homing: Replace notify callback with a completion

Update the endstop code to return its trigger completion object during
home_start().  Update the toolhead class to take a completion object
(instead of creating its own).  This reduces the number of
intermediate callbacks needed during a homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/bltouch.py

@@ -174,11 +174,10 @@ class BLTouchEndstopWrapper:
         for s, mcu_pos in self.start_mcu_pos:
             if s.get_mcu_position() == mcu_pos:
                 raise homing.EndstopError("BLTouch failed to deploy")
-    def home_start(self, print_time, sample_time, sample_count, rest_time,
-                   notify=None):
+    def home_start(self, print_time, sample_time, sample_count, rest_time):
         rest_time = min(rest_time, ENDSTOP_REST_TIME)
-        self.mcu_endstop.home_start(print_time, sample_time, sample_count,
-                                    rest_time, notify=notify)
+        return self.mcu_endstop.home_start(print_time, sample_time,
+                                           sample_count, rest_time)
     def get_position_endstop(self):
         return self.position_endstop
     cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"

klippy/homing.py

@@ -15,7 +15,6 @@ class Homing:
         self.toolhead = printer.lookup_object('toolhead')
         self.changed_axes = []
         self.verify_retract = True
-        self.endstops_pending = -1
     def set_no_verify_retract(self):
         self.verify_retract = False
     def set_axes(self, axes):
@@ -41,10 +40,6 @@ class Homing:
                           / s.get_step_dist())
                          for s in mcu_endstop.get_steppers()])
         return move_t / max_steps
-    def _endstop_notify(self):
-        self.endstops_pending -= 1
-        if not self.endstops_pending:
-            self.toolhead.signal_drip_mode_end()
     def homing_move(self, movepos, endstops, speed,
                     probe_pos=False, verify_movement=False):
         # Notify start of homing/probing move
@@ -59,17 +54,18 @@ class Homing:
                          for es, name in endstops for s in es.get_steppers()]
         # Start endstop checking
         print_time = self.toolhead.get_last_move_time()
-        self.endstops_pending = len(endstops)
+        endstop_triggers = []
         for mcu_endstop, name in endstops:
             rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
-            mcu_endstop.home_start(
-                print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
-                rest_time, notify=self._endstop_notify)
+            wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
+                                          ENDSTOP_SAMPLE_COUNT, rest_time)
+            endstop_triggers.append(wait)
+        all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
         self.toolhead.dwell(HOMING_START_DELAY)
         # Issue move
         error = None
         try:
-            self.toolhead.drip_move(movepos, speed)
+            self.toolhead.drip_move(movepos, speed, all_endstop_trigger)
         except CommandError as e:
             error = "Error during homing move: %s" % (str(e),)
         # Wait for endstops to trigger
@@ -110,7 +106,7 @@ class Homing:
                         "Endstop %s still triggered after retract" % (name,))
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
-        ret = self.printer.send_event("homing:home_rails_begin", rails)
+        self.printer.send_event("homing:home_rails_begin", rails)
         # Alter kinematics class to think printer is at forcepos
         homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
         forcepos = self._fill_coord(forcepos)
@@ -155,6 +151,13 @@ class Homing:
             self.printer.lookup_object('stepper_enable').motor_off()
             raise
 
+# Return a completion that completes when all completions in a list complete
+def multi_complete(printer, completions):
+    if len(completions) == 1:
+        return completions[0]
+    cb = (lambda e: all([c.wait() for c in completions]))
+    return printer.get_reactor().register_callback(cb)
+
 class CommandError(Exception):
     pass
 

klippy/mcu.py

@@ -25,7 +25,6 @@ class MCU_endstop:
         self._min_query_time = self._last_sent_time = 0.
         self._next_query_print_time = self._end_home_time = 0.
         self._trigger_completion = self._home_completion = None
-        self._trigger_notify = None
     def get_mcu(self):
         return self._mcu
     def add_stepper(self, stepper):
@@ -55,16 +54,14 @@ class MCU_endstop:
         self._query_cmd = self._mcu.lookup_command(
             "endstop_query_state oid=%c", cq=cmd_queue)
     def home_start(self, print_time, sample_time, sample_count, rest_time,
-                   triggered=True, notify=None):
+                   triggered=True):
         clock = self._mcu.print_time_to_clock(print_time)
         rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
-        self._trigger_notify = notify
         self._next_query_print_time = print_time + self.RETRY_QUERY
         self._min_query_time = self._reactor.monotonic()
         self._last_sent_time = 0.
         self._home_end_time = self._reactor.NEVER
         self._trigger_completion = self._reactor.completion()
-        self._home_completion = self._reactor.completion()
         self._mcu.register_response(self._handle_endstop_state,
                                     "endstop_state", self._oid)
         self._home_cmd.send(
@@ -73,6 +70,7 @@ class MCU_endstop:
             reqclock=clock)
         self._home_completion = self._reactor.register_callback(
             self._home_retry)
+        return self._trigger_completion
     def _handle_endstop_state(self, params):
         logging.debug("endstop_state %s", params)
         if params['#sent_time'] >= self._min_query_time:
@@ -80,16 +78,14 @@ class MCU_endstop:
                 self._last_sent_time = params['#sent_time']
             else:
                 self._min_query_time = self._reactor.NEVER
-                self._reactor.async_complete(self._trigger_completion, params)
+                self._reactor.async_complete(self._trigger_completion, True)
     def _home_retry(self, eventtime):
         if self._mcu.is_fileoutput():
             return True
         while 1:
-            params = self._trigger_completion.wait(eventtime + 0.100)
-            if params is not None:
+            did_trigger = self._trigger_completion.wait(eventtime + 0.100)
+            if did_trigger is not None:
                 # Homing completed successfully
-                if self._trigger_notify is not None:
-                    self._trigger_notify()
                 return True
             # Check for timeout
             last = self._mcu.estimated_print_time(self._last_sent_time)
@@ -108,6 +104,8 @@ class MCU_endstop:
         self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
         for s in self._steppers:
             s.note_homing_end(did_trigger=did_trigger)
+        if not self._trigger_completion.test():
+            self._trigger_completion.complete(False)
         if not did_trigger:
             raise self.TimeoutError("Timeout during endstop homing")
     def query_endstop(self, print_time):

klippy/toolhead.py

@@ -441,7 +441,7 @@ class ToolHead:
                 continue
             npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
             self._update_move_time(npt)
-    def drip_move(self, newpos, speed):
+    def drip_move(self, newpos, speed, drip_completion):
         # Transition from "Flushed"/"Priming"/main state to "Drip" state
         self.move_queue.flush()
         self.special_queuing_state = "Drip"
@@ -449,7 +449,7 @@ class ToolHead:
         self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
         self.move_queue.set_flush_time(self.buffer_time_high)
         self.idle_flush_print_time = 0.
-        self.drip_completion = self.reactor.completion()
+        self.drip_completion = drip_completion
         # Submit move
         try:
             self.move(newpos, speed)
@@ -464,8 +464,6 @@ class ToolHead:
             self.trapq_free_moves(self.trapq, self.reactor.NEVER)
         # Exit "Drip" state
         self.flush_step_generation()
-    def signal_drip_mode_end(self):
-        self.drip_completion.complete(True)
     # Misc commands
     def stats(self, eventtime):
         for m in self.all_mcus: