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homing: Pass the HomingMove class to homing_move_begin/end events 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-29 14:23:46 -04:00
parent 37a263c0b9
commit 58a0eb76c5
5 changed files with 22 additions and 22 deletions
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4
klippy/extras/bltouch.py
View File

@ -177,7 +177,7 @@ class BLTouchEndstopWrapper:
self.raise_probe() self.raise_probe()
self.sync_print_time() self.sync_print_time()
self.multi = 'OFF' self.multi = 'OFF'
def probe_prepare(self): def probe_prepare(self, hmove):
if self.multi == 'OFF' or self.multi == 'FIRST': if self.multi == 'OFF' or self.multi == 'FIRST':
self.lower_probe() self.lower_probe()
if self.multi == 'FIRST': if self.multi == 'FIRST':
@ -187,7 +187,7 @@ class BLTouchEndstopWrapper:
toolhead.flush_step_generation() toolhead.flush_step_generation()
self.start_mcu_pos = [(s, s.get_mcu_position()) self.start_mcu_pos = [(s, s.get_mcu_position())
for s in self.mcu_endstop.get_steppers()] for s in self.mcu_endstop.get_steppers()]
def probe_finish(self): def probe_finish(self, hmove):
if self.multi == 'OFF': if self.multi == 'OFF':
self.raise_probe() self.raise_probe()
self.sync_print_time() self.sync_print_time()

8
klippy/extras/homing.py
View File

@ -25,6 +25,8 @@ class HomingMove:
toolhead = printer.lookup_object('toolhead') toolhead = printer.lookup_object('toolhead')
self.toolhead = toolhead self.toolhead = toolhead
self.end_mcu_pos = [] self.end_mcu_pos = []
def get_mcu_endstops(self):
return [es for es, name in self.endstops]
def _calc_endstop_rate(self, mcu_endstop, movepos, speed): def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position() startpos = self.toolhead.get_position()
axes_d = [mp - sp for mp, sp in zip(movepos, startpos)] axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
@ -40,8 +42,7 @@ class HomingMove:
def homing_move(self, movepos, speed, probe_pos=False, def homing_move(self, movepos, speed, probe_pos=False,
triggered=True, check_triggered=True): triggered=True, check_triggered=True):
# Notify start of homing/probing move # Notify start of homing/probing move
self.printer.send_event("homing:homing_move_begin", self.printer.send_event("homing:homing_move_begin", self)
[es for es, name in self.endstops])
# Note start location # Note start location
self.toolhead.flush_step_generation() self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics() kin = self.toolhead.get_kinematics()
@ -85,8 +86,7 @@ class HomingMove:
self.toolhead.set_position(movepos) self.toolhead.set_position(movepos)
# Signal homing/probing move complete # Signal homing/probing move complete
try: try:
self.printer.send_event("homing:homing_move_end", self.printer.send_event("homing:homing_move_end", self)
[es for es, name in self.endstops])
except self.printer.command_error as e: except self.printer.command_error as e:
if error is None: if error is None:
error = str(e) error = str(e)

8
klippy/extras/homing_heaters.py
View File

@ -52,15 +52,15 @@ class HomingHeaters:
for es in endstops for es in endstops
for s in es.get_steppers()] for s in es.get_steppers()]
return any(x in self.flaky_steppers for x in steppers_being_homed) return any(x in self.flaky_steppers for x in steppers_being_homed)
def handle_homing_move_begin(self, endstops): def handle_homing_move_begin(self, hmove):
if not self.check_eligible(endstops): if not self.check_eligible(hmove.get_mcu_endstops()):
return return
for heater_name in self.disable_heaters: for heater_name in self.disable_heaters:
heater = self.pheaters.lookup_heater(heater_name) heater = self.pheaters.lookup_heater(heater_name)
self.target_save[heater_name] = heater.get_temp(0)[1] self.target_save[heater_name] = heater.get_temp(0)[1]
heater.set_temp(0.) heater.set_temp(0.)
def handle_homing_move_end(self, endstops): def handle_homing_move_end(self, hmove):
if not self.check_eligible(endstops): if not self.check_eligible(hmove.get_mcu_endstops()):
return return
for heater_name in self.disable_heaters: for heater_name in self.disable_heaters:
heater = self.pheaters.lookup_heater(heater_name) heater = self.pheaters.lookup_heater(heater_name)

16
klippy/extras/probe.py
View File

@ -70,12 +70,12 @@ class PrinterProbe:
desc=self.cmd_PROBE_CALIBRATE_help) desc=self.cmd_PROBE_CALIBRATE_help)
self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY, self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY,
desc=self.cmd_PROBE_ACCURACY_help) desc=self.cmd_PROBE_ACCURACY_help)
def _handle_homing_move_begin(self, endstops): def _handle_homing_move_begin(self, hmove):
if self.mcu_probe in endstops: if self.mcu_probe in hmove.get_mcu_endstops():
self.mcu_probe.probe_prepare() self.mcu_probe.probe_prepare(hmove)
def _handle_homing_move_end(self, endstops): def _handle_homing_move_end(self, hmove):
if self.mcu_probe in endstops: if self.mcu_probe in hmove.get_mcu_endstops():
self.mcu_probe.probe_finish() self.mcu_probe.probe_finish(hmove)
def _handle_home_rails_begin(self, homing_state, rails): def _handle_home_rails_begin(self, homing_state, rails):
endstops = [es for rail in rails for es, name in rail.get_endstops()] endstops = [es for rail in rails for es, name in rail.get_endstops()]
if self.mcu_probe in endstops: if self.mcu_probe in endstops:
@ -296,14 +296,14 @@ class ProbeEndstopWrapper:
pass pass
def multi_probe_end(self): def multi_probe_end(self):
pass pass
def probe_prepare(self): def probe_prepare(self, hmove):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
start_pos = toolhead.get_position() start_pos = toolhead.get_position()
self.activate_gcode.run_gcode_from_command() self.activate_gcode.run_gcode_from_command()
if toolhead.get_position()[:3] != start_pos[:3]: if toolhead.get_position()[:3] != start_pos[:3]:
raise self.printer.command_error( raise self.printer.command_error(
"Toolhead moved during probe activate_gcode script") "Toolhead moved during probe activate_gcode script")
def probe_finish(self): def probe_finish(self, hmove):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
start_pos = toolhead.get_position() start_pos = toolhead.get_position()
self.deactivate_gcode.run_gcode_from_command() self.deactivate_gcode.run_gcode_from_command()

8
klippy/extras/tmc.py
View File

@ -360,8 +360,8 @@ class TMCVirtualPinHelper:
self.handle_homing_move_end) self.handle_homing_move_end)
self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
return self.mcu_endstop return self.mcu_endstop
def handle_homing_move_begin(self, endstops): def handle_homing_move_begin(self, hmove):
if self.mcu_endstop not in endstops: if self.mcu_endstop not in hmove.get_mcu_endstops():
return return
reg = self.fields.lookup_register("en_pwm_mode", None) reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None: if reg is None:
@ -376,8 +376,8 @@ class TMCVirtualPinHelper:
self.mcu_tmc.set_register("GCONF", val) self.mcu_tmc.set_register("GCONF", val)
tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff) tc_val = self.fields.set_field("TCOOLTHRS", 0xfffff)
self.mcu_tmc.set_register("TCOOLTHRS", tc_val) self.mcu_tmc.set_register("TCOOLTHRS", tc_val)
def handle_homing_move_end(self, endstops): def handle_homing_move_end(self, hmove):
if self.mcu_endstop not in endstops: if self.mcu_endstop not in hmove.get_mcu_endstops():
return return
reg = self.fields.lookup_register("en_pwm_mode", None) reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None: if reg is None: