gcode interrupts

README.md

@@ -38,6 +38,8 @@ If I want my printer to light itself on fire, I should be able to make my printe
 
 - [gcode: expose math functions to gcode macros](https://github.com/DangerKlippers/danger-klipper/pull/173) ([klipper#4072](https://github.com/Klipper3d/klipper/pull/4072))
 
+- [gcode: HEATER_INTERRUPT gcode command](https://github.com/DangerKlippers/danger-klipper/pull/94)
+
 - [probe: dockable Probe](https://github.com/DangerKlippers/danger-klipper/pull/43) ([klipper#4328](https://github.com/Klipper3d/klipper/pull/4328))
 
 - [probe: drop the first result](https://github.com/DangerKlippers/danger-klipper/pull/2) ([klipper#3397](https://github.com/Klipper3d/klipper/issues/3397))

docs/G-Codes.md

@@ -692,6 +692,9 @@ software (see
 `FIRMWARE_RESTART`: This is similar to a RESTART command, but it also
 clears any error state from the micro-controller.
 
+#### HEATER_INTERRUPT
+`HEATER_INTERRUPT`: Interrupts a TEMPERATURE_WAIT command.
+
 #### STATUS
 `STATUS`: Report the Klipper host software status.
 

klippy/extras/heaters.py

@@ -843,14 +843,14 @@ def __init__(self, config):
             "gcode:request_restart", self.turn_off_all_heaters
         )
         # Register commands
-        gcode = self.printer.lookup_object("gcode")
-        gcode.register_command(
+        self.gcode = self.printer.lookup_object("gcode")
+        self.gcode.register_command(
             "TURN_OFF_HEATERS",
             self.cmd_TURN_OFF_HEATERS,
             desc=self.cmd_TURN_OFF_HEATERS_help,
         )
-        gcode.register_command("M105", self.cmd_M105, when_not_ready=True)
-        gcode.register_command(
+        self.gcode.register_command("M105", self.cmd_M105, when_not_ready=True)
+        self.gcode.register_command(
             "TEMPERATURE_WAIT",
             self.cmd_TEMPERATURE_WAIT,
             desc=self.cmd_TEMPERATURE_WAIT_help,
@@ -960,16 +960,15 @@ def cmd_M105(self, gcmd):
 
     def _wait_for_temperature(self, heater):
         # Helper to wait on heater.check_busy() and report M105 temperatures
+
         if self.printer.get_start_args().get("debugoutput") is not None:
             return
-        toolhead = self.printer.lookup_object("toolhead")
-        gcode = self.printer.lookup_object("gcode")
-        reactor = self.printer.get_reactor()
-        eventtime = reactor.monotonic()
-        while not self.printer.is_shutdown() and heater.check_busy(eventtime):
-            print_time = toolhead.get_last_move_time()
-            gcode.respond_raw(self._get_temp(eventtime))
-            eventtime = reactor.pause(eventtime + 1.0)
+
+        def check(eventtime):
+            self.gcode.respond_raw(self._get_temp(eventtime))
+            return heater.check_busy(eventtime)
+
+        self.printer.wait_while(check)
 
     def set_temperature(self, heater, temp, wait=False):
         toolhead = self.printer.lookup_object("toolhead")
@@ -996,16 +995,15 @@ def cmd_TEMPERATURE_WAIT(self, gcmd):
             sensor = self.heaters[sensor_name]
         else:
             sensor = self.printer.lookup_object(sensor_name)
-        toolhead = self.printer.lookup_object("toolhead")
-        reactor = self.printer.get_reactor()
-        eventtime = reactor.monotonic()
-        while not self.printer.is_shutdown():
-            temp, target = sensor.get_temp(eventtime)
+
+        def check(eventtime):
+            temp, _ = sensor.get_temp(eventtime)
             if temp >= min_temp and temp <= max_temp:
-                return
-            print_time = toolhead.get_last_move_time()
+                return False
             gcmd.respond_raw(self._get_temp(eventtime))
-            eventtime = reactor.pause(eventtime + 1.0)
+            return True
+
+        self.printer.wait_while(check)
 
 
 def load_config(config):

klippy/gcode.py

@@ -154,6 +154,7 @@ def __init__(self, printer):
         self.mux_commands = {}
         self.gcode_help = {}
         self.status_commands = {}
+        self._interrupt_counter = 0
         # Register commands needed before config file is loaded
         handlers = [
             "M110",
@@ -164,12 +165,19 @@ def __init__(self, printer):
             "ECHO",
             "STATUS",
             "HELP",
+            "HEATER_INTERRUPT",
         ]
         for cmd in handlers:
             func = getattr(self, "cmd_" + cmd)
             desc = getattr(self, "cmd_" + cmd + "_help", None)
             self.register_command(cmd, func, True, desc)
 
+    def get_interrupt_counter(self):
+        return self._interrupt_counter
+
+    def increment_interrupt_counter(self):
+        self._interrupt_counter += 1
+
     def is_traditional_gcode(self, cmd):
         # A "traditional" g-code command is a letter and followed by a number
         try:
@@ -306,8 +314,11 @@ def run_script_from_command(self, script):
         self._process_commands(script.split("\n"), need_ack=False)
 
     def run_script(self, script):
-        with self.mutex:
+        if "INTERRUPT" in script or "CANCEL_PRINT" in script:
             self._process_commands(script.split("\n"), need_ack=False)
+        else:
+            with self.mutex:
+                self._process_commands(script.split("\n"), need_ack=False)
 
     def get_mutex(self):
         return self.mutex
@@ -475,6 +486,9 @@ def cmd_HELP(self, gcmd):
                 cmdhelp.append("%-10s: %s" % (cmd, self.gcode_help[cmd]))
         gcmd.respond_info("\n".join(cmdhelp), log=False)
 
+    def cmd_HEATER_INTERRUPT(self, gcmd):
+        self.increment_interrupt_counter()
+
 
 # Support reading gcode from a pseudo-tty interface
 class GCodeIO:

klippy/klippy.py

@@ -376,6 +376,20 @@ def request_exit(self, result):
             self.run_result = result
         self.reactor.end()
 
+    def wait_while(self, condition_cb):
+        """
+        receives a callback
+        waits until callback returns False
+            (or is interrupted, or printer shuts down)
+        """
+        gcode = self.lookup_object("gcode")
+        counter = gcode.get_interrupt_counter()
+        eventtime = self.reactor.monotonic()
+        while condition_cb(eventtime):
+            if self.is_shutdown() or counter != gcode.get_interrupt_counter():
+                return
+            eventtime = self.reactor.pause(eventtime + 1.0)
+
 
 ######################################################################
 # Startup