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probe: Merge ProbeVirtualEndstop and ProbeEndstopWrapper wrapper classes 

No need to have two wrappers around the mcu_endstop class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-09-27 09:47:37 -04:00
parent 9f755750d3
commit f49f298003
1 changed files with 27 additions and 41 deletions
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68
klippy/extras/probe.py
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@ -26,17 +26,9 @@ class PrinterProbe:
else: else:
pconfig = config.getsection('printer') pconfig = config.getsection('printer')
self.z_position = pconfig.getfloat('minimum_z_position', 0.) self.z_position = pconfig.getfloat('minimum_z_position', 0.)
# Create an "endstop" object to handle the probe pin # Create mcu_probe object and register z_virtual_endstop pin
self.mcu_probe = ProbeEndstopWrapper(config)
ppins = self.printer.lookup_object('pins') ppins = self.printer.lookup_object('pins')
pin = config.get('pin')
pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
mcu = pin_params['chip']
mcu.register_config_callback(self.build_config)
self.mcu_probe = mcu.setup_pin('endstop', pin_params)
if (config.get('activate_gcode', None) is not None or
config.get('deactivate_gcode', None) is not None):
self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe)
# Create z_virtual_endstop pin
ppins.register_chip('probe', self) ppins.register_chip('probe', self)
# Register PROBE/QUERY_PROBE commands # Register PROBE/QUERY_PROBE commands
self.gcode = self.printer.lookup_object('gcode') self.gcode = self.printer.lookup_object('gcode')
@ -44,16 +36,12 @@ class PrinterProbe:
'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help) 'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help)
self.gcode.register_command( self.gcode.register_command(
'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help) 'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
def build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers('Z'):
stepper.add_to_endstop(self.mcu_probe)
def setup_pin(self, pin_type, pin_params): def setup_pin(self, pin_type, pin_params):
if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop': if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop':
raise pins.error("Probe virtual endstop only useful as endstop pin") raise pins.error("Probe virtual endstop only useful as endstop pin")
if pin_params['invert'] or pin_params['pullup']: if pin_params['invert'] or pin_params['pullup']:
raise pins.error("Can not pullup/invert probe virtual endstop") raise pins.error("Can not pullup/invert probe virtual endstop")
return ProbeVirtualEndstop(self, self.mcu_probe) return self.mcu_probe
def get_offsets(self): def get_offsets(self):
return self.x_offset, self.y_offset, self.z_offset return self.x_offset, self.y_offset, self.z_offset
cmd_PROBE_help = "Probe Z-height at current XY position" cmd_PROBE_help = "Probe Z-height at current XY position"
@ -82,13 +70,20 @@ class PrinterProbe:
self.gcode.respond_info( self.gcode.respond_info(
"probe: %s" % (["open", "TRIGGERED"][not not res],)) "probe: %s" % (["open", "TRIGGERED"][not not res],))
# Endstop wrapper that enables running g-code scripts on setup # Endstop wrapper that enables probe specific features
class ProbeEndstopWrapper: class ProbeEndstopWrapper:
def __init__(self, config, mcu_endstop): def __init__(self, config):
self.mcu_endstop = mcu_endstop self.printer = config.get_printer()
self.gcode = config.get_printer().lookup_object('gcode') self.position_endstop = config.getfloat('z_offset')
self.activate_gcode = config.get('activate_gcode', "") self.activate_gcode = config.get('activate_gcode', None)
self.deactivate_gcode = config.get('deactivate_gcode', "") self.deactivate_gcode = config.get('deactivate_gcode', None)
# Create an "endstop" object to handle the probe pin
ppins = self.printer.lookup_object('pins')
pin = config.get('pin')
pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
mcu = pin_params['chip']
mcu.register_config_callback(self._build_config)
self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
# Wrappers # Wrappers
self.get_mcu = self.mcu_endstop.get_mcu self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper self.add_stepper = self.mcu_endstop.add_stepper
@ -98,31 +93,22 @@ class ProbeEndstopWrapper:
self.query_endstop = self.mcu_endstop.query_endstop self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError self.TimeoutError = self.mcu_endstop.TimeoutError
def _build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers('Z'):
stepper.add_to_endstop(self)
def home_prepare(self): def home_prepare(self):
self.gcode.run_script_from_command(self.activate_gcode) if self.activate_gcode is not None:
gcode = self.printer.lookup_object('gcode')
gcode.run_script_from_command(self.activate_gcode)
self.mcu_endstop.home_prepare() self.mcu_endstop.home_prepare()
def home_finalize(self): def home_finalize(self):
self.gcode.run_script_from_command(self.deactivate_gcode) if self.deactivate_gcode is not None:
gcode = self.printer.lookup_object('gcode')
gcode.run_script_from_command(self.deactivate_gcode)
self.mcu_endstop.home_finalize() self.mcu_endstop.home_finalize()
# Wrapper for probe:z_virtual_endstop handling
class ProbeVirtualEndstop:
def __init__(self, probe, mcu_endstop):
self.probe = probe
self.mcu_endstop = mcu_endstop
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.home_finalize = self.mcu_endstop.home_finalize
self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.home_prepare = self.mcu_endstop.home_prepare
self.TimeoutError = self.mcu_endstop.TimeoutError
def get_position_endstop(self): def get_position_endstop(self):
return self.probe.get_offsets()[2] return self.position_endstop
# Helper code that can probe a series of points and report the # Helper code that can probe a series of points and report the
# position at each point. # position at each point.