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homing: Check for failures during multi-endstop homing 

If any endstop reports a failure, then stop homing on all endstops.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-02 13:42:25 -04:00
parent 983951443c
commit bc29ee1c6d
2 changed files with 10 additions and 3 deletions
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9
klippy/extras/homing.py
View File

@ -13,8 +13,13 @@ ENDSTOP_SAMPLE_COUNT = 4
def multi_complete(printer, completions): def multi_complete(printer, completions):
if len(completions) == 1: if len(completions) == 1:
return completions[0] return completions[0]
cb = (lambda e: all([c.wait() for c in completions])) # Build completion that waits for all completions
return printer.get_reactor().register_callback(cb) reactor = printer.get_reactor()
cp = reactor.register_callback(lambda e: [c.wait() for c in completions])
# If any completion indicates an error, then exit main completion early
for c in completions:
reactor.register_callback(lambda e: cp.complete(1) if c.wait() else 0)
return cp
# Implementation of homing/probing moves # Implementation of homing/probing moves
class HomingMove: class HomingMove:

4
klippy/mcu.py
View File

@ -84,7 +84,9 @@ class MCU_trsync:
tc = self._trigger_completion tc = self._trigger_completion
if tc is not None: if tc is not None:
self._trigger_completion = None self._trigger_completion = None
self._reactor.async_complete(tc, True) reason = params['trigger_reason']
is_failure = (reason == self.REASON_COMMS_TIMEOUT)
self._reactor.async_complete(tc, is_failure)
elif self._home_end_clock is not None: elif self._home_end_clock is not None:
clock = self._mcu.clock32_to_clock64(params['clock']) clock = self._mcu.clock32_to_clock64(params['clock'])
if clock >= self._home_end_clock: if clock >= self._home_end_clock: