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homing: Replace notify callback with a completion

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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>
This commit is contained in:
Kevin O'Connor
2020-02-19 11:38:11 -05:00
parent e3a5e2d271
commit fbbbbc85cf
4 changed files with 26 additions and 28 deletions
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25
klippy/homing.py
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@@ -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