mirror of https://github.com/Desuuuu/klipper.git
65 lines
2.2 KiB
Python
65 lines
2.2 KiB
Python
# Run user defined actions in place of a normal G28 homing command
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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class HomingOverride:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.start_pos = [config.getfloat('set_position_' + a, None)
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for a in 'xyz']
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self.axes = config.get('axes', 'XYZ').upper()
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config.get('gcode')
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gcode_macro = self.printer.try_load_module(config, 'gcode_macro')
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self.template = gcode_macro.load_template(config, 'gcode')
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self.in_script = False
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command("G28", None)
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self.gcode.register_command("G28", self.cmd_G28)
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def cmd_G28(self, params):
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if self.in_script:
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# Was called recursively - invoke the real G28 command
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self.gcode.cmd_G28(params)
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return
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# if no axis is given as parameter we assume the override
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no_axis = True
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for axis in 'XYZ':
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if axis in params:
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no_axis = False
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break
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if no_axis:
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override = True
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else:
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# check if we home an axsis which needs the override
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override = False
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for axis in self.axes:
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if axis in params:
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override = True
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if not override:
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self.gcode.cmd_G28(params)
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return
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# Calculate forced position (if configured)
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toolhead = self.printer.lookup_object('toolhead')
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pos = toolhead.get_position()
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homing_axes = []
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for axis, loc in enumerate(self.start_pos):
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if loc is not None:
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pos[axis] = loc
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homing_axes.append(axis)
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toolhead.set_position(pos, homing_axes=homing_axes)
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self.gcode.reset_last_position()
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# Perform homing
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try:
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self.in_script = True
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self.template.run_gcode_from_command()
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finally:
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self.in_script = False
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def load_config(config):
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return HomingOverride(config)
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