toolhead: Add a move.move_error() helper

Move the EndstopMoveError() code from homing.py to a new method in the
toolhead Move class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/homing.py

@@ -164,8 +164,4 @@ class CommandError(Exception):
 class EndstopError(CommandError):
     pass
 
-def EndstopMoveError(pos, msg="Move out of range"):
-    return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
-            msg, pos[0], pos[1], pos[2], pos[3]))
-
 Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e'))

klippy/kinematics/cartesian.py

@@ -100,9 +100,8 @@ class CartKinematics:
                 and (end_pos[i] < self.limits[i][0]
                      or end_pos[i] > self.limits[i][1])):
                 if self.limits[i][0] > self.limits[i][1]:
-                    raise homing.EndstopMoveError(
+                    raise move.move_error("Must home axis first")
-                        end_pos, "Must home axis first")
+                raise move.move_error()
-                raise homing.EndstopMoveError(end_pos)
     def check_move(self, move):
         limits = self.limits
         xpos, ypos = move.end_pos[:2]

klippy/kinematics/corexy.py

@@ -77,9 +77,8 @@ class CoreXYKinematics:
                 and (end_pos[i] < self.limits[i][0]
                      or end_pos[i] > self.limits[i][1])):
                 if self.limits[i][0] > self.limits[i][1]:
-                    raise homing.EndstopMoveError(
+                    raise move.move_error("Must home axis first")
-                        end_pos, "Must home axis first")
+                raise move.move_error()
-                raise homing.EndstopMoveError(end_pos)
     def check_move(self, move):
         limits = self.limits
         xpos, ypos = move.end_pos[:2]

klippy/kinematics/corexz.py

@@ -76,9 +76,8 @@ class CoreXZKinematics:
                 and (end_pos[i] < self.limits[i][0]
                      or end_pos[i] > self.limits[i][1])):
                 if self.limits[i][0] > self.limits[i][1]:
-                    raise homing.EndstopMoveError(
+                    raise move.move_error("Must home axis first")
-                        end_pos, "Must home axis first")
+                raise move.move_error()
-                raise homing.EndstopMoveError(end_pos)
     def check_move(self, move):
         limits = self.limits
         xpos, ypos = move.end_pos[:2]

klippy/kinematics/delta.py

@@ -118,7 +118,7 @@ class DeltaKinematics:
             # Normal XY move
             return
         if self.need_home:
-            raise homing.EndstopMoveError(end_pos, "Must home first")
+            raise move.move_error("Must home first")
         end_z = end_pos[2]
         limit_xy2 = self.max_xy2
         if end_z > self.limit_z:
@@ -127,7 +127,7 @@ class DeltaKinematics:
             # Move out of range - verify not a homing move
             if (end_pos[:2] != self.home_position[:2]
                 or end_z < self.min_z or end_z > self.home_position[2]):
-                raise homing.EndstopMoveError(end_pos)
+                raise move.move_error()
             limit_xy2 = -1.
         if move.axes_d[2]:
             move.limit_speed(self.max_z_velocity, move.accel)

klippy/kinematics/extruder.py

@@ -217,8 +217,7 @@ class DummyExtruder:
     def update_move_time(self, flush_time):
         pass
     def check_move(self, move):
-        raise homing.EndstopMoveError(
+        raise move.move_error("Extrude when no extruder present")
-            move.end_pos, "Extrude when no extruder present")
     def calc_junction(self, prev_move, move):
         return move.max_cruise_v2
     def get_name(self):

klippy/kinematics/polar.py

@@ -94,18 +94,17 @@ class PolarKinematics:
         xy2 = end_pos[0]**2 + end_pos[1]**2
         if xy2 > self.limit_xy2:
             if self.limit_xy2 < 0.:
-                raise homing.EndstopMoveError(end_pos, "Must home axis first")
+                raise move.move_error("Must home axis first")
-            raise homing.EndstopMoveError(end_pos)
+            raise move.move_error()
         if move.axes_d[2]:
             if end_pos[2] < self.limit_z[0] or end_pos[2] > self.limit_z[1]:
                 if self.limit_z[0] > self.limit_z[1]:
-                    raise homing.EndstopMoveError(
+                    raise move.move_error("Must home axis first")
-                        end_pos, "Must home axis first")
+                raise move.move_error()
-                raise homing.EndstopMoveError(end_pos)
             # Move with Z - update velocity and accel for slower Z axis
             z_ratio = move.move_d / abs(move.axes_d[2])
-            move.limit_speed(
+            move.limit_speed(self.max_z_velocity * z_ratio,
-                self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
+                             self.max_z_accel * z_ratio)
     def get_status(self, eventtime):
         xy_home = "xy" if self.limit_xy2 >= 0. else ""
         z_home = "z" if self.limit_z[0] <= self.limit_z[1] else ""

klippy/kinematics/rotary_delta.py

@@ -106,7 +106,7 @@ class RotaryDeltaKinematics:
             # Normal XY move
             return
         if self.need_home:
-            raise homing.EndstopMoveError(end_pos, "Must home first")
+            raise move.move_error("Must home first")
         end_z = end_pos[2]
         limit_xy2 = self.max_xy2
         if end_z > self.limit_z:
@@ -115,7 +115,7 @@ class RotaryDeltaKinematics:
             # Move out of range - verify not a homing move
             if (end_pos[:2] != self.home_position[:2]
                 or end_z < self.min_z or end_z > self.home_position[2]):
-                raise homing.EndstopMoveError(end_pos)
+                raise move.move_error()
             limit_xy2 = -1.
         if move.axes_d[2]:
             move.limit_speed(self.max_z_velocity, move.accel)

klippy/toolhead.py

@@ -54,6 +54,10 @@ class Move:
         self.accel = min(self.accel, accel)
         self.delta_v2 = 2.0 * self.move_d * self.accel
         self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
+    def move_error(self, msg="Move out of range"):
+        pos = self.end_pos
+        return homing.EndstopError("%s: %.3f %.3f %.3f [%.3f]"
+                                   % (msg, pos[0], pos[1], pos[2], pos[3]))
     def calc_junction(self, prev_move):
         if not self.is_kinematic_move or not prev_move.is_kinematic_move:
             return