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toolhead: Move g-code command handlers to new ToolHeadCommandHelper() class

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Move the g-code command handlers to a new class.  This reduces the
size of the main Toolhead() class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-04 13:45:59 -04:00
parent bcd4510958
commit f8da8099d5
1 changed files with 40 additions and 27 deletions
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67
klippy/toolhead.py
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@ -270,13 +270,7 @@ class ToolHead:
msg = "Error loading kinematics '%s'" % (kin_name,) msg = "Error loading kinematics '%s'" % (kin_name,)
logging.exception(msg) logging.exception(msg)
raise config.error(msg) raise config.error(msg)
# Register commands # Register handlers
gcode.register_command('G4', self.cmd_G4)
gcode.register_command('M400', self.cmd_M400)
gcode.register_command('SET_VELOCITY_LIMIT',
self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
gcode.register_command('M204', self.cmd_M204)
self.printer.register_event_handler("klippy:shutdown", self.printer.register_event_handler("klippy:shutdown",
self._handle_shutdown) self._handle_shutdown)
# Print time and flush tracking # Print time and flush tracking
@ -657,21 +651,8 @@ class ToolHead:
scv2 = self.square_corner_velocity**2 scv2 = self.square_corner_velocity**2
self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel self.junction_deviation = scv2 * (math.sqrt(2.) - 1.) / self.max_accel
self.max_accel_to_decel = self.max_accel * (1. - self.min_cruise_ratio) self.max_accel_to_decel = self.max_accel * (1. - self.min_cruise_ratio)
def cmd_G4(self, gcmd): def set_max_velocities(self, max_velocity, max_accel,
# Dwell square_corner_velocity, min_cruise_ratio):
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.dwell(delay)
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.wait_moves()
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, gcmd):
max_velocity = gcmd.get_float('VELOCITY', None, above=0.)
max_accel = gcmd.get_float('ACCEL', None, above=0.)
square_corner_velocity = gcmd.get_float(
'SQUARE_CORNER_VELOCITY', None, minval=0.)
min_cruise_ratio = gcmd.get_float(
'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.)
if max_velocity is not None: if max_velocity is not None:
self.max_velocity = max_velocity self.max_velocity = max_velocity
if max_accel is not None: if max_accel is not None:
@ -681,12 +662,43 @@ class ToolHead:
if min_cruise_ratio is not None: if min_cruise_ratio is not None:
self.min_cruise_ratio = min_cruise_ratio self.min_cruise_ratio = min_cruise_ratio
self._calc_junction_deviation() self._calc_junction_deviation()
return (self.max_velocity, self.max_accel,
self.square_corner_velocity, self.min_cruise_ratio)
# Support common G-Code commands relative to the toolhead
class ToolHeadCommandHelper:
def __init__(self, config):
self.printer = config.get_printer()
self.toolhead = self.printer.lookup_object("toolhead")
# Register commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G4', self.cmd_G4)
gcode.register_command('M400', self.cmd_M400)
gcode.register_command('SET_VELOCITY_LIMIT',
self.cmd_SET_VELOCITY_LIMIT,
desc=self.cmd_SET_VELOCITY_LIMIT_help)
gcode.register_command('M204', self.cmd_M204)
def cmd_G4(self, gcmd):
# Dwell
delay = gcmd.get_float('P', 0., minval=0.) / 1000.
self.toolhead.dwell(delay)
def cmd_M400(self, gcmd):
# Wait for current moves to finish
self.toolhead.wait_moves()
cmd_SET_VELOCITY_LIMIT_help = "Set printer velocity limits"
def cmd_SET_VELOCITY_LIMIT(self, gcmd):
max_velocity = gcmd.get_float('VELOCITY', None, above=0.)
max_accel = gcmd.get_float('ACCEL', None, above=0.)
square_corner_velocity = gcmd.get_float(
'SQUARE_CORNER_VELOCITY', None, minval=0.)
min_cruise_ratio = gcmd.get_float(
'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.)
mv, ma, scv, mcr = self.toolhead.set_max_velocities(
max_velocity, max_accel, square_corner_velocity, min_cruise_ratio)
msg = ("max_velocity: %.6f\n" msg = ("max_velocity: %.6f\n"
"max_accel: %.6f\n" "max_accel: %.6f\n"
"minimum_cruise_ratio: %.6f\n" "minimum_cruise_ratio: %.6f\n"
"square_corner_velocity: %.6f" % ( "square_corner_velocity: %.6f" % (mv, ma, scv, mcr))
self.max_velocity, self.max_accel,
self.min_cruise_ratio, self.square_corner_velocity))
self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,)) self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
if (max_velocity is None and max_accel is None if (max_velocity is None and max_accel is None
and square_corner_velocity is None and min_cruise_ratio is None): and square_corner_velocity is None and min_cruise_ratio is None):
@ -703,12 +715,13 @@ class ToolHead:
% (gcmd.get_commandline(),)) % (gcmd.get_commandline(),))
return return
accel = min(p, t) accel = min(p, t)
self.max_accel = accel self.toolhead.set_max_velocities(None, accel, None, None)
self._calc_junction_deviation()
def add_printer_objects(config): def add_printer_objects(config):
printer = config.get_printer() printer = config.get_printer()
printer.add_object('toolhead', ToolHead(config)) printer.add_object('toolhead', ToolHead(config))
ToolHeadCommandHelper(config)
# Load default extruder objects
kinematics.extruder.add_printer_objects(config) kinematics.extruder.add_printer_objects(config)
# Load some default modules # Load some default modules
modules = ["gcode_move", "homing", "idle_timeout", "statistics", modules = ["gcode_move", "homing", "idle_timeout", "statistics",