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probe: Simplify ProbePointsHelper start and end tracking 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-05-31 15:30:24 -04:00 committed by KevinOConnor
parent bbc8637ed6
commit 15011012e5
1 changed files with 47 additions and 62 deletions
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109
klippy/extras/probe.py
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@ -246,6 +246,7 @@ class ProbePointsHelper:
self.finalize_callback = finalize_callback self.finalize_callback = finalize_callback
self.probe_points = default_points self.probe_points = default_points
self.name = config.get_name() self.name = config.get_name()
self.gcode = self.printer.lookup_object('gcode')
# Read config settings # Read config settings
if default_points is None or config.get('points', None) is not None: if default_points is None or config.get('points', None) is not None:
points = config.get('points').split('\n') points = config.get('points').split('\n')
@ -257,93 +258,77 @@ class ProbePointsHelper:
raise config.error("Unable to parse probe points in %s" % ( raise config.error("Unable to parse probe points in %s" % (
self.name)) self.name))
self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.) self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.) self.speed = config.getfloat('speed', 50., above=0.)
self.probe_offsets = (0., 0., 0.)
# Internal probing state # Internal probing state
self.lift_speed = self.speed
self.probe_offsets = (0., 0., 0.)
self.results = [] self.results = []
self.busy = self.manual_probe = False
self.gcode = self.toolhead = None
def minimum_points(self,n): def minimum_points(self,n):
if len(self.probe_points) < n: if len(self.probe_points) < n:
raise self.printer.config_error( raise self.printer.config_error(
"Need at least %d probe points for %s" % (n, self.name)) "Need at least %d probe points for %s" % (n, self.name))
def get_lift_speed(self): def get_lift_speed(self):
return self.lift_speed return self.lift_speed
def _lift_z(self, z_pos, speed):
# Lift toolhead
curpos = self.toolhead.get_position()
curpos[2] = z_pos
try:
self.toolhead.move(curpos, speed)
except homing.EndstopError as e:
self._finalize(False)
raise self.gcode.error(str(e))
self.gcode.reset_last_position()
def _move_next(self): def _move_next(self):
toolhead = self.printer.lookup_object('toolhead')
# Lift toolhead # Lift toolhead
self._lift_z(self.horizontal_move_z, self.lift_speed) speed = self.lift_speed
# Check if done probing if not self.results:
if len(self.results) >= len(self.probe_points): # Use full speed to first probe position
self.toolhead.get_last_move_time() speed = self.speed
self._finalize(True) curpos = toolhead.get_position()
return
# Move to next XY probe point
x, y = self.probe_points[len(self.results)]
curpos = self.toolhead.get_position()
curpos[0] = x
curpos[1] = y
curpos[2] = self.horizontal_move_z curpos[2] = self.horizontal_move_z
try: try:
self.toolhead.move(curpos, self.speed) toolhead.move(curpos, speed)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
# Check if done probing
if len(self.results) >= len(self.probe_points):
self.gcode.reset_last_position()
toolhead.get_last_move_time()
self.finalize_callback(self.probe_offsets, self.results)
return True
# Move to next XY probe point
curpos[:2] = self.probe_points[len(self.results)]
try:
toolhead.move(curpos, self.speed)
except homing.EndstopError as e: except homing.EndstopError as e:
self._finalize(False)
raise self.gcode.error(str(e)) raise self.gcode.error(str(e))
self.gcode.reset_last_position() self.gcode.reset_last_position()
if self.manual_probe: return False
manual_probe.ManualProbeHelper(self.printer, {},
self._manual_probe_finalize)
def start_probe(self, params): def start_probe(self, params):
# Lookup objects # Lookup objects
self.toolhead = self.printer.lookup_object('toolhead')
self.gcode = self.printer.lookup_object('gcode')
probe = self.printer.lookup_object('probe', None) probe = self.printer.lookup_object('probe', None)
method = self.gcode.get_str('METHOD', params, 'automatic').lower() method = self.gcode.get_str('METHOD', params, 'automatic').lower()
if probe is not None and method == 'automatic': self.results = []
self.manual_probe = False if probe is None or method != 'automatic':
self.lift_speed = min(self.speed, probe.speed) # Manual probe
self.probe_offsets = probe.get_offsets()
if self.horizontal_move_z < self.probe_offsets[2]:
raise self.gcode.error("horizontal_move_z can't be less than"
" probe's z_offset")
else:
self.manual_probe = True
self.lift_speed = self.speed self.lift_speed = self.speed
self.probe_offsets = (0., 0., 0.) self.probe_offsets = (0., 0., 0.)
# Start probe self._manual_probe_start()
self.results = [] return
self.busy = True # Perform automatic probing
self._lift_z(self.horizontal_move_z, self.speed) self.lift_speed = min(self.speed, probe.speed)
self._move_next() self.probe_offsets = probe.get_offsets()
if not self.manual_probe: if self.horizontal_move_z < self.probe_offsets[2]:
# Perform automatic probing raise self.gcode.error("horizontal_move_z can't be less than"
while self.busy: " probe's z_offset")
try: while 1:
pos = probe.run_probe() done = self._move_next()
except self.gcode.error as e: if done:
self._finalize(False) break
raise pos = probe.run_probe()
self.results.append(pos) self.results.append(pos)
self._move_next() def _manual_probe_start(self):
done = self._move_next()
if not done:
manual_probe.ManualProbeHelper(self.printer, {},
self._manual_probe_finalize)
def _manual_probe_finalize(self, kin_pos): def _manual_probe_finalize(self, kin_pos):
if kin_pos is None: if kin_pos is None:
self._finalize(False)
return return
self.results.append(kin_pos) self.results.append(kin_pos)
self._move_next() self._manual_probe_start()
def _finalize(self, success):
self.busy = False
if success:
self.finalize_callback(self.probe_offsets, self.results)
def load_config(config): def load_config(config):
return PrinterProbe(config, ProbeEndstopWrapper(config)) return PrinterProbe(config, ProbeEndstopWrapper(config))