mirror of https://github.com/Desuuuu/klipper.git
homing: Make homing.py an "extras" module
Move klippy/homing.py to klippy/extras/homing.py and convert the code to an "extras" modules. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
ea85d419de
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8260a3a0c3
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@ -1,6 +1,6 @@
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# Endstop accuracy improvement via stepper phase tracking
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# Endstop accuracy improvement via stepper phase tracking
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#
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#
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# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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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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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import math, logging
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@ -101,7 +101,7 @@ class EndstopPhase:
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"Endstop %s incorrect phase (got %d vs %d)" % (
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"Endstop %s incorrect phase (got %d vs %d)" % (
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self.name, phase, self.endstop_phase))
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self.name, phase, self.endstop_phase))
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return delta * self.step_dist
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return delta * self.step_dist
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def handle_home_rails_end(self, rails):
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def handle_home_rails_end(self, homing_state, rails):
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for rail in rails:
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for rail in rails:
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stepper = rail.get_steppers()[0]
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stepper = rail.get_steppers()[0]
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if stepper.get_name() != self.name:
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if stepper.get_name() != self.name:
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@ -149,7 +149,7 @@ class EndstopPhases:
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return
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return
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phase = convert_phase(driver_phase, driver_phases, len(phase_history))
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phase = convert_phase(driver_phase, driver_phases, len(phase_history))
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phase_history[phase] += 1
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phase_history[phase] += 1
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def handle_home_rails_end(self, rails):
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def handle_home_rails_end(self, homing_state, rails):
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for rail in rails:
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for rail in rails:
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stepper = rail.get_steppers()[0]
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stepper = rail.get_steppers()[0]
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stepper_name = stepper.get_name()
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stepper_name = stepper.get_name()
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@ -4,7 +4,6 @@
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#
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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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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import logging
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import homing
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class GCodeMove:
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class GCodeMove:
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def __init__(self, config):
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def __init__(self, config):
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@ -19,11 +18,13 @@ class GCodeMove:
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self.reset_last_position)
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self.reset_last_position)
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printer.register_event_handler("extruder:activate_extruder",
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printer.register_event_handler("extruder:activate_extruder",
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self._handle_activate_extruder)
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self._handle_activate_extruder)
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printer.register_event_handler("homing:home_rails_end",
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self._handle_home_rails_end)
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self.is_printer_ready = False
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self.is_printer_ready = False
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# Register g-code commands
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# Register g-code commands
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gcode = printer.lookup_object('gcode')
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gcode = printer.lookup_object('gcode')
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handlers = [
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handlers = [
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'G1', 'G28', 'G20', 'G21',
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'G1', 'G20', 'G21',
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'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
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'M82', 'M83', 'G90', 'G91', 'G92', 'M220', 'M221',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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'SET_GCODE_OFFSET', 'SAVE_GCODE_STATE', 'RESTORE_GCODE_STATE',
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]
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]
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@ -68,6 +69,10 @@ class GCodeMove:
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self.reset_last_position()
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self.reset_last_position()
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self.extrude_factor = 1.
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self.extrude_factor = 1.
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self.base_position[3] = self.last_position[3]
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self.base_position[3] = self.last_position[3]
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def _handle_home_rails_end(self, homing_state, rails):
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self.reset_last_position()
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for axis in homing_state.get_axes():
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self.base_position[axis] = self.homing_position[axis]
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def set_move_transform(self, transform, force=False):
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def set_move_transform(self, transform, force=False):
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if self.move_transform is not None and not force:
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if self.move_transform is not None and not force:
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raise self.printer.config_error(
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raise self.printer.config_error(
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@ -134,18 +139,6 @@ class GCodeMove:
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raise gcmd.error("Unable to parse move '%s'"
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raise gcmd.error("Unable to parse move '%s'"
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% (gcmd.get_commandline(),))
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% (gcmd.get_commandline(),))
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self.move_with_transform(self.last_position, self.speed)
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self.move_with_transform(self.last_position, self.speed)
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def cmd_G28(self, gcmd):
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# Move to origin
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axes = []
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for pos, axis in enumerate('XYZ'):
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if gcmd.get(axis, None) is not None:
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axes.append(pos)
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if not axes:
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axes = [0, 1, 2]
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homing_state = homing.Homing(self.printer)
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homing_state.home_axes(axes)
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for axis in homing_state.get_axes():
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self.base_position[axis] = self.homing_position[axis]
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# G-Code coordinate manipulation
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# G-Code coordinate manipulation
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def cmd_G20(self, gcmd):
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def cmd_G20(self, gcmd):
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# Set units to inches
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# Set units to inches
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@ -1,4 +1,4 @@
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# Code for state tracking during homing operations
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# Helper code for implementing homing operations
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#
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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#
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@ -9,6 +9,7 @@ HOMING_START_DELAY = 0.001
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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ENDSTOP_SAMPLE_COUNT = 4
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# State tracking during toolhead homing/probing operations
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class Homing:
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class Homing:
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def __init__(self, printer):
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def __init__(self, printer):
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self.printer = printer
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self.printer = printer
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@ -106,7 +107,7 @@ class Homing:
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"Endstop %s still triggered after retract" % (name,))
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"Endstop %s still triggered after retract" % (name,))
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def home_rails(self, rails, forcepos, movepos):
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def home_rails(self, rails, forcepos, movepos):
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# Notify of upcoming homing operation
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# Notify of upcoming homing operation
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self.printer.send_event("homing:home_rails_begin", rails)
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self.printer.send_event("homing:home_rails_begin", self, rails)
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# Alter kinematics class to think printer is at forcepos
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# Alter kinematics class to think printer is at forcepos
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homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
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homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
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forcepos = self._fill_coord(forcepos)
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forcepos = self._fill_coord(forcepos)
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@ -136,7 +137,7 @@ class Homing:
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kin = self.toolhead.get_kinematics()
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kin = self.toolhead.get_kinematics()
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for s in kin.get_steppers():
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for s in kin.get_steppers():
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s.set_tag_position(s.get_commanded_position())
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s.set_tag_position(s.get_commanded_position())
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ret = self.printer.send_event("homing:home_rails_end", rails)
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ret = self.printer.send_event("homing:home_rails_end", self, rails)
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if any(ret):
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if any(ret):
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# Apply any homing offsets
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# Apply any homing offsets
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adjustpos = kin.calc_tag_position()
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adjustpos = kin.calc_tag_position()
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@ -157,3 +158,25 @@ def multi_complete(printer, completions):
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return completions[0]
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return completions[0]
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cb = (lambda e: all([c.wait() for c in completions]))
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cb = (lambda e: all([c.wait() for c in completions]))
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return printer.get_reactor().register_callback(cb)
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return printer.get_reactor().register_callback(cb)
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class PrinterHoming:
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def __init__(self, config):
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self.printer = config.get_printer()
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# Register g-code commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('G28', self.cmd_G28)
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def new_homing_state(self):
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return Homing(self.printer)
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def cmd_G28(self, gcmd):
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# Move to origin
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axes = []
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for pos, axis in enumerate('XYZ'):
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if gcmd.get(axis, None) is not None:
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axes.append(pos)
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if not axes:
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axes = [0, 1, 2]
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homing_state = Homing(self.printer)
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homing_state.home_axes(axes)
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def load_config(config):
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return PrinterHoming(config)
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@ -13,7 +13,7 @@ class HomingOverride:
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gcode_macro = self.printer.load_object(config, 'gcode_macro')
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gcode_macro = self.printer.load_object(config, 'gcode_macro')
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self.template = gcode_macro.load_template(config, 'gcode')
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self.template = gcode_macro.load_template(config, 'gcode')
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self.in_script = False
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self.in_script = False
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self.printer.load_object(config, 'gcode_move')
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self.printer.load_object(config, 'homing')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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self.gcode.register_command("G28", self.cmd_G28)
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@ -1,10 +1,10 @@
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# Z-Probe support
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# Z-Probe support
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#
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#
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# Copyright (C) 2017-2020 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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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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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import logging
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import pins, homing
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import pins
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from . import manual_probe
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from . import manual_probe
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HINT_TIMEOUT = """
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HINT_TIMEOUT = """
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@ -75,11 +75,11 @@ class PrinterProbe:
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def _handle_homing_move_end(self, endstops):
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def _handle_homing_move_end(self, endstops):
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if self.mcu_probe in endstops:
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if self.mcu_probe in endstops:
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self.mcu_probe.probe_finish()
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self.mcu_probe.probe_finish()
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def _handle_home_rails_begin(self, rails):
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def _handle_home_rails_begin(self, homing_state, rails):
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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if self.mcu_probe in endstops:
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if self.mcu_probe in endstops:
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self.multi_probe_begin()
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self.multi_probe_begin()
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def _handle_home_rails_end(self, rails):
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def _handle_home_rails_end(self, homing_state, rails):
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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endstops = [es for rail in rails for es, name in rail.get_endstops()]
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if self.mcu_probe in endstops:
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if self.mcu_probe in endstops:
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self.multi_probe_end()
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self.multi_probe_end()
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@ -112,7 +112,7 @@ class PrinterProbe:
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curtime = self.printer.get_reactor().monotonic()
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curtime = self.printer.get_reactor().monotonic()
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if 'z' not in toolhead.get_status(curtime)['homed_axes']:
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if 'z' not in toolhead.get_status(curtime)['homed_axes']:
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raise self.printer.command_error("Must home before probe")
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raise self.printer.command_error("Must home before probe")
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homing_state = homing.Homing(self.printer)
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homing_state = self.printer.lookup_object('homing').new_homing_state()
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pos = toolhead.get_position()
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pos = toolhead.get_position()
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pos[2] = self.z_position
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pos[2] = self.z_position
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endstops = [(self.mcu_probe, "probe")]
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endstops = [(self.mcu_probe, "probe")]
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@ -20,7 +20,7 @@ class SafeZHoming:
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self.max_z = zconfig.getfloat('position_max', note_valid=False)
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self.max_z = zconfig.getfloat('position_max', note_valid=False)
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self.speed = config.getfloat('speed', 50.0, above=0.)
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self.speed = config.getfloat('speed', 50.0, above=0.)
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self.move_to_previous = config.getboolean('move_to_previous', False)
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self.move_to_previous = config.getboolean('move_to_previous', False)
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self.printer.load_object(config, 'gcode_move')
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self.printer.load_object(config, 'homing')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode = self.printer.lookup_object('gcode')
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.prev_G28 = self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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self.gcode.register_command("G28", self.cmd_G28)
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@ -273,8 +273,8 @@ class ToolHead:
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desc=self.cmd_SET_VELOCITY_LIMIT_help)
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desc=self.cmd_SET_VELOCITY_LIMIT_help)
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gcode.register_command('M204', self.cmd_M204)
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gcode.register_command('M204', self.cmd_M204)
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# Load some default modules
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# Load some default modules
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modules = ["gcode_move", "idle_timeout", "statistics", "manual_probe",
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modules = ["gcode_move", "homing", "idle_timeout", "statistics",
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"tuning_tower"]
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"manual_probe", "tuning_tower"]
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for module_name in modules:
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for module_name in modules:
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self.printer.load_object(config, module_name)
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self.printer.load_object(config, module_name)
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# Print time tracking
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# Print time tracking
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