mirror of https://github.com/Desuuuu/klipper.git
homing: Create QueryEndstops class from gcode
Create the QueryEndstops in the gcode handler instead of in the kinematic classes. This simplifies the gcode handler as it can directly register its response callback. Also, store the stepper name in the stepper class. Also, propagate the print_time of the query request to the mcu_endstop class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -10,9 +10,9 @@ StepList = (0, 1, 2)
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class CartKinematics:
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def __init__(self, printer, config):
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steppers = ['stepper_x', 'stepper_y', 'stepper_z']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.steppers = [stepper.PrinterStepper(
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printer, config.getsection('stepper_' + n), n)
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for n in ['x', 'y', 'z']]
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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self.stepper_pos = [0, 0, 0]
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@ -73,8 +73,8 @@ class CartKinematics:
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self.steppers[i].motor_enable(move_time, 1)
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need_motor_enable |= self.steppers[i].need_motor_enable
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self.need_motor_enable = need_motor_enable
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def query_endstops(self, move_time):
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return homing.QueryEndstops(["x", "y", "z"], self.steppers)
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def query_endstops(self, query_state):
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query_state.set_steppers(self.steppers)
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def check_endstops(self, move):
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end_pos = move.end_pos
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for i in StepList:
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@ -10,9 +10,9 @@ StepList = (0, 1, 2)
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class DeltaKinematics:
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def __init__(self, printer, config):
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steppers = ['stepper_a', 'stepper_b', 'stepper_c']
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self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
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for n in steppers]
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self.steppers = [stepper.PrinterStepper(
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printer, config.getsection('stepper_' + n), n)
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for n in ['a', 'b', 'c']]
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self.need_motor_enable = True
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radius = config.getfloat('delta_radius')
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arm_length = config.getfloat('delta_arm_length')
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@ -111,8 +111,8 @@ class DeltaKinematics:
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for i in StepList:
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self.steppers[i].motor_enable(move_time, 1)
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self.need_motor_enable = False
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def query_endstops(self, move_time):
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return homing.QueryEndstops(["a", "b", "c"], self.steppers)
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def query_endstops(self, query_state):
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query_state.set_steppers(self.steppers)
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def check_move(self, move):
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end_pos = move.end_pos
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xy2 = end_pos[0]**2 + end_pos[1]**2
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@ -9,7 +9,7 @@ import stepper, heater, homing
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class PrinterExtruder:
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def __init__(self, printer, config):
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self.heater = heater.PrinterHeater(printer, config)
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self.stepper = stepper.PrinterStepper(printer, config)
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self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
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self.pressure_advance = config.getfloat('pressure_advance', 0.)
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self.need_motor_enable = True
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self.stepper_pos = 0
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@ -308,16 +308,10 @@ class GCodeParser:
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# Get Endstop Status
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if self.inputfile:
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return
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# Wrapper class for check_busy() that responds with final status
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class endstop_handler_wrapper:
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gcode = self
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state = self.toolhead.query_endstops()
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def check_busy(self, eventtime):
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busy = self.state.check_busy(eventtime)
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if not busy:
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self.gcode.respond(self.state.get_msg())
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return busy
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self.set_busy(endstop_handler_wrapper())
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print_time = self.toolhead.get_last_move_time()
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query_state = homing.QueryEndstops(print_time, self.respond)
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self.toolhead.query_endstops(query_state)
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self.set_busy(query_state)
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def cmd_M140(self, params):
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# Set Bed Temperature
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self.set_temp(self.heater_bed, params)
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@ -65,31 +65,36 @@ class Homing:
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del self.endstops[:]
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return False
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# Helper code for querying and reporting the status of the endstops
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class QueryEndstops:
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def __init__(self, names, steppers):
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def __init__(self, print_time, respond_cb):
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self.print_time = print_time
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self.respond_cb = respond_cb
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self.endstops = []
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self.busy = []
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for name, stepper in zip(names, steppers):
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es = stepper.query_endstop()
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def set_steppers(self, steppers):
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for stepper in steppers:
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es = stepper.query_endstop(self.print_time)
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if es is None:
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continue
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self.endstops.append((name, es))
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self.endstops.append((stepper.name, es))
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self.busy.append(es)
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def check_busy(self, eventtime):
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# Check if all endstop queries have been received
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while self.busy:
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busy = self.busy[0].check_busy(eventtime)
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if busy:
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return True
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self.busy.pop(0)
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return False
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def get_msg(self):
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# All responses received - report status
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msgs = []
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for name, es in self.endstops:
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msg = "open"
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if es.get_last_triggered():
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msg = "TRIGGERED"
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msgs.append("%s:%s" % (name, msg))
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return " ".join(msgs)
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self.respond_cb(" ".join(msgs))
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return False
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class EndstopError(Exception):
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def __init__(self, pos, msg="Move out of range"):
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@ -140,10 +140,11 @@ class MCU_endstop:
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if self._stepper.get_invert_dir():
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return -pos
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return pos
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def query_endstop(self):
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def query_endstop(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self._homing = False
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self._min_query_time = time.time()
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self._next_query_clock = 0
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self._next_query_clock = clock
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def get_last_triggered(self):
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return self._last_state.get('pin', self._invert) ^ self._invert
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@ -6,9 +6,10 @@
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import math, logging
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class PrinterStepper:
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def __init__(self, printer, config):
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def __init__(self, printer, config, name):
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self.printer = printer
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self.config = config
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self.name = name
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self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
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self.step_dist = config.getfloat('step_distance')
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@ -76,10 +77,11 @@ class PrinterStepper:
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mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
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self.mcu_endstop.home(mcu_time, step_time)
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return self.mcu_endstop
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def query_endstop(self):
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def query_endstop(self, print_time):
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if self.mcu_endstop is None:
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return None
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self.mcu_endstop.query_endstop()
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mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
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self.mcu_endstop.query_endstop(mcu_time)
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return self.mcu_endstop
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def get_homed_offset(self):
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if not self.homing_stepper_phases or self.need_motor_enable:
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@ -279,9 +279,8 @@ class ToolHead:
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self.extruder.motor_off(last_move_time)
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self.dwell(STALL_TIME)
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logging.debug('; Max time of %f' % (last_move_time,))
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def query_endstops(self):
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last_move_time = self.get_last_move_time()
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return self.kin.query_endstops(last_move_time)
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def query_endstops(self, query_state):
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return self.kin.query_endstops(query_state)
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def force_shutdown(self):
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self.printer.mcu.force_shutdown()
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self.move_queue.reset()
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