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