homing: Create Homing class from gcode

Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

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

klippy/cartesian.py

@@ -31,10 +31,9 @@ class CartKinematics:
     def get_homed_position(self):
         return [s.position_endstop + s.get_homed_offset()*s.step_dist
                 for s in self.steppers]
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # Each axis is homed independently and in order
-        homing_state = homing.Homing(toolhead, axes)
+        for axis in homing_state.get_axes():
-        for axis in axes:
             s = self.steppers[axis]
             self.limits[axis] = (s.position_min, s.position_max)
             # Determine moves
@@ -60,7 +59,6 @@ class CartKinematics:
             # Home again
             coord[axis] = r2pos
             homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:

klippy/delta.py

@@ -83,9 +83,9 @@ class DeltaKinematics:
                * self.steppers[i].step_dist
                for i in StepList]
         return self.actuator_to_cartesian(pos)
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # All axes are homed simultaneously
-        homing_state = homing.Homing(toolhead, [0, 1, 2])
+        homing_state.set_axes([0, 1, 2])
         s = self.steppers[0] # Assume homing parameters same for all steppers
         self.limit_xy2 = self.max_xy2
         # Initial homing
@@ -101,7 +101,6 @@ class DeltaKinematics:
         coord[2] -= s.homing_retract_dist
         homing_state.plan_home(list(coord), homepos, self.steppers
                                , s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:

klippy/gcode.py

@@ -250,14 +250,15 @@ class GCodeParser:
                 axes.append(self.axis2pos[axis])
         if not axes:
             axes = [0, 1, 2]
-        busy_handler = self.toolhead.home(axes)
+        homing_state = homing.Homing(self.toolhead, axes)
-        def axes_update(axes):
+        self.toolhead.home(homing_state)
+        def axes_update(homing_state):
             newpos = self.toolhead.get_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 self.last_position[axis] = newpos[axis]
                 self.base_position[axis] = -self.homing_add[axis]
-        busy_handler.plan_axes_update(axes_update)
+        homing_state.plan_axes_update(axes_update)
-        self.set_busy(busy_handler)
+        self.set_busy(homing_state)
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True

klippy/homing.py

@@ -14,13 +14,17 @@ class Homing:
         self.eventtime = 0.
         self.states = []
         self.endstops = []
+    def set_axes(self, axes):
+        self.changed_axes = axes
+    def get_axes(self):
+        return self.changed_axes
     def plan_home(self, forcepos, movepos, steppers, speed):
         self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
         self.states.append((self.do_wait_endstop, ()))
     def plan_move(self, newpos, speed):
         self.states.append((self.do_move, (newpos, speed)))
     def plan_axes_update(self, callback):
-        self.states.append((callback, (self.changed_axes,)))
+        self.states.append((callback, (self,)))
     def check_busy(self, eventtime):
         self.eventtime = eventtime
         while self.states:

klippy/toolhead.py

@@ -259,16 +259,15 @@ class ToolHead:
             self.extruder.check_move(move)
         self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)
-    def home(self, axes):
+    def home(self, homing_state):
-        homing = self.kin.home(self, axes)
+        self.kin.home(homing_state)
-        def axes_update(axes):
+        def axes_update(homing_state):
             pos = self.get_position()
             homepos = self.kin.get_homed_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 pos[axis] = homepos[axis]
             self.set_position(pos)
-        homing.plan_axes_update(axes_update)
+        homing_state.plan_axes_update(axes_update)
-        return homing
     def dwell(self, delay):
         self.get_last_move_time()
         self.update_move_time(delay)