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homing: Merge home_prepare()/home_finalize() into move_begin/move_end events

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Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end".  This simplifies the homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2020-02-12 13:03:42 -05:00
committed by KevinOConnor
parent b23346a521
commit feb15eaf2e
7 changed files with 63 additions and 74 deletions
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17
klippy/extras/probe.py
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@@ -43,6 +43,11 @@ class PrinterProbe:
minval=0)
# Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self)
# Register homing event handlers
self.printer.register_event_handler("homing:homing_move_begin",
self._handle_homing_move_begin)
self.printer.register_event_handler("homing:homing_move_end",
self._handle_homing_move_end)
# Register PROBE/QUERY_PROBE commands
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command('PROBE', self.cmd_PROBE,
@@ -53,6 +58,12 @@ class PrinterProbe:
desc=self.cmd_PROBE_CALIBRATE_help)
self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY,
desc=self.cmd_PROBE_ACCURACY_help)
def _handle_homing_move_begin(self, endstops):
if self.mcu_probe in endstops:
self.mcu_probe.probe_prepare()
def _handle_homing_move_end(self, endstops):
if self.mcu_probe in endstops:
self.mcu_probe.probe_finalize()
def setup_pin(self, pin_type, pin_params):
if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop':
raise pins.error("Probe virtual endstop only useful as endstop pin")
@@ -255,22 +266,20 @@ class ProbeEndstopWrapper:
for stepper in kin.get_steppers():
if stepper.is_active_axis('z'):
self.add_stepper(stepper)
def home_prepare(self):
def probe_prepare(self):
toolhead = self.printer.lookup_object('toolhead')
start_pos = toolhead.get_position()
self.activate_gcode.run_gcode_from_command()
if toolhead.get_position()[:3] != start_pos[:3]:
raise homing.CommandError(
"Toolhead moved during probe activate_gcode script")
self.mcu_endstop.home_prepare()
def home_finalize(self):
def probe_finalize(self):
toolhead = self.printer.lookup_object('toolhead')
start_pos = toolhead.get_position()
self.deactivate_gcode.run_gcode_from_command()
if toolhead.get_position()[:3] != start_pos[:3]:
raise homing.CommandError(
"Toolhead moved during probe deactivate_gcode script")
self.mcu_endstop.home_finalize()
def get_position_endstop(self):
return self.position_endstop