Merge branch 'develop' of https://server.creatbot.com/Gitea/CreatBot/CreatBotKlipper into develop

config/CreatBot_D1000/base.cfg

@@ -376,7 +376,7 @@ gcode:
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor|default("") == ""
                     else True if not printer[client.filament_sensor].enabled
-                    else printer[client.filament_sensor].filament_detected|default(False) %}    
+                    else printer[client.filament_sensor].filament_detected|default(False) %}
     {% set printing = printer.print_stats.state ==  "printing" %}
     {% if filament_insert or printing == False %}
         SET_SERVO SERVO=switch_nozzle angle=135
@@ -406,7 +406,7 @@ gcode:
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor1|default("") == ""
                     else True if not printer[client.filament_sensor1].enabled
-                    else printer[client.filament_sensor1].filament_detected|default(False) %}    
+                    else printer[client.filament_sensor1].filament_detected|default(False) %}
     {% set printing = (printer.print_stats.state == "printing") %}
     {% if filament_insert or printing == False %}
         SET_SERVO SERVO=switch_nozzle angle=135
@@ -847,7 +847,7 @@ gcode:
         {% set sv = printer.save_variables.variables %}
         {% set door_function = sv.door_detect|default("Disabled") %}
         {% set door_state = printer['gcode_button _door_detection'].state|default('released')|lower %}
-        
+
         {% if door_function == 'Pause Print' and door_state == 'released' %}
             RESPOND TYPE=command MSG="action:prompt_begin"
             RESPOND TYPE=command MSG="action:prompt_text Please close the door and click Resume to proceed."
@@ -980,9 +980,9 @@ gcode:
     RUN_SHELL_COMMAND CMD=_CLEAR_PLR
     SAVE_VARIABLE VARIABLE=last_file VALUE='"{ filename }"'
     SAVE_VARIABLE VARIABLE=filepath VALUE='"{ filepath }"'
-    {% set zero_vars = ['power_resume_x', 'power_resume_y', 'power_resume_z'] %}
+    {% set zero_vars = ['power_resume_position', 'power_resume_line'] %}
     {% for var in zero_vars %}
-    SAVE_VARIABLE VARIABLE={var} VALUE=0
+        SAVE_VARIABLE VARIABLE={var} VALUE=0
     {% endfor %}
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 
@@ -998,9 +998,9 @@ gcode:
     {% set park_dz = client.custom_park_dz|default(2.0)|abs %}
     RESPOND TYPE=command MSG="action:prompt_end"
     SET_GCODE_OFFSET Z=0 MOVE=0
-    {% set z_height = params.Z_HEIGHT|default(sv.power_resume_z)|float %}
     {% set is_paused = sv.power_loss_paused|default(False) %}
-    {% set last_file = params.GCODE_FILE|default(sv.last_file)|string %}
+    {% set filepath = params.GCODE_FILE|default(sv.filepath)|string %}
+    {% set last_file = filepath.split('/')[-1] %}
     {% set hotend = sv.power_resume_extruder|default("extruder")%}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
     {% set z_offset_total = park_dz if is_paused else 0 %}
@@ -1010,7 +1010,7 @@ gcode:
     SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
     G4 P300
     M118 Recovery in progress, please wait
-    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
+    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_offset_total}"
     SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 

config/CreatBot_D1000_V0/base.cfg

@@ -308,7 +308,7 @@ gcode:
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor|default("") == ""
                     else True if not printer[client.filament_sensor].enabled
-                    else printer[client.filament_sensor].filament_detected|default(False) %}    
+                    else printer[client.filament_sensor].filament_detected|default(False) %}
     {% set printing = printer.print_stats.state ==  "printing" %}
     {% if filament_insert or printing == False %}
         SET_SERVO SERVO=switch_nozzle angle=135
@@ -338,7 +338,7 @@ gcode:
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor1|default("") == ""
                     else True if not printer[client.filament_sensor1].enabled
-                    else printer[client.filament_sensor1].filament_detected|default(False) %}    
+                    else printer[client.filament_sensor1].filament_detected|default(False) %}
     {% set printing = (printer.print_stats.state == "printing") %}
     {% if filament_insert or printing == False %}
         SET_SERVO SERVO=switch_nozzle angle=135
@@ -893,9 +893,9 @@ gcode:
     RUN_SHELL_COMMAND CMD=_CLEAR_PLR
     SAVE_VARIABLE VARIABLE=last_file VALUE='"{ filename }"'
     SAVE_VARIABLE VARIABLE=filepath VALUE='"{ filepath }"'
-    {% set zero_vars = ['power_resume_x', 'power_resume_y', 'power_resume_z'] %}
+    {% set zero_vars = ['power_resume_position', 'power_resume_line'] %}
     {% for var in zero_vars %}
-    SAVE_VARIABLE VARIABLE={var} VALUE=0
+        SAVE_VARIABLE VARIABLE={var} VALUE=0
     {% endfor %}
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 
@@ -911,9 +911,9 @@ gcode:
     {% set park_dz = client.custom_park_dz|default(2.0)|abs %}
     RESPOND TYPE=command MSG="action:prompt_end"
     SET_GCODE_OFFSET Z=0 MOVE=0
-    {% set z_height = params.Z_HEIGHT|default(sv.power_resume_z)|float %}
     {% set is_paused = sv.power_loss_paused|default(False) %}
-    {% set last_file = params.GCODE_FILE|default(sv.last_file)|string %}
+    {% set filepath = params.GCODE_FILE|default(sv.filepath)|string %}
+    {% set last_file = filepath.split('/')[-1] %}
     {% set hotend = sv.power_resume_extruder|default("extruder")%}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
     {% set z_offset_total = park_dz if is_paused else 0 %}
@@ -923,7 +923,7 @@ gcode:
     SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
     G4 P300
     M118 Recovery in progress, please wait
-    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
+    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_offset_total}"
     SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 

config/CreatBot_D600Pro2/base.cfg

@@ -848,7 +848,7 @@ gcode:
         {% set sv = printer.save_variables.variables %}
         {% set door_function = sv.door_detect|default("Disabled") %}
         {% set door_state = printer['gcode_button _door_detection'].state|default('released')|lower %}
-        
+
         {% if door_function == 'Pause Print' and door_state == 'released' %}
             RESPOND TYPE=command MSG="action:prompt_begin"
             RESPOND TYPE=command MSG="action:prompt_text Please close the door and click Resume to proceed."
@@ -981,9 +981,9 @@ gcode:
     RUN_SHELL_COMMAND CMD=_CLEAR_PLR
     SAVE_VARIABLE VARIABLE=last_file VALUE='"{ filename }"'
     SAVE_VARIABLE VARIABLE=filepath VALUE='"{ filepath }"'
-    {% set zero_vars = ['power_resume_x', 'power_resume_y', 'power_resume_z'] %}
+    {% set zero_vars = ['power_resume_position', 'power_resume_line'] %}
     {% for var in zero_vars %}
-    SAVE_VARIABLE VARIABLE={var} VALUE=0
+        SAVE_VARIABLE VARIABLE={var} VALUE=0
     {% endfor %}
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 
@@ -999,9 +999,9 @@ gcode:
     {% set park_dz = client.custom_park_dz|default(2.0)|abs %}
     RESPOND TYPE=command MSG="action:prompt_end"
     SET_GCODE_OFFSET Z=0 MOVE=0
-    {% set z_height = params.Z_HEIGHT|default(sv.power_resume_z)|float %}
     {% set is_paused = sv.power_loss_paused|default(False) %}
-    {% set last_file = params.GCODE_FILE|default(sv.last_file)|string %}
+    {% set filepath = params.GCODE_FILE|default(sv.filepath)|string %}
+    {% set last_file = filepath.split('/')[-1] %}
     {% set hotend = sv.power_resume_extruder|default("extruder")%}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
     {% set z_offset_total = park_dz if is_paused else 0 %}
@@ -1011,7 +1011,7 @@ gcode:
     SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
     G4 P300
     M118 Recovery in progress, please wait
-    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
+    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_offset_total}"
     SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 

config/CreatBot_D600Pro2_V0/base.cfg

@@ -335,7 +335,7 @@ gcode:
     {% set x_offset = sv.nozzle_x_offset_val|default(0)|float %}
     {% set y_offset = sv.nozzle_y_offset_val|default(0)|float %}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
-    {% set x_offset = x_offset - 59 %}   
+    {% set x_offset = x_offset - 59 %}
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor1|default("") == ""
                     else True if not printer[client.filament_sensor1].enabled
@@ -888,9 +888,9 @@ gcode:
     RUN_SHELL_COMMAND CMD=_CLEAR_PLR
     SAVE_VARIABLE VARIABLE=last_file VALUE='"{ filename }"'
     SAVE_VARIABLE VARIABLE=filepath VALUE='"{ filepath }"'
-    {% set zero_vars = ['power_resume_x', 'power_resume_y', 'power_resume_z'] %}
+    {% set zero_vars = ['power_resume_position', 'power_resume_line'] %}
     {% for var in zero_vars %}
-    SAVE_VARIABLE VARIABLE={var} VALUE=0
+        SAVE_VARIABLE VARIABLE={var} VALUE=0
     {% endfor %}
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 
@@ -906,9 +906,9 @@ gcode:
     {% set park_dz = client.custom_park_dz|default(2.0)|abs %}
     RESPOND TYPE=command MSG="action:prompt_end"
     SET_GCODE_OFFSET Z=0 MOVE=0
-    {% set z_height = params.Z_HEIGHT|default(sv.power_resume_z)|float %}
     {% set is_paused = sv.power_loss_paused|default(False) %}
-    {% set last_file = params.GCODE_FILE|default(sv.last_file)|string %}
+    {% set filepath = params.GCODE_FILE|default(sv.filepath)|string %}
+    {% set last_file = filepath.split('/')[-1] %}
     {% set hotend = sv.power_resume_extruder|default("extruder")%}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
     {% set z_offset_total = park_dz if is_paused else 0 %}
@@ -918,7 +918,7 @@ gcode:
     SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
     G4 P300
     M118 Recovery in progress, please wait
-    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
+    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_offset_total}"
     SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 

config/CreatBot_F430NX/base.cfg

@@ -206,7 +206,7 @@ kick_start_time: 1.0
 pin: PC6
 max_power: 0.8
 heater:
-stepper: stepper_x, stepper_z, dual_carriage 
+stepper: stepper_x, stepper_z, dual_carriage
 idle_speed: 0.5
 
 [delayed_gcode INIT_LIGHT]
@@ -501,7 +501,7 @@ gcode:
     {% set client = printer['gcode_macro _CLIENT_VARIABLE']|default({}) %}
     {% set filament_insert = True if client.filament_sensor1|default("") == ""
                     else True if not printer[client.filament_sensor1].enabled
-                    else printer[client.filament_sensor1].filament_detected|default(False) %}    
+                    else printer[client.filament_sensor1].filament_detected|default(False) %}
     {% set printing = (printer.print_stats.state == "printing") %}
     {% if filament_insert or printing == False %}
         {% if "x" not in printer.toolhead.homed_axes %}
@@ -1163,9 +1163,9 @@ gcode:
     RUN_SHELL_COMMAND CMD=_CLEAR_PLR
     SAVE_VARIABLE VARIABLE=last_file VALUE='"{ filename }"'
     SAVE_VARIABLE VARIABLE=filepath VALUE='"{ filepath }"'
-    {% set zero_vars = ['power_resume_x', 'power_resume_y', 'power_resume_z'] %}
+    {% set zero_vars = ['power_resume_position', 'power_resume_line'] %}
     {% for var in zero_vars %}
-    SAVE_VARIABLE VARIABLE={var} VALUE=0
+        SAVE_VARIABLE VARIABLE={var} VALUE=0
     {% endfor %}
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 
@@ -1181,9 +1181,9 @@ gcode:
     {% set park_dz = client.custom_park_dz|default(2.0)|abs %}
     RESPOND TYPE=command MSG="action:prompt_end"
     SET_GCODE_OFFSET Z=0 MOVE=0
-    {% set z_height = params.Z_HEIGHT|default(sv.power_resume_z)|float %}
     {% set is_paused = sv.power_loss_paused|default(False) %}
-    {% set last_file = params.GCODE_FILE|default(sv.last_file)|string %}
+    {% set filepath = params.GCODE_FILE|default(sv.filepath)|string %}
+    {% set last_file = filepath.split('/')[-1] %}
     {% set hotend = sv.power_resume_extruder|default("extruder")%}
     {% set z_offset = sv.nozzle_z_offset_val|default(0)|float %}
     {% set z_offset_total = park_dz if is_paused else 0 %}
@@ -1193,7 +1193,7 @@ gcode:
     SET_STEPPER_ENABLE STEPPER=stepper_z ENABLE=1
     G4 P300
     M118 Recovery in progress, please wait
-    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_height} \"{last_file}\" \"{z_offset_total}\""
+    RUN_SHELL_COMMAND CMD=_POWER_LOSS_RECOVERY PARAMS="{z_offset_total}"
     SDCARD_PRINT_FILE FILENAME=.plr/"{last_file}"
     SAVE_VARIABLE VARIABLE=was_interrupted VALUE=False
 

klippy/chelper/__init__.py

@@ -94,7 +94,7 @@ defs_trapq = """
         , double accel_t, double cruise_t, double decel_t
         , double start_pos_x, double start_pos_y, double start_pos_z
         , double axes_r_x, double axes_r_y, double axes_r_z
-        , double start_v, double cruise_v, double accel);
+        , double start_v, double cruise_v, double accel, double taskline);
     void trapq_finalize_moves(struct trapq *tq, double print_time
         , double clear_history_time);
     void trapq_set_position(struct trapq *tq, double print_time

klippy/chelper/itersolve.c

@@ -41,6 +41,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
     int is_dir_change = 0, have_bracket = 0, check_oscillate = 0;
     double target = sk->commanded_pos + (sdir ? half_step : -half_step);
     double last_time=start, low_time=start, high_time=start + SEEK_TIME_RESET;
+    stepcompress_set_taskline(sk->sc, m->taskline);
     if (high_time > end)
         high_time = end;
     for (;;) {

klippy/chelper/stepcompress.c

@@ -38,6 +38,7 @@ struct stepcompress {
     uint64_t last_step_clock;
     struct list_head msg_queue;
     uint32_t oid;
+    uint32_t taskline;
     int32_t queue_step_msgtag, set_next_step_dir_msgtag;
     int sdir, invert_sdir;
     // Step+dir+step filter
@@ -52,13 +53,14 @@ struct step_move {
     uint32_t interval;
     uint16_t count;
     int16_t add;
+    uint32_t taskline;
 };
 
 struct history_steps {
     struct list_node node;
     uint64_t first_clock, last_clock;
     int64_t start_position;
-    int step_count, interval, add;
+    int step_count, interval, add, taskline;
 };
 
 
@@ -113,6 +115,7 @@ compress_bisect_add(struct stepcompress *sc)
     int32_t add = 0, minadd = -0x8000, maxadd = 0x7fff;
     int32_t bestinterval = 0, bestcount = 1, bestadd = 1, bestreach = INT32_MIN;
     int32_t zerointerval = 0, zerocount = 0;
+    int32_t taskline = sc->taskline;
 
     for (;;) {
         // Find longest valid sequence with the given 'add'
@@ -124,7 +127,7 @@ compress_bisect_add(struct stepcompress *sc)
             nextcount++;
             if (&sc->queue_pos[nextcount-1] >= qlast) {
                 int32_t count = nextcount - 1;
-                return (struct step_move){ interval, count, add };
+                return (struct step_move){ interval, count, add, taskline };
             }
             nextpoint = minmax_point(sc, sc->queue_pos + nextcount - 1);
             int32_t nextaddfactor = nextcount*(nextcount-1)/2;
@@ -192,8 +195,8 @@ compress_bisect_add(struct stepcompress *sc)
     }
     if (zerocount + zerocount/16 >= bestcount)
         // Prefer add=0 if it's similar to the best found sequence
-        return (struct step_move){ zerointerval, zerocount, 0 };
+        return (struct step_move){ zerointerval, zerocount, 0, taskline };
-    return (struct step_move){ bestinterval, bestcount, bestadd };
+    return (struct step_move){ bestinterval, bestcount, bestadd, taskline };
 }
 
 
@@ -276,6 +279,13 @@ stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir)
     }
 }
 
+void __visible
+stepcompress_set_taskline(struct stepcompress *sc, uint32_t taskline)
+{
+    if (taskline != sc->taskline)
+        sc->taskline = taskline;
+}
+
 // Helper to free items from the history_list
 static void
 free_history(struct stepcompress *sc, uint64_t end_clock)
@@ -321,6 +331,12 @@ stepcompress_get_step_dir(struct stepcompress *sc)
     return sc->next_step_dir;
 }
 
+uint32_t
+stepcompress_get_taskline(struct stepcompress *sc)
+{
+    return sc->taskline;
+}
+
 // Determine the "print time" of the last_step_clock
 static void
 calc_last_step_print_time(struct stepcompress *sc)
@@ -351,10 +367,10 @@ add_move(struct stepcompress *sc, uint64_t first_clock, struct step_move *move)
     uint64_t last_clock = first_clock + ticks;
 
     // Create and queue a queue_step command
-    uint32_t msg[5] = {
+    uint32_t msg[6] = {
-        sc->queue_step_msgtag, sc->oid, move->interval, move->count, move->add
+        sc->queue_step_msgtag, sc->oid, move->interval, move->count, move->add, move->taskline
     };
-    struct queue_message *qm = message_alloc_and_encode(msg, 5);
+    struct queue_message *qm = message_alloc_and_encode(msg, 6);
     qm->min_clock = qm->req_clock = sc->last_step_clock;
     if (move->count == 1 && first_clock >= sc->last_step_clock + CLOCK_DIFF_MAX)
         qm->req_clock = first_clock;
@@ -368,6 +384,7 @@ add_move(struct stepcompress *sc, uint64_t first_clock, struct step_move *move)
     hs->start_position = sc->last_position;
     hs->interval = move->interval;
     hs->add = move->add;
+    hs->taskline = move->taskline;
     hs->step_count = sc->sdir ? move->count : -move->count;
     sc->last_position += hs->step_count;
     list_add_head(&hs->node, &sc->history_list);
@@ -401,7 +418,7 @@ queue_flush(struct stepcompress *sc, uint64_t move_clock)
 static int
 stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
 {
-    struct step_move move = { abs_step_clock - sc->last_step_clock, 1, 0 };
+    struct step_move move = { abs_step_clock - sc->last_step_clock, 1, 0, 0 };
     add_move(sc, abs_step_clock, &move);
     calc_last_step_print_time(sc);
     return 0;

klippy/chelper/stepcompress.h

@@ -17,6 +17,8 @@ void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
                        , int32_t set_next_step_dir_msgtag);
 void stepcompress_set_invert_sdir(struct stepcompress *sc
                                   , uint32_t invert_sdir);
+void stepcompress_set_taskline(struct stepcompress *sc
+                                  , uint32_t taskline);
 void stepcompress_free(struct stepcompress *sc);
 uint32_t stepcompress_get_oid(struct stepcompress *sc);
 int stepcompress_get_step_dir(struct stepcompress *sc);

klippy/chelper/trapq.c

@@ -103,6 +103,7 @@ trapq_add_move(struct trapq *tq, struct move *m)
         // Add a null move to fill time gap
         struct move *null_move = move_alloc();
         null_move->start_pos = m->start_pos;
+        null_move->taskline = m->taskline;
         if (!prev->print_time && m->print_time > MAX_NULL_MOVE)
             // Limit the first null move to improve numerical stability
             null_move->print_time = m->print_time - MAX_NULL_MOVE;
@@ -121,7 +122,7 @@ trapq_append(struct trapq *tq, double print_time
              , double accel_t, double cruise_t, double decel_t
              , double start_pos_x, double start_pos_y, double start_pos_z
              , double axes_r_x, double axes_r_y, double axes_r_z
-             , double start_v, double cruise_v, double accel)
+             , double start_v, double cruise_v, double accel, double taskline)
 {
     struct coord start_pos = { .x=start_pos_x, .y=start_pos_y, .z=start_pos_z };
     struct coord axes_r = { .x=axes_r_x, .y=axes_r_y, .z=axes_r_z };
@@ -133,6 +134,7 @@ trapq_append(struct trapq *tq, double print_time
         m->half_accel = .5 * accel;
         m->start_pos = start_pos;
         m->axes_r = axes_r;
+        m->taskline = taskline;
         trapq_add_move(tq, m);
 
         print_time += accel_t;
@@ -146,6 +148,7 @@ trapq_append(struct trapq *tq, double print_time
         m->half_accel = 0.;
         m->start_pos = start_pos;
         m->axes_r = axes_r;
+        m->taskline = taskline;
         trapq_add_move(tq, m);
 
         print_time += cruise_t;
@@ -159,6 +162,7 @@ trapq_append(struct trapq *tq, double print_time
         m->half_accel = -.5 * accel;
         m->start_pos = start_pos;
         m->axes_r = axes_r;
+        m->taskline = taskline;
         trapq_add_move(tq, m);
     }
 }

klippy/chelper/trapq.h

@@ -13,6 +13,7 @@ struct coord {
 };
 
 struct move {
+    double taskline;
     double print_time, move_t;
     double start_v, half_accel;
     struct coord start_pos, axes_r;
@@ -42,7 +43,7 @@ void trapq_append(struct trapq *tq, double print_time
                   , double accel_t, double cruise_t, double decel_t
                   , double start_pos_x, double start_pos_y, double start_pos_z
                   , double axes_r_x, double axes_r_y, double axes_r_z
-                  , double start_v, double cruise_v, double accel);
+                  , double start_v, double cruise_v, double accel, double taskline);
 void trapq_finalize_moves(struct trapq *tq, double print_time
                           , double clear_history_time);
 void trapq_set_position(struct trapq *tq, double print_time

klippy/extras/bed_mesh.py

@@ -204,7 +204,7 @@ class BedMesh:
             final_z_adj = factor * z_adj + self.fade_target
             self.last_position[:] = [x, y, z - final_z_adj, e]
         return list(self.last_position)
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         factor = self.get_z_factor(newpos[2])
         if self.z_mesh is None or not factor:
             # No mesh calibrated, or mesh leveling phased out.
@@ -214,13 +214,13 @@ class BedMesh:
                 logging.info(
                     "bed_mesh fade complete: Current Z: %.4f fade_target: %.4f "
                     % (z, self.fade_target))
-            self.toolhead.move([x, y, z + self.fade_target, e], speed)
+            self.toolhead.move([x, y, z + self.fade_target, e], speed, taskline)
         else:
             self.splitter.build_move(self.last_position, newpos, factor)
             while not self.splitter.traverse_complete:
                 split_move = self.splitter.split()
                 if split_move:
-                    self.toolhead.move(split_move, speed)
+                    self.toolhead.move(split_move, speed, taskline)
                 else:
                     raise self.gcode.error(
                         "Mesh Leveling: Error splitting move ")

klippy/extras/bed_screws.py

@@ -41,7 +41,7 @@ class BedScrews:
         self.state = None
         self.current_screw = 0
         self.accepted_screws = 0
-    def move(self, coord, speed):
+    def move(self, coord, speed, taskline=0):
         try:
             self.printer.lookup_object('toolhead').manual_move(coord, speed)
         except self.printer.command_error as e:

klippy/extras/bed_tilt.py

@@ -26,10 +26,10 @@ class BedTilt:
     def get_position(self):
         x, y, z, e = self.toolhead.get_position()
         return [x, y, z - x*self.x_adjust - y*self.y_adjust - self.z_adjust, e]
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         x, y, z, e = newpos
         self.toolhead.move([x, y, z + x*self.x_adjust + y*self.y_adjust
-                            + self.z_adjust, e], speed)
+                            + self.z_adjust, e], speed, taskline)
     def update_adjust(self, x_adjust, y_adjust, z_adjust):
         self.x_adjust = x_adjust
         self.y_adjust = y_adjust

klippy/extras/exclude_object.py

@@ -177,7 +177,7 @@ class ExcludeObject:
         }
         return status
 
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         move_in_excluded_region = self._test_in_excluded_region()
         self.last_speed = speed
 

klippy/extras/force_move.py

@@ -83,7 +83,7 @@ class ForceMove:
         axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
         print_time = toolhead.get_last_move_time()
         self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
-                          0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
+                          0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel, 0.)
         print_time = print_time + accel_t + cruise_t + accel_t
         stepper.generate_steps(print_time)
         self.trapq_finalize_moves(self.trapq, print_time + 99999.9,

klippy/extras/gcode_move.py

@@ -113,6 +113,7 @@ class GCodeMove:
     def cmd_G1(self, gcmd):
         # Move
         params = gcmd.get_command_parameters()
+        line = gcmd.get_taskline()
         try:
             for pos, axis in enumerate('XYZ'):
                 if axis in params:
@@ -140,7 +141,7 @@ class GCodeMove:
         except ValueError as e:
             raise gcmd.error("Unable to parse move '%s'"
                              % (gcmd.get_commandline(),))
-        self.move_with_transform(self.last_position, self.speed)
+        self.move_with_transform(self.last_position, self.speed, line)
     # G-Code coordinate manipulation
     def cmd_G20(self, gcmd):
         # Set units to inches

klippy/extras/manual_stepper.py

@@ -64,7 +64,7 @@ class ManualStepper:
         self.trapq_append(self.trapq, self.next_cmd_time,
                           accel_t, cruise_t, accel_t,
                           cp, 0., 0., axis_r, 0., 0.,
-                          0., cruise_v, accel)
+                          0., cruise_v, accel, 0.)
         self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
         self.rail.generate_steps(self.next_cmd_time)
         self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,

klippy/extras/skew_correction.py

@@ -67,9 +67,9 @@ class PrinterSkew:
         return [skewed_x, skewed_y, pos[2], pos[3]]
     def get_position(self):
         return self.calc_unskew(self.next_transform.get_position())
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         corrected_pos = self.calc_skew(newpos)
-        self.next_transform.move(corrected_pos, speed)
+        self.next_transform.move(corrected_pos, speed, taskline)
     def _update_skew(self, xy_factor, xz_factor, yz_factor):
         self.xy_factor = xy_factor
         self.xz_factor = xz_factor

klippy/extras/tuning_tower.py

@@ -74,7 +74,7 @@ class TuningTower:
         if self.band:
             z = (math.floor(z / self.band) + .5) * self.band
         return self.start + z * self.factor
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         normal_transform = self.normal_transform
         if (newpos[3] > self.last_position[3] and newpos[2] != self.last_z
             and newpos[:3] != self.last_position[:3]):
@@ -94,7 +94,7 @@ class TuningTower:
                                                        % (newval,))
         # Forward move to actual handler
         self.last_position[:] = newpos
-        normal_transform.move(newpos, speed)
+        normal_transform.move(newpos, speed, taskline)
     def end_test(self):
         self.gcode.respond_info("Ending tuning test mode")
         self.gcode_move.set_move_transform(self.normal_transform, force=True)

klippy/extras/virtual_sdcard.py

@@ -29,6 +29,9 @@ class VirtualSD:
         self.reactor = self.printer.get_reactor()
         self.must_pause_work = self.cmd_from_sd = False
         self.next_file_position = 0
+        self.file_line = 0
+        self.file_runline = 0
+        self.linfo = ""
         self.work_timer = None
         # Error handling
         gcode_macro = self.printer.load_object(config, 'gcode_macro')
@@ -46,6 +49,8 @@ class VirtualSD:
         self.gcode.register_command(
             "SDCARD_PRINT_FILE", self.cmd_SDCARD_PRINT_FILE,
             desc=self.cmd_SDCARD_PRINT_FILE_help)
+        self.gcode.register_command(
+            'GET_TASKLINE', self.cmd_GET_TASKLINE, False)
     def handle_shutdown(self):
         if self.work_timer is not None:
             self.must_pause_work = True
@@ -95,6 +100,7 @@ class VirtualSD:
             'progress': self.progress(),
             'is_active': self.is_active(),
             'file_position': self.file_position,
+            'file_line': self.file_runline,
             'file_size': self.file_size,
         }
     def file_path(self):
@@ -111,6 +117,7 @@ class VirtualSD:
     def do_pause(self):
         if self.work_timer is not None:
             self.must_pause_work = True
+            self._get_runline()
             while self.work_timer is not None and not self.cmd_from_sd:
                 self.reactor.pause(self.reactor.monotonic() + .001)
     def do_resume(self):
@@ -126,6 +133,7 @@ class VirtualSD:
             self.current_file = None
             self.print_stats.note_cancel()
         self.file_position = self.file_size = 0
+        self.file_line = self.file_runline = 0
     # G-Code commands
     def cmd_error(self, gcmd):
         raise gcmd.error("SD write not supported")
@@ -135,10 +143,28 @@ class VirtualSD:
             self.current_file.close()
             self.current_file = None
         self.file_position = self.file_size = 0
+        self.file_line = self.file_runline = 0
         self.print_stats.reset()
         self.printer.send_event("virtual_sdcard:reset_file")
     cmd_SDCARD_RESET_FILE_help = "Clears a loaded SD File. Stops the print "\
         "if necessary"
+    def _get_runline(self):
+        toolhead = self.printer.lookup_object('toolhead', None)
+        if toolhead is None:
+            raise self.gcode.error("Printer not ready")
+        kin = toolhead.get_kinematics()
+        steppers = kin.get_steppers()
+        linfo = [(s.get_name(), s.get_stepper_taskline()) for s in steppers if s.get_name() != "stepper_z"]
+        max_position = max(position for _, position in linfo)
+        self.linfo = linfo
+        self.file_runline = max_position
+
+    def cmd_GET_TASKLINE(self, gcmd):
+        if not self.must_pause_work:
+            self._get_runline()
+        formatted_pairs = [f"{key}:{value}" for key, value in self.linfo]
+        formatted_line = " ".join(formatted_pairs)
+        gcmd.respond_info(f"stepper line: {formatted_line}")
     def cmd_SDCARD_RESET_FILE(self, gcmd):
         if self.cmd_from_sd:
             raise gcmd.error(
@@ -217,6 +243,8 @@ class VirtualSD:
                          % (self.file_position, self.file_size))
     def get_file_position(self):
         return self.next_file_position
+    def get_file_line(self):
+        return self.file_line
     def set_file_position(self, pos):
         self.next_file_position = pos
     def is_cmd_from_sd(self):
@@ -264,6 +292,7 @@ class VirtualSD:
             # Dispatch command
             self.cmd_from_sd = True
             line = lines.pop()
+            self.file_line += 1
             if sys.version_info.major >= 3:
                 next_file_position = self.file_position + len(line.encode()) + 1
             else:

klippy/extras/z_thermal_adjust.py

@@ -122,15 +122,15 @@ class ZThermalAdjuster:
         self.last_position = self.calc_adjust(position)
         return position
 
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
         # don't apply to extrude only moves or when disabled
         if (newpos[0:2] == self.last_position[0:2]) or not self.adjust_enable:
             z = newpos[2] + self.last_z_adjust_mm
             adjusted_pos = [newpos[0], newpos[1], z, newpos[3]]
-            self.next_transform.move(adjusted_pos, speed)
+            self.next_transform.move(adjusted_pos, speed, taskline)
         else:
             adjusted_pos = self.calc_adjust(newpos)
-            self.next_transform.move(adjusted_pos, speed)
+            self.next_transform.move(adjusted_pos, speed, taskline)
         self.last_position[:] = newpos
 
     def temperature_callback(self, read_time, temp):

klippy/gcode.py

@@ -12,14 +12,17 @@ Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e'))
 
 class GCodeCommand:
     error = CommandError
-    def __init__(self, gcode, command, commandline, params, need_ack):
+    def __init__(self, gcode, command, commandline, params, need_ack, taskline):
         self._command = command
         self._commandline = commandline
         self._params = params
         self._need_ack = need_ack
+        self.taskline = taskline
         # Method wrappers
         self.respond_info = gcode.respond_info
         self.respond_raw = gcode.respond_raw
+    def get_taskline(self):
+        return self.taskline
     def get_command(self):
         return self._command
     def get_commandline(self):
@@ -189,6 +192,11 @@ class GCodeDispatch:
     # Parse input into commands
     args_r = re.compile('([A-Z_]+|[A-Z*])')
     def _process_commands(self, commands, need_ack=True):
+        sdcard = self.printer.lookup_object('virtual_sdcard', None)
+        if sdcard is not None:
+             taskline = sdcard.file_line
+        else:
+             taskline = 0
         for line in commands:
             # Ignore comments and leading/trailing spaces
             line = origline = line.strip()
@@ -205,7 +213,7 @@ class GCodeDispatch:
             # Build gcode "params" dictionary
             params = { parts[i]: parts[i+1].strip()
                        for i in range(1, len(parts), 2) }
-            gcmd = GCodeCommand(self, cmd, origline, params, need_ack)
+            gcmd = GCodeCommand(self, cmd, origline, params, need_ack, taskline)
             # Invoke handler for command
             handler = self.gcode_handlers.get(cmd, self.cmd_default)
             try:
@@ -231,7 +239,7 @@ class GCodeDispatch:
     def get_mutex(self):
         return self.mutex
     def create_gcode_command(self, command, commandline, params):
-        return GCodeCommand(self, command, commandline, params, False)
+        return GCodeCommand(self, command, commandline, params, False, 0)
     # Response handling
     def respond_raw(self, msg):
         for cb in self.output_callbacks:

klippy/kinematics/extruder.py

@@ -233,7 +233,7 @@ class PrinterExtruder:
         if diff_r:
             return (self.instant_corner_v / abs(diff_r))**2
         return move.max_cruise_v2
-    def move(self, print_time, move):
+    def move(self, print_time, move, taskline=0):
         axis_r = move.axes_r[3]
         accel = move.accel * axis_r
         start_v = move.start_v * axis_r
@@ -246,7 +246,7 @@ class PrinterExtruder:
                           move.accel_t, move.cruise_t, move.decel_t,
                           move.start_pos[3], 0., 0.,
                           1., can_pressure_advance, 0.,
-                          start_v, cruise_v, accel)
+                          start_v, cruise_v, accel, taskline)
         self.last_position = move.end_pos[3]
     def find_past_position(self, print_time):
         if self.extruder_stepper is None:

klippy/stepper.py

@@ -39,6 +39,7 @@ class MCU_stepper:
         self._invert_dir = self._orig_invert_dir = dir_pin_params['invert']
         self._step_both_edge = self._req_step_both_edge = False
         self._mcu_position_offset = 0.
+        self.taskline = 0
         self._reset_cmd_tag = self._get_position_cmd = None
         self._active_callbacks = []
         ffi_main, ffi_lib = chelper.get_ffi()
@@ -90,7 +91,7 @@ class MCU_stepper:
         self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
                                  % (self._oid,), on_restart=True)
         step_cmd_tag = self._mcu.lookup_command(
-            "queue_step oid=%c interval=%u count=%hu add=%hi").get_command_tag()
+            "queue_step oid=%c interval=%u count=%hu add=%hi taskline=%u").get_command_tag()
         dir_cmd_tag = self._mcu.lookup_command(
             "set_next_step_dir oid=%c dir=%c").get_command_tag()
         self._reset_cmd_tag = self._mcu.lookup_command(
@@ -98,6 +99,9 @@ class MCU_stepper:
         self._get_position_cmd = self._mcu.lookup_query_command(
             "stepper_get_position oid=%c",
             "stepper_position oid=%c pos=%i", oid=self._oid)
+        self._get_taskline_cmd = self._mcu.lookup_query_command(
+            "stepper_get_taskline oid=%c",
+            "stepper_taskline line=%u")
         max_error = self._mcu.get_max_stepper_error()
         max_error_ticks = self._mcu.seconds_to_clock(max_error)
         ffi_main, ffi_lib = chelper.get_ffi()
@@ -164,6 +168,11 @@ class MCU_stepper:
         return (data, count)
     def get_stepper_kinematics(self):
         return self._stepper_kinematics
+    def get_stepper_taskline(self):
+        if self._mcu.is_fileoutput():
+            return 0
+        params = self._get_taskline_cmd.send([self._oid])
+        return int(params['line'])
     def set_stepper_kinematics(self, sk):
         old_sk = self._stepper_kinematics
         mcu_pos = 0

klippy/toolhead.py

@@ -12,7 +12,7 @@ import mcu, chelper, kinematics.extruder
 
 # Class to track each move request
 class Move:
-    def __init__(self, toolhead, start_pos, end_pos, speed):
+    def __init__(self, toolhead, start_pos, end_pos, speed, taskline):
         self.toolhead = toolhead
         self.start_pos = tuple(start_pos)
         self.end_pos = tuple(end_pos)
@@ -23,6 +23,7 @@ class Move:
         self.is_kinematic_move = True
         self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
         self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
+        self.taskline = taskline
         if move_d < .000000001:
             # Extrude only move
             self.end_pos = (start_pos[0], start_pos[1], start_pos[2],
@@ -351,7 +352,7 @@ class ToolHead:
                     move.accel_t, move.cruise_t, move.decel_t,
                     move.start_pos[0], move.start_pos[1], move.start_pos[2],
                     move.axes_r[0], move.axes_r[1], move.axes_r[2],
-                    move.start_v, move.cruise_v, move.accel)
+                    move.start_v, move.cruise_v, move.accel, move.taskline)
             if move.axes_d[3]:
                 self.extruder.move(next_move_time, move)
             next_move_time = (next_move_time + move.accel_t
@@ -469,8 +470,8 @@ class ToolHead:
         last_move = self.lookahead.get_last()
         if last_move is not None:
             last_move.limit_next_junction_speed(speed)
-    def move(self, newpos, speed):
+    def move(self, newpos, speed, taskline=0):
-        move = Move(self, self.commanded_pos, newpos, speed)
+        move = Move(self, self.commanded_pos, newpos, speed, taskline)
         if not move.move_d:
             return
         if move.is_kinematic_move:

scripts/plr.sh

@@ -1,34 +1,114 @@
 #!/bin/bash
-# $1 z_height $2 filename $3 z_offset
+PLR_DIR="/home/klipper/printer_data/gcodes/.plr"
+CONFIG_FILE="/home/klipper/printer_data/config/config_variables.cfg"
+LOG_FILE="/home/klipper/printer_data/logs/moonraker.log"
+echo ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> [$(date '+%F %T')] <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" >> "$LOG_FILE"
 
-mkdir -p ~/printer_data/gcodes/.plr
+z_offset="$1"
-filepath=$(sed -n "s/.*filepath *= *'\([^']*\)'.*/\1/p" /home/klipper/printer_data/config/config_variables.cfg)
-filepath=$(printf "$filepath")
-echo "$filepath"
 
-last_file=$(sed -n "s/.*last_file *= *'\([^']*\)'.*/\1/p" /home/klipper/printer_data/config/config_variables.cfg)
+mkdir -p "$PLR_DIR" || {
-last_file=$(printf "$last_file")
+    echo "[$(date '+%F %T')] ERROR: Unable to create the directory: $PLR_DIR" >> "$LOG_FILE"
-echo "$last_file"
+    exit 2
-plr=$last_file
+}
-echo "plr=$plr"
-PLR_PATH=~/printer_data/gcodes/.plr
 
-file_content=$(cat "${filepath}" | awk '/; thumbnail begin/{flag=1;next}/; thumbnail end/{flag=0} !flag' | grep -v "^;simage:\|^;gimage:")
+filepath=$(sed -n "s/.*filepath *= *'\([^']*\)'.*/\1/p" "$CONFIG_FILE")
+cp "${filepath}" "/home/klipper/plrtmpA.$$"
+sourcefile="/home/klipper/plrtmpA.$$"
 
-echo "$file_content" | sed  's/\r$//' | awk -F"Z" 'BEGIN{OFS="Z"} {if ($2 ~ /^[0-9]+$/) $2=$2".0"} 1' > /home/klipper/plrtmpA.$$
+raw_value=$(sed -n -E "s/^[[:space:]]*power_loss_paused[[:space:]]*=[[:space:]]*(True|False)[[:space:]]*(;.*)?$/\1/p" "$CONFIG_FILE" | tail -n1)
-sed -i 's/Z\./Z0\./g' /home/klipper/plrtmpA.$$
+is_pause=False
-z_pos=$(echo "${1} + ${3}" | bc)
+[[ "${raw_value,,}" == "true" ]] && is_pause=True
-cat /home/klipper/plrtmpA.$$ | sed -e '1,/Z'${1}'/ d' | sed -ne '/ Z/,$ p' | grep -m 1 ' Z' | sed -ne "s/.* Z\([^ ]*\).*/SET_KINEMATIC_POSITION Z=${z_pos}/p" > ${PLR_PATH}/"${plr}"
 
-cat /home/klipper/plrtmpA.$$ | sed '/ Z'${1}'/q' | sed -ne '/\(M104\|M140\|M109\|M190\)/p' >> ${PLR_PATH}/"${plr}"
+raw_line=$(sed -n -E "s/power_resume_line[[:space:]]*=[[:space:]]*([1-9][0-9]*)['\"]?[[:space:]]*(;.*)?$/\1/p" "$CONFIG_FILE")
+run_line=$(tr -cd '0-9' <<< "$raw_line")
+if [[ ! "$run_line" =~ ^[1-9][0-9]*$ ]]; then
+    echo "ERROR: power_resume_line, It must be a valid positive integer" >> "$LOG_FILE"
+    echo "Current configuration value:'$run_line'" >> "$LOG_FILE"
+    exit 1
+fi
+echo "When power outage, the printer is executing $run_line line of the file." >> "$LOG_FILE"
 
-line=$(cat /home/klipper/plrtmpA.$$ | sed '/ Z'${1}'/q' | sed -n '/START_PRINT/p')
+raw_position=$(sed -n -E "s/power_resume_position[[:space:]]*=[[:space:]]*([1-9][0-9]*)['\"]?[[:space:]]*(;.*)?$/\1/p" "$CONFIG_FILE")
+target_pos=$(tr -cd '0-9' <<< "$raw_position")
+if [[ ! "$target_pos" =~ ^[1-9][0-9]*$ ]]; then
+    echo "ERROR: power_resume_position, It must be a valid positive integer" >> "$LOG_FILE"
+    echo "Current configuration value:'$target_pos'" >> "$LOG_FILE"
+    exit 1
+fi
 
-if [ -n "$line" ]; then
+last_file="${filepath##*/}"
-    EXTRUDER=$(echo "$line" | sed -n 's/.*EXTRUDER=\([0-9]*\).*/\1/p')
+
-    EXTRUDER1=$(echo "$line" | sed -n 's/.*EXTRUDER1=\([0-9]*\).*/\1/p')
+echo "Power-off recovery file path: $filepath" >> "$LOG_FILE"
-    BED=$(echo "$line" | sed -n 's/.*BED=\([0-9]*\).*/\1/p')
+echo "Last printed file name: $last_file" >> "$LOG_FILE"
-    CHAMBER=$(echo "$line" | sed -n 's/.*CHAMBER=\([0-9]*\).*/\1/p')
+plr="$last_file"
+
+cat "${sourcefile}" | awk '
+    {
+        sub(/\r$/, "")
+        if ($0 ~ /^;/ || $0 ~ /^[[:space:]]*$/) {
+            print
+        } else {
+            exit
+        }
+    }' > "${PLR_DIR}/${plr}"
+
+line=$(awk -v target="$target_pos" '
+    BEGIN { current_pos = 0; line_number = 1 }
+    {
+        line_length = length($0) + 1  # +1 对应换行符(Linux: \n, Windows: \r\n)
+        if (current_pos <= target && target < current_pos + line_length) {
+            print line_number
+            exit
+        }
+        current_pos += line_length
+        line_number++
+    }
+' "$sourcefile")
+echo "When power outage, it was parsing the $target_pos byte and the $line line" >> "$LOG_FILE"
+
+line="$run_line"
+
+z_height=$(awk -v target_line="$line" '
+    BEGIN { found = 0 }
+    NR <= target_line {
+        if ($0 ~ /^;[[:space:]]*Z:/) {
+            split($0, parts, /:[[:space:]]*/)
+            z_val = parts[2]
+            found = 1
+        }
+    }
+    NR == target_line {
+        if (found) {
+            print z_val
+        }
+        exit
+    }
+' "$sourcefile")
+echo "When power outage, the printing height: $z_height, the offset value: $z_offset" >> "$LOG_FILE"
+
+z_pos=$(echo "${z_height} + ${z_offset}" | bc)
+echo "Assign the Z height as: $z_pos" >> "$LOG_FILE"
+
+echo "SET_KINEMATIC_POSITION Z=${z_pos}" >> "${PLR_DIR}/${plr}"
+echo ";Z:${z_pos}" >> "${PLR_DIR}/${plr}"
+
+awk -v end_line="$line" '
+    NR > end_line { exit }
+    /M104|M140|M109|M190/ { print }
+' "$sourcefile" >> "${PLR_DIR}/${plr}"
+
+start_info=$(awk -v max_line="$line" '
+    NR > max_line { exit }
+    $0 ~ /^(START_PRINT|PRINT_START)/ {
+        print
+        exit
+    }
+' "$sourcefile")
+if [ -n "$start_info" ]; then
+    EXTRUDER=$(echo "$start_info" | sed -n 's/.*EXTRUDER=\([0-9]*\).*/\1/p')
+    EXTRUDER1=$(echo "$start_info" | sed -n 's/.*EXTRUDER1=\([0-9]*\).*/\1/p')
+    BED=$(echo "$start_info" | sed -n 's/.*BED=\([0-9]*\).*/\1/p')
+    CHAMBER=$(echo "$start_info" | sed -n 's/.*CHAMBER=\([0-9]*\).*/\1/p')
     EXTRUDER=${EXTRUDER:-0}
     EXTRUDER1=${EXTRUDER1:-0}
     BED=${BED:-0}
@@ -39,56 +119,112 @@ if [ -n "$line" ]; then
 
     for i in "${!temps[@]}"; do
         if [ "${temps[$i]}" != "0" ]; then
-            echo "${temp_cmds[$i]} ${temps[$i]}" >> "${PLR_PATH}/${plr}"
+            echo "${temp_cmds[$i]} ${temps[$i]}" >> "${PLR_DIR}/${plr}"
         fi
     done
 fi
 
 
-cat /home/klipper/plrtmpA.$$ | sed -ne '/;End of Gcode/,$ p' | tr '\n' ' ' | sed -ne 's/ ;[^ ]* //gp' | sed -ne 's/\\\\n/;/gp' | tr ';' '\n' | grep material_bed_temperature | sed -ne 's/.* = /M140 S/p' | head -1 >> ${PLR_PATH}/"${plr}"
+awk -v plr="${PLR_DIR}/${plr}" '
-cat /home/klipper/plrtmpA.$$ | sed -ne '/;End of Gcode/,$ p' | tr '\n' ' ' | sed -ne 's/ ;[^ ]* //gp' | sed -ne 's/\\\\n/;/gp' | tr ';' '\n' | grep material_print_temperature | sed -ne 's/.* = /M104 S/p' | head -1 >> ${PLR_PATH}/"${plr}"
+    BEGIN {
-cat /home/klipper/plrtmpA.$$ | sed -ne '/;End of Gcode/,$ p' | tr '\n' ' ' | sed -ne 's/ ;[^ ]* //gp' | sed -ne 's/\\\\n/;/gp' | tr ';' '\n' | grep material_bed_temperature | sed -ne 's/.* = /M190 S/p' | head -1 >> ${PLR_PATH}/"${plr}"
+        bed_temp = 0
-cat /home/klipper/plrtmpA.$$ | sed -ne '/;End of Gcode/,$ p' | tr '\n' ' ' | sed -ne 's/ ;[^ ]* //gp' | sed -ne 's/\\\\n/;/gp' | tr ';' '\n' | grep material_print_temperature | sed -ne 's/.* = /M109 S/p' | head -1 >> ${PLR_PATH}/"${plr}"
+        print_temp = 0
+        cmd_generated = 0
+    }
+    $0 ~ /;End of Gcode/,0 {
+        gsub(/\r?\n/, " ")
+        gsub(/;/, "\n")
+        gsub(/[ \t]+/, " ")
 
+        if (match($0, /material_bed_temperature[ =]+([0-9]+)/, m))
+            bed_temp = m[1]
+        if (match($0, /material_print_temperature[ =]+([0-9]+)/, m))
+            print_temp = m[1]
 
-BG_EX=`tac /home/klipper/plrtmpA.$$ | sed -e '/ Z'${1}'[^0-9]*$/q' | tac | tail -n+2 | sed -e '/ Z[0-9]/ q' | tac | sed -e '/ E[0-9]/ q' | sed -ne 's/.* E\([^ ]*\)/G92 E\1/p'`
+        if (bed_temp > 0 || print_temp > 0) {
-# If we failed to match an extrusion command (allowing us to correctly set the E axis) prior to the matched layer height, then simply set the E axis to the first E value present in the resemued gcode.  This avoids extruding a huge blod on resume, and/or max extrusion errors.
+            if (!cmd_generated) {
-if [ "${BG_EX}" = "" ]; then
+                print "; 温度控制指令"
- BG_EX=`tac /home/klipper/plrtmpA.$$ | sed -e '/ Z'${1}'[^0-9]*$/q' | tac | tail -n+2 | sed -ne '/ Z/,$ p' | sed -e '/ E[0-9]/ q' | sed -ne 's/.* E\([^ ]*\)/G92 E\1/p'`
+                cmd_generated = 1
-fi
+            }
-M83=$(cat /home/klipper/plrtmpA.$$ | sed '/ Z'${1}'/q' | sed -ne '/\(M83\)/p')
+            if (bed_temp > 0) {
-if [ -n "${M83}" ];then
+                printf "M140 S%d\nM190 S%d\n", bed_temp, bed_temp
- echo 'G92 E0' >> ${PLR_PATH}/"${plr}"
+            }
- echo ${M83} >> ${PLR_PATH}/"${plr}"
+            if (print_temp > 0) {
-else
+                printf "M104 S%d\nM109 S%d\n", print_temp, print_temp
- echo ${BG_EX} >> ${PLR_PATH}/"${plr}"
+            }
-fi
+            exit
-echo 'G91' >> ${PLR_PATH}/"${plr}"
+        }
-echo 'G1 Z10' >> ${PLR_PATH}/"${plr}"
+    }
-echo 'G90' >> ${PLR_PATH}/"${plr}"
+' "$sourcefile" >> "${PLR_DIR}/${plr}"
-echo 'G28 X Y' >> ${PLR_PATH}/"${plr}"
-cat /home/klipper/plrtmpA.$$ | sed '/ Z'${1}'/q' | sed -ne '/\(ACTIVATE_COPY_MODE\|ACTIVATE_MIRROR_MODE\)/p' >> ${PLR_PATH}/"${plr}"
-echo 'G1 X5' >> ${PLR_PATH}/"${plr}"
-echo 'G1 Y5' >> ${PLR_PATH}/"${plr}"
-cat /home/klipper/plrtmpA.$$ | sed -n '1,/Z'"${1}"'/p'| tac | grep -m 1 -o '^[T][01]' >> ${PLR_PATH}/"${plr}"
-echo 'G91' >> ${PLR_PATH}/"${plr}"
-echo 'G1 Z-5' >> ${PLR_PATH}/"${plr}"
-echo 'G90' >> ${PLR_PATH}/"${plr}"
-echo 'M106 S204' >> ${PLR_PATH}/"${plr}"
 
-first_line=$(cat /home/klipper/plrtmpA.$$ |sed -e '1,/Z'${1}'/ d' | sed -ne '/ Z/,$ p' | grep -m 1 ' Z' | grep -E 'F[0-9]+' | sed -E 's/F[0-9]+/F3000/g')
+awk -v end_line="$line" '
-if [ "${first_line}" = "" ];then
+    BEGIN { last_mode = ""; e_value = "" }
-    cat /home/klipper/plrtmpA.$$ | sed -e '1,/Z'${1}'/ d' | sed -ne '/ Z/,$ p' >> ${PLR_PATH}/"${plr}"
+    # 跳过注释行
-else
+    $0 ~ /^;/ { next }
-    line=$(cat /home/klipper/plrtmpA.$$ | sed -e '1,/Z'${1}'/ d' | sed -ne '/ Z/,$ p' | grep -m 1 ' Z')
+    # 只处理到end_line行
-    z_pos=$(echo "$line" | sed -n 's/.*Z\([0-9.]*\).*/\1/p')
+    NR > end_line { exit }
-    if [[ ${1} != $z_pos ]]; then
+    # 记录最后出现的模式
-        first_line=$(cat /home/klipper/plrtmpA.$$ |sed -e '1,/Z'${1}'/ { /Z'${1}'/!d }' | sed -ne '/ Z/,$ p' | grep -m 1 ' Z' | grep -E 'F[0-9]+' | sed -E 's/F[0-9]+/F3000/g')
+    /M83/ { last_mode = "M83" }
-    echo ${first_line} >> ${PLR_PATH}/"${plr}"
+    /M82/ { last_mode = "M82" }
-        cat /home/klipper/plrtmpA.$$ | sed -e '1,/Z'${1}'/ { /Z'${1}'/!d }' | sed -ne '/ Z/,$ p' | tail -n +2 >> ${PLR_PATH}/"${plr}"
+    # 捕获end_line行的E值
-    else
+    NR == end_line {
-        echo ${first_line} >> ${PLR_PATH}/"${plr}"
+        if (match($0, /E[0-9.]+/)) {
-    cat /home/klipper/plrtmpA.$$ | sed -e '1,/Z'${1}'/ d' | sed -ne '/ Z/,$ p' | tail -n +2 >> ${PLR_PATH}/"${plr}"
+            e_value = substr($0, RSTART+1, RLENGTH-1)
+        }
+    }
+    # 最终决策
+    END {
+        if (last_mode == "M83") {
+            print "G92 E0"
+            print "M83"
+        }
+        else if (last_mode == "M82") {
+            print "M82"
+            print (e_value != "") ? "G92 E" e_value : "G92 E0"
+        }
+    }
+' "$sourcefile" >> "${PLR_DIR}/${plr}"
+
+target_position=$(awk -v line_num="$line" 'NR == line_num { gsub(/E[0-9.]+/, ""); print }' "$sourcefile")
+{
+    echo 'G91'
+    echo 'G1 Z10'
+    echo 'G90'
+    echo 'G28 X Y'
+    awk -v end_line="$line" '
+        NR > end_line { exit }
+        /ACTIVATE_COPY_MODE|ACTIVATE_MIRROR_MODE/ { print }
+    ' "$sourcefile"
+    echo 'G1 X5'
+    echo 'G1 Y5'
+    awk -v end_line="$line" '
+        NR > end_line {
+            if (found) {
+                print last_match
+            }
+            exit
+        }
+        /^T[01]/ {
+            last_match = $0
+            found = 1
+        }
+        END {
+            if (found) {
+                print last_match
+            }
+        }
+    ' "$sourcefile"
+
+    if [ -n "$target_position" ]; then
+        echo "$target_position"
     fi
-fi
+    echo 'M106 S204'
+} >> "${PLR_DIR}/${plr}"
+
+echo "G1 Z${z_height} F3000" >> "${PLR_DIR}/${plr}"
+
+sed -n "${line},$ p" "${sourcefile}" >> "${PLR_DIR}/${plr}"
+echo "Append the file from ${line} line to ${PLR_DIR}/${plr}" >> "$LOG_FILE"
+
 rm /home/klipper/plrtmpA.$$
+echo ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> [$(date '+%F %T')] <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" >> "$LOG_FILE"

src/stepper.c

@@ -32,6 +32,7 @@
 struct stepper_move {
     struct move_node node;
     uint32_t interval;
+    uint32_t taskline;
     int16_t add;
     uint16_t count;
     uint8_t flags;
@@ -227,6 +228,7 @@ command_queue_step(uint32_t *args)
     if (!m->count)
         shutdown("Invalid count parameter");
     m->add = args[3];
+    m->taskline = args[4];
     m->flags = 0;
 
     irq_disable();
@@ -249,7 +251,7 @@ command_queue_step(uint32_t *args)
     irq_enable();
 }
 DECL_COMMAND(command_queue_step,
-             "queue_step oid=%c interval=%u count=%hu add=%hi");
+             "queue_step oid=%c interval=%u count=%hu add=%hi taskline=%u");
 
 // Set the direction of the next queued step
 void
@@ -307,6 +309,29 @@ command_stepper_get_position(uint32_t *args)
 }
 DECL_COMMAND(command_stepper_get_position, "stepper_get_position oid=%c");
 
+// Report the current line of the stepper
+void
+command_stepper_get_taskline(uint32_t *args)
+{
+    uint8_t oid = args[0];
+    struct stepper *s = stepper_oid_lookup(oid);
+    uint32_t max_taskline = 0;
+    irq_disable();
+    struct move_node *mn = s->mq.first;
+    while (mn) {
+        struct stepper_move *m = container_of(mn, struct stepper_move, node);
+        if(m->taskline){
+            if (m->taskline > max_taskline)
+                max_taskline = m->taskline;
+            break;
+        }
+        mn = mn->next;
+    }
+    irq_enable();
+    sendf("stepper_taskline line=%u", max_taskline);
+}
+DECL_COMMAND(command_stepper_get_taskline, "stepper_get_taskline oid=%c");
+
 // Stop all moves for a given stepper (caller must disable IRQs)
 static void
 stepper_stop(struct trsync_signal *tss, uint8_t reason)