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bltouch: Don't raise an error in verify_state() 

Return the triggered state from verify_state() and update the callers
to raise the error (if needed).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-03-29 17:50:28 -04:00
parent d6034013e7
commit 87bfa06b9e
1 changed files with 17 additions and 18 deletions
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35
klippy/extras/bltouch.py
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@ -101,14 +101,12 @@ class BLTouchEndstopWrapper:
cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered, msg):
def verify_state(self, check_start_time, check_end_time, triggered):
# Perform endstop check to verify bltouch reports desired state
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
did_trigger = self.mcu_endstop.home_wait(check_end_time)
if not did_trigger:
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
return self.mcu_endstop.home_wait(check_end_time)
def raise_probe(self):
for retry in range(3):
self.sync_mcu_print_time()
@ -117,18 +115,18 @@ class BLTouchEndstopWrapper:
check_start_time = self.send_cmd('pin_up',
duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
if self.pin_up_not_triggered:
try:
self.verify_state(check_start_time, check_end_time,
False, "raise probe")
except homing.CommandError as e:
if retry >= 2:
raise
msg = "Failed to verify BLTouch probe is raised; retrying."
self.gcode.respond_info(msg)
self.next_cmd_time += RETRY_RESET_TIME
continue
break
if not self.pin_up_not_triggered:
# No way to verify - return successfully
break
success = self.verify_state(check_start_time, check_end_time, False)
if success:
# The "probe raised" test completed successfully
break
if retry >= 2:
raise homing.EndstopError("BLTouch failed to raise probe")
msg = "Failed to verify BLTouch probe is raised; retrying."
self.gcode.respond_info(msg)
self.next_cmd_time += RETRY_RESET_TIME
def lower_probe(self):
self.test_sensor()
self.sync_print_time()
@ -149,8 +147,9 @@ class BLTouchEndstopWrapper:
check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
check_end_time = self.send_cmd('touch_mode')
self.send_cmd(None)
self.verify_state(check_start_time, check_end_time, True,
"verify sensor state")
success = self.verify_state(check_start_time, check_end_time, True)
if not success:
raise homing.EndstopError("BLTouch failed to verify sensor state")
# Test was successful
self.next_test_time = check_end_time + TEST_TIME
self.sync_print_time()