configfile = self.printer.lookup_object('configfile') # print_stats = self.printer.load_object(configfile, 'print_stats') temp_value = float(value.strip("\n").split("S")[-1]) # if key == "extruder" and print_stats and print_stats.state == "printing": # if temp_value >= 240: # self.run_script_from_command("M107 P1") # logging.info("Fan Off SET M107 P1") # elif temp_value >= 170: # self.run_script_from_command("M106 P1 S255") # logging.info("Fan On SET M106 P1 S255") if key == "extruder" and temp_value < 170: return if not os.path.exists(self.last_temperature_info): from subprocess import call call("touch %s" % self.last_temperature_info, shell=True) with open(self.last_temperature_info, "r") as f: ret = f.read() if len(ret) > 0: ret = json.loads(ret) else: ret = {} ret[key] = temp_value with open(self.last_temperature_info, "w") as f: f.write(json.dumps(ret)) f.flush() except Exception as err: logging.error("set_temperature error: %s" % err) def record_exclude_object_info(self, line): import json try: if not os.path.exists(self.exclude_object_info): with open(self.exclude_object_info, "w") as f: data = {} data["EXCLUDE_OBJECT_DEFINE"] = [] data["EXCLUDE_OBJECT"] = [] f.write(json.dumps(data)) f.flush() with open(self.exclude_object_info, "r") as f: ret = f.read() if len(ret) > 0: ret = eval(ret) else: ret = {} if line.startswith("EXCLUDE_OBJECT_DEFINE"): if line not in ret["EXCLUDE_OBJECT_DEFINE"]: ret["EXCLUDE_OBJECT_DEFINE"].append(line) elif line.startswith("EXCLUDE_OBJECT NAME"): if line not in ret["EXCLUDE_OBJECT"]: ret["EXCLUDE_OBJECT"].append(line) with open(self.exclude_object_info, "w") as f: f.write(json.dumps(ret)) f.flush() except Exception as err: logging.error("record_exclude_object_info error: %s" % err) def run_script_from_command(self, script): self._process_commands(script.split('\n'), need_ack=False) def run_script(self, script): with self.mutex: self._process_commands(script.split('\n'), need_ack=False) def get_mutex(self): return self.mutex def create_gcode_command(self, command, commandline, params): return GCodeCommand(self, command, commandline, params, False) # Response handling def respond_raw(self, msg): for cb in self.output_callbacks: cb(msg) def respond_info(self, msg, log=True): if log: logging.info(msg) lines = [l.strip() for l in msg.strip().split('\n')] self.respond_raw("// " + "\n// ".join(lines)) def _respond_error(self, msg): import time from extras.tool import reportInformation try: v_sd = self.printer.lookup_object('virtual_sdcard') if v_sd.print_id and "key" in msg and re.findall('key(\d+)', msg) and v_sd.cur_print_data: v_sd.update_print_history_info(only_update_status=True, state="error", error_msg=eval(msg)) if os.path.exists("/tmp/camera_main"): reportInformation("key608", data={"print_id": v_sd.print_id}) time.sleep(0.2) v_sd.print_id = "" reportInformation("key701", data=v_sd.cur_print_data) v_sd.cur_print_data = {} except Exception as err: logging.error(err) try: if "key" in msg and re.findall('key(\d+)', msg): reportInformation(msg) except Exception as err: logging.error(err) logging.warning(msg) lines = msg.strip().split('\n') if len(lines) > 1: self.respond_info("\n".join(lines), log=False) self.respond_raw('!! %s' % (lines[0].strip(),)) if self.is_fileinput: self.printer.request_exit('error_exit') def _respond_state(self, state): self.respond_info("Klipper state: %s" % (state,), log=False) # Parameter parsing helpers extended_r = re.compile( r'^\s*(?:N[0-9]+\s*)?' r'(?P[a-zA-Z_][a-zA-Z0-9_]+)(?:\s+|$)' r'(?P[^#*;]*?)' r'\s*(?:[#*;].*)?$') def _get_extended_params(self, gcmd): m = self.extended_r.match(gcmd.get_commandline()) if m is None: raise self.error("""{"code":"key513", "msg": "Malformed command '%s'", "values": ["%s"]}""" % (gcmd.get_commandline(), gcmd.get_commandline())) eargs = m.group('args') try: eparams = [earg.split('=', 1) for earg in shlex.split(eargs)] eparams = { k.upper(): v for k, v in eparams } gcmd._params.clear() gcmd._params.update(eparams) return gcmd except ValueError as e: raise self.error("""{"code":"key514", "msg": "Malformed command args '%s'", "values": ["%s"]}""" % (gcmd.get_commandline(), str(e))) # G-Code special command handlers def cmd_default(self, gcmd): cmd = gcmd.get_command() if cmd == 'M105': # Don't warn about temperature requests when not ready gcmd.ack("T:0") return if cmd == 'M21': # Don't warn about sd card init when not ready return if not self.is_printer_ready: raise gcmd.error(self.printer.get_state_message()[0]) return if not cmd: cmdline = gcmd.get_commandline() if cmdline: logging.debug(cmdline) return if cmd.startswith("M117 ") or cmd.startswith("M118 "): # Handle M117/M118 gcode with numeric and special characters handler = self.gcode_handlers.get(cmd[:4], None) if handler is not None: handler(gcmd) return elif cmd in ['M140', 'M104'] and not gcmd.get_float('S', 0.): # Don't warn about requests to turn off heaters when not present return elif cmd == 'M107' or (cmd == 'M106' and ( not gcmd.get_float('S', 1.) or self.is_fileinput)): # Don't warn about requests to turn off fan when fan not present return gcmd.respond_info("""{"code":"key61, "msg":"Unknown command:%s", "values": ["%s"]}""" % (cmd, cmd)) def get_muxcmd(self, cmdkey): if cmdkey in self.mux_commands: key, values = self.mux_commands[cmdkey] return values return None def _cmd_mux(self, command, gcmd): key, values = self.mux_commands[command] if None in values: key_param = gcmd.get(key, None) else: key_param = gcmd.get(key) if key_param not in values: raise gcmd.error("""{"code":"key69", "msg": "The value '%s' is not valid for %s", "values": ["%s", "%s"]}""" % (key_param, key, key_param, key)) values[key_param](gcmd) # Low-level G-Code commands that are needed before the config file is loaded def cmd_M110(self, gcmd): # Set Current Line Number pass def cmd_M112(self, gcmd): # Emergency Stop self.printer.invoke_shutdown("""{"code":"key70", "msg": "Shutdown due to M112 command", "values": []}""") def cmd_M115(self, gcmd): # Get Firmware Version and Capabilities software_version = self.printer.get_start_args().get('software_version') kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version} msg = " ".join(["%s:%s" % (k, v) for k, v in kw.items()]) did_ack = gcmd.ack(msg) if not did_ack: gcmd.respond_info(msg) def request_restart(self, result): if self.is_printer_ready: toolhead = self.printer.lookup_object('toolhead') print_time = toolhead.get_last_move_time() if result == 'exit': logging.info("Exiting (print time %.3fs)" % (print_time,)) self.printer.send_event("gcode:request_restart", print_time) toolhead.dwell(0.500) toolhead.wait_moves() self.printer.request_exit(result) cmd_RESTART_help = "Reload config file and restart host software" def cmd_RESTART(self, gcmd): self.request_restart('restart') cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config" def cmd_FIRMWARE_RESTART(self, gcmd): self.request_restart('firmware_restart') def cmd_ECHO(self, gcmd): gcmd.respond_info(gcmd.get_commandline(), log=False) cmd_STATUS_help = "Report the printer status" def cmd_STATUS(self, gcmd): if self.is_printer_ready: self._respond_state("Ready") return msg = self.printer.get_state_message()[0] msg = msg.rstrip() + "\nKlipper state: Not ready" raise gcmd.error(msg) cmd_HELP_help = "Report the list of available extended G-Code commands" def cmd_HELP(self, gcmd): cmdhelp = [] if not self.is_printer_ready: cmdhelp.append("""{"code":"key72", "msg": "Printer is not ready - not all commands available.\n""") cmdhelp.append("Available extended commands:") for cmd in sorted(self.gcode_handlers): if cmd in self.gcode_help: cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd])) gcmd.respond_info("\n".join(cmdhelp), log=False) # Support reading gcode from a pseudo-tty interface class GCodeIO: def __init__(self, printer): self.printer = printer printer.register_event_handler("klippy:ready", self._handle_ready) printer.register_event_handler("klippy:shutdown", self._handle_shutdown) self.gcode = printer.lookup_object('gcode') self.gcode_mutex = self.gcode.get_mutex() self.fd = printer.get_start_args().get("gcode_fd") self.reactor = printer.get_reactor() self.is_printer_ready = False self.is_processing_data = False self.is_fileinput = not not printer.get_start_args().get("debuginput") self.pipe_is_active = True self.fd_handle = None if not self.is_fileinput: self.gcode.register_output_handler(self._respond_raw) self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) self.partial_input = "" self.pending_commands = [] self.bytes_read = 0 self.input_log = collections.deque([], 50) def _handle_ready(self): self.is_printer_ready = True if self.is_fileinput and self.fd_handle is None: self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) def _dump_debug(self): out = [] out.append("Dumping gcode input %d blocks" % (len(self.input_log),)) for eventtime, data in self.input_log: out.append("Read %f: %s" % (eventtime, repr(data))) logging.info("\n".join(out)) def _handle_shutdown(self): if not self.is_printer_ready: return self.is_printer_ready = False self._dump_debug() if self.is_fileinput: self.printer.request_exit('error_exit') m112_r = re.compile('^(?:[nN][0-9]+)?\s*[mM]112(?:\s|$)') def _process_data(self, eventtime): # Read input, separate by newline, and add to pending_commands try: data = str(os.read(self.fd, 4096).decode()) except (os.error, UnicodeDecodeError): logging.exception("Read g-code") return self.input_log.append((eventtime, data)) self.bytes_read += len(data) lines = data.split('\n') lines[0] = self.partial_input + lines[0] self.partial_input = lines.pop() pending_commands = self.pending_commands pending_commands.extend(lines) self.pipe_is_active = True # Special handling for debug file input EOF if not data and self.is_fileinput: if not self.is_processing_data: self.reactor.unregister_fd(self.fd_handle) self.fd_handle = None self.gcode.request_restart('exit') pending_commands.append("") # Handle case where multiple commands pending if self.is_processing_data or len(pending_commands) > 1: if len(pending_commands) < 20: # Check for M112 out-of-order for line in lines: if self.m112_r.match(line) is not None: self.gcode.cmd_M112(None) if self.is_processing_data: if len(pending_commands) >= 20: # Stop reading input self.reactor.unregister_fd(self.fd_handle) self.fd_handle = None return # Process commands self.is_processing_data = True while pending_commands: self.pending_commands = [] with self.gcode_mutex: self.gcode._process_commands(pending_commands) pending_commands = self.pending_commands self.is_processing_data = False if self.fd_handle is None: self.fd_handle = self.reactor.register_fd(self.fd, self._process_data) def _respond_raw(self, msg): if self.pipe_is_active: try: os.write(self.fd, (msg+"\n").encode()) # if 'key506' not in msg and 'key507' not in msg and 'key3"' not in msg and "key" in msg: # reportInformation(msg) except os.error: logging.exception("Write g-code response") self.pipe_is_active = False def stats(self, eventtime): return False, "gcodein=%d" % (self.bytes_read,) def add_early_printer_objects(printer): printer.add_object('gcode', GCodeDispatch(printer)) printer.add_object('gcode_io', GCodeIO(printer))