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gcode: Rework homing to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-12-08 18:12:20 -05:00
parent a6de1db94d
commit 89f5452ddb
6 changed files with 59 additions and 97 deletions
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75
klippy/homing.py
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@@ -4,91 +4,54 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import mcu
class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.verify_retract = True
self.eventtime = 0.
self.states = []
self.endstops = []
def set_no_verify_retract(self):
self.verify_retract = False
def set_axes(self, axes):
self.changed_axes = axes
def get_axes(self):
return self.changed_axes
def plan_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, (False,)))
def plan_second_home(self, forcepos, movepos, steppers, speed):
self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
self.states.append((self.do_wait_endstop, (self.verify_retract,)))
def plan_retract(self, newpos, steppers, speed):
self.states.append((self.do_retract, (newpos, steppers, speed)))
def plan_calc_position(self, callback):
self.states.append((self.do_calc_position, (callback,)))
def plan_axes_update(self, callback):
self.states.append((callback, (self,)))
def check_busy(self, eventtime):
self.eventtime = eventtime
while self.states:
first = self.states[0]
try:
ret = first[0](*first[1])
except EndstopError, e:
self.toolhead.motor_off()
raise
if ret:
return True
self.states.pop(0)
return False
def fill_coord(self, coord):
def _fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = list(self.toolhead.get_position())
for i in range(len(coord)):
if coord[i] is not None:
thcoord[i] = coord[i]
return thcoord
def do_retract(self, newpos, steppers, speed):
self.toolhead.move(self.fill_coord(newpos), speed)
return False
def do_home(self, forcepos, movepos, steppers, speed):
def retract(self, newpos, speed):
self.toolhead.move(self._fill_coord(newpos), speed)
def home(self, forcepos, movepos, steppers, speed, second_home=False):
# Alter kinematics class to think printer is at forcepos
self.toolhead.set_position(self.fill_coord(forcepos))
self.toolhead.set_position(self._fill_coord(forcepos))
# Start homing and issue move
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
es = s.enable_endstop_checking(print_time, s.step_dist / speed)
self.endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self.fill_coord(movepos), speed)
endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time()
for s, es, last_pos in self.endstops:
for s, es, last_pos in endstops:
es.home_finalize(es.print_to_mcu_time(move_end_print_time))
return False
def do_wait_endstop(self, verify_retract):
# Check if endstops have triggered
while self.endstops:
stepper, es, last_pos = self.endstops[0]
# Wait for endstops to trigger
for s, es, last_pos in endstops:
try:
if es.check_busy(self.eventtime):
return True
except mcu.error, e:
es.home_wait()
except es.error, e:
raise EndstopError("Failed to home stepper %s: %s" % (
stepper.name, str(e)))
post_home_pos = stepper.mcu_stepper.get_mcu_position()
if verify_retract and last_pos == post_home_pos:
s.name, str(e)))
post_home_pos = s.mcu_stepper.get_mcu_position()
if second_home and self.verify_retract and last_pos == post_home_pos:
raise EndstopError("Endstop %s still triggered after retract" % (
stepper.name,))
self.endstops.pop(0)
return False
def do_calc_position(self, callback):
self.toolhead.set_position(self.fill_coord(callback(self)))
s.name,))
def set_homed_position(self, pos):
self.toolhead.set_position(self._fill_coord(pos))
class EndstopError(Exception):
pass