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