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toolhead: Avoid directly accessing the printer.mcu field 

Lookup the mcu object from the printer objects and store it locally in
the toolhead class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-26 00:04:48 -04:00
parent 68ba3d5106
commit a42cb4fecf
2 changed files with 15 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
klippy/gcode.py
View File

@ -429,7 +429,7 @@ class GCodeParser:
return return
try: try:
res = self.toolhead.query_endstops() res = self.toolhead.query_endstops()
except self.printer.mcu.error as e: except homing.EndstopError as e:
self.respond_error(str(e)) self.respond_error(str(e))
return return
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t]) self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])

23
klippy/toolhead.py
View File

@ -4,7 +4,7 @@
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging import math, logging
import cartesian, corexy, delta, extruder import homing, cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in # Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in # mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -183,6 +183,7 @@ class ToolHead:
def __init__(self, printer, config): def __init__(self, printer, config):
self.printer = printer self.printer = printer
self.reactor = printer.reactor self.reactor = printer.reactor
self.mcu = printer.objects['mcu']
self.extruder = extruder.DummyExtruder() self.extruder = extruder.DummyExtruder()
kintypes = {'cartesian': cartesian.CartKinematics, kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics, 'corexy': corexy.CoreXYKinematics,
@ -230,19 +231,19 @@ class ToolHead:
def update_move_time(self, movetime): def update_move_time(self, movetime):
self.print_time += movetime self.print_time += movetime
flush_to_time = self.print_time - self.move_flush_time flush_to_time = self.print_time - self.move_flush_time
self.printer.mcu.flush_moves(flush_to_time) self.mcu.flush_moves(flush_to_time)
def get_next_move_time(self): def get_next_move_time(self):
if self.synch_print_time: if self.synch_print_time:
curtime = self.reactor.monotonic() curtime = self.reactor.monotonic()
if self.print_time: if self.print_time:
buffer_time = self.printer.mcu.get_print_buffer_time( buffer_time = self.mcu.get_print_buffer_time(
curtime, self.print_time) curtime, self.print_time)
self.print_time += max(self.buffer_time_start - buffer_time, 0.) self.print_time += max(self.buffer_time_start - buffer_time, 0.)
if self.forced_synch: if self.forced_synch:
self.print_stall += 1 self.print_stall += 1
self.forced_synch = False self.forced_synch = False
else: else:
self.printer.mcu.set_print_start_time(curtime) self.mcu.set_print_start_time(curtime)
self.print_time = self.buffer_time_start self.print_time = self.buffer_time_start
self._reset_motor_off() self._reset_motor_off()
self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
@ -254,7 +255,7 @@ class ToolHead:
if synch_print_time or must_synch: if synch_print_time or must_synch:
self.synch_print_time = True self.synch_print_time = True
self.move_queue.set_flush_time(self.buffer_time_high) self.move_queue.set_flush_time(self.buffer_time_high)
self.printer.mcu.flush_moves(self.print_time) self.mcu.flush_moves(self.print_time)
def get_last_move_time(self): def get_last_move_time(self):
self._flush_lookahead() self._flush_lookahead()
return self.get_next_move_time() return self.get_next_move_time()
@ -273,7 +274,7 @@ class ToolHead:
return return
# Check if there are lots of queued moves and stall if so # Check if there are lots of queued moves and stall if so
while 1: while 1:
buffer_time = self.printer.mcu.get_print_buffer_time( buffer_time = self.mcu.get_print_buffer_time(
eventtime, self.print_time) eventtime, self.print_time)
stall_time = buffer_time - self.buffer_time_high stall_time = buffer_time - self.buffer_time_high
if stall_time <= 0.: if stall_time <= 0.:
@ -290,8 +291,7 @@ class ToolHead:
if not self.print_time: if not self.print_time:
return self.reactor.NEVER return self.reactor.NEVER
print_time = self.print_time print_time = self.print_time
buffer_time = self.printer.mcu.get_print_buffer_time( buffer_time = self.mcu.get_print_buffer_time(eventtime, print_time)
eventtime, print_time)
if buffer_time > self.buffer_time_low: if buffer_time > self.buffer_time_low:
# Running normally - reschedule check # Running normally - reschedule check
return eventtime + buffer_time - self.buffer_time_low return eventtime + buffer_time - self.buffer_time_low
@ -366,7 +366,10 @@ class ToolHead:
eventtime = self.reactor.pause(eventtime + 0.100) eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self): def query_endstops(self):
last_move_time = self.get_last_move_time() last_move_time = self.get_last_move_time()
try:
return self.kin.query_endstops(last_move_time) return self.kin.query_endstops(last_move_time)
except self.mcu.error as e:
raise homing.EndstopError(str(e))
def set_extruder(self, extruder): def set_extruder(self, extruder):
last_move_time = self.get_last_move_time() last_move_time = self.get_last_move_time()
self.extruder.set_active(last_move_time, False) self.extruder.set_active(last_move_time, False)
@ -380,7 +383,7 @@ class ToolHead:
print_time = self.print_time print_time = self.print_time
if print_time: if print_time:
is_active = True is_active = True
buffer_time = max(0., self.printer.mcu.get_print_buffer_time( buffer_time = max(0., self.mcu.get_print_buffer_time(
eventtime, print_time)) eventtime, print_time))
else: else:
is_active = eventtime < self.last_print_end_time + 60. is_active = eventtime < self.last_print_end_time + 60.
@ -388,7 +391,7 @@ class ToolHead:
print_time, buffer_time, self.print_stall) print_time, buffer_time, self.print_stall)
def force_shutdown(self): def force_shutdown(self):
try: try:
self.printer.mcu.force_shutdown() self.mcu.force_shutdown()
self.move_queue.reset() self.move_queue.reset()
self.reset_print_time() self.reset_print_time()
except: except: