gcode: Rework homing to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
a6de1db94d
commit
89f5452ddb
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@ -28,12 +28,6 @@ class CartKinematics:
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for i in StepList:
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s = self.steppers[i]
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s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
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def _get_homed_position(self, homing_state):
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pos = [None]*3
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for axis in homing_state.get_axes():
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s = self.steppers[axis]
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pos[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
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return pos
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def home(self, homing_state):
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# Each axis is homed independently and in order
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for axis in homing_state.get_axes():
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@ -55,15 +49,17 @@ class CartKinematics:
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homepos[axis] = s.position_endstop
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coord = [None, None, None, None]
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coord[axis] = pos
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homing_state.plan_home(list(coord), homepos, [s], s.homing_speed)
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homing_state.home(list(coord), homepos, [s], s.homing_speed)
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# Retract
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coord[axis] = rpos
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homing_state.plan_retract(list(coord), [s], s.homing_speed)
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homing_state.retract(list(coord), s.homing_speed)
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# Home again
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coord[axis] = r2pos
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homing_state.plan_second_home(
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list(coord), homepos, [s], s.homing_speed/2.0)
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homing_state.plan_calc_position(self._get_homed_position)
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homing_state.home(
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list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
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# Set final homed position
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coord[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
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homing_state.set_homed_position(coord)
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def motor_off(self, move_time):
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self.limits = [(1.0, -1.0)] * 3
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for stepper in self.steppers:
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@ -78,11 +78,6 @@ class DeltaKinematics:
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pos = self._cartesian_to_actuator(newpos)
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for i in StepList:
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self.steppers[i].mcu_stepper.set_position(pos[i])
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def _get_homed_position(self, homing_state):
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pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
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* s.step_dist
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for s in self.steppers]
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return self._actuator_to_cartesian(pos)
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def home(self, homing_state):
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# All axes are homed simultaneously
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homing_state.set_axes([0, 1, 2])
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@ -92,16 +87,19 @@ class DeltaKinematics:
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homepos = [0., 0., s.position_endstop, None]
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coord = list(homepos)
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coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
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homing_state.plan_home(list(coord), homepos, self.steppers
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, s.homing_speed)
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homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)
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# Retract
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coord[2] = homepos[2] - s.homing_retract_dist
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homing_state.plan_retract(list(coord), self.steppers, s.homing_speed)
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homing_state.retract(list(coord), s.homing_speed)
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# Home again
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coord[2] -= s.homing_retract_dist
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homing_state.plan_second_home(list(coord), homepos, self.steppers
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, s.homing_speed/2.0)
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homing_state.plan_calc_position(self._get_homed_position)
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homing_state.home(list(coord), homepos, self.steppers
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, s.homing_speed/2.0, second_home=True)
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# Set final homed position
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coord = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
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* s.step_dist
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for s in self.steppers]
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homing_state.set_homed_position(self._actuator_to_cartesian(coord))
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def motor_off(self, move_time):
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self.limit_xy2 = -1.
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for stepper in self.steppers:
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@ -260,14 +260,16 @@ class GCodeParser:
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homing_state = homing.Homing(self.toolhead, axes)
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if self.is_fileinput:
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homing_state.set_no_verify_retract()
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self.toolhead.home(homing_state)
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def axes_update(homing_state):
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newpos = self.toolhead.get_position()
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for axis in homing_state.get_axes():
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self.last_position[axis] = newpos[axis]
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self.base_position[axis] = -self.homing_add[axis]
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homing_state.plan_axes_update(axes_update)
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self.set_busy(homing_state)
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try:
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self.toolhead.home(homing_state)
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except homing.EndstopError, e:
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self.toolhead.motor_off()
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self.respond_error(str(e))
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return
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newpos = self.toolhead.get_position()
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for axis in homing_state.get_axes():
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self.last_position[axis] = newpos[axis]
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self.base_position[axis] = -self.homing_add[axis]
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def cmd_G90(self, params):
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# Use absolute coordinates
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self.absolutecoord = True
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@ -4,91 +4,54 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import mcu
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class Homing:
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def __init__(self, toolhead, changed_axes):
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self.toolhead = toolhead
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self.changed_axes = changed_axes
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self.verify_retract = True
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self.eventtime = 0.
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self.states = []
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self.endstops = []
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def set_no_verify_retract(self):
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self.verify_retract = False
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def set_axes(self, axes):
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self.changed_axes = axes
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def get_axes(self):
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return self.changed_axes
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def plan_home(self, forcepos, movepos, steppers, speed):
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_wait_endstop, (False,)))
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def plan_second_home(self, forcepos, movepos, steppers, speed):
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self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
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self.states.append((self.do_wait_endstop, (self.verify_retract,)))
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def plan_retract(self, newpos, steppers, speed):
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self.states.append((self.do_retract, (newpos, steppers, speed)))
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def plan_calc_position(self, callback):
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self.states.append((self.do_calc_position, (callback,)))
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def plan_axes_update(self, callback):
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self.states.append((callback, (self,)))
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def check_busy(self, eventtime):
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self.eventtime = eventtime
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while self.states:
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first = self.states[0]
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try:
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ret = first[0](*first[1])
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except EndstopError, e:
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self.toolhead.motor_off()
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raise
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if ret:
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return True
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self.states.pop(0)
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return False
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def fill_coord(self, coord):
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def _fill_coord(self, coord):
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# Fill in any None entries in 'coord' with current toolhead position
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thcoord = list(self.toolhead.get_position())
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for i in range(len(coord)):
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if coord[i] is not None:
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thcoord[i] = coord[i]
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return thcoord
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def do_retract(self, newpos, steppers, speed):
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self.toolhead.move(self.fill_coord(newpos), speed)
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return False
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def do_home(self, forcepos, movepos, steppers, speed):
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def retract(self, newpos, speed):
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self.toolhead.move(self._fill_coord(newpos), speed)
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def home(self, forcepos, movepos, steppers, speed, second_home=False):
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# Alter kinematics class to think printer is at forcepos
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self.toolhead.set_position(self.fill_coord(forcepos))
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self.toolhead.set_position(self._fill_coord(forcepos))
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# Start homing and issue move
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print_time = self.toolhead.get_last_move_time()
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endstops = []
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for s in steppers:
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es = s.enable_endstop_checking(print_time, s.step_dist / speed)
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self.endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
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self.toolhead.move(self.fill_coord(movepos), speed)
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endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
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self.toolhead.move(self._fill_coord(movepos), speed)
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move_end_print_time = self.toolhead.get_last_move_time()
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self.toolhead.reset_print_time()
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for s, es, last_pos in self.endstops:
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for s, es, last_pos in endstops:
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es.home_finalize(es.print_to_mcu_time(move_end_print_time))
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return False
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def do_wait_endstop(self, verify_retract):
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# Check if endstops have triggered
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while self.endstops:
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stepper, es, last_pos = self.endstops[0]
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# Wait for endstops to trigger
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for s, es, last_pos in endstops:
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try:
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if es.check_busy(self.eventtime):
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return True
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except mcu.error, e:
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es.home_wait()
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except es.error, e:
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raise EndstopError("Failed to home stepper %s: %s" % (
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stepper.name, str(e)))
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post_home_pos = stepper.mcu_stepper.get_mcu_position()
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if verify_retract and last_pos == post_home_pos:
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s.name, str(e)))
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post_home_pos = s.mcu_stepper.get_mcu_position()
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if second_home and self.verify_retract and last_pos == post_home_pos:
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raise EndstopError("Endstop %s still triggered after retract" % (
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stepper.name,))
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self.endstops.pop(0)
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return False
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def do_calc_position(self, callback):
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self.toolhead.set_position(self.fill_coord(callback(self)))
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s.name,))
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def set_homed_position(self, pos):
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self.toolhead.set_position(self._fill_coord(pos))
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class EndstopError(Exception):
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pass
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@ -111,6 +111,7 @@ class MCU_stepper:
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return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
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class MCU_endstop:
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error = error
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin, stepper):
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self._mcu = mcu
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@ -134,7 +135,7 @@ class MCU_endstop:
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._last_state = {}
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def home(self, mcu_time, rest_time):
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def home_start(self, mcu_time, rest_time):
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clock = int(mcu_time * self._mcu_freq)
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rest_ticks = int(rest_time * self._mcu_freq)
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self._homing = True
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@ -149,10 +150,14 @@ class MCU_endstop:
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self._mcu.serial.send_flush()
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self._stepper.note_stepper_stop()
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self._home_timeout_clock = int(mcu_time * self._mcu_freq)
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def home_wait(self):
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eventtime = time.time()
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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def _handle_end_stop_state(self, params):
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logging.debug("end_stop_state %s" % (params,))
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self._last_state = params
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def check_busy(self, eventtime):
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def _check_busy(self, eventtime):
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# Check if need to send an end_stop_query command
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if self._mcu.is_fileoutput():
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return False
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@ -161,7 +166,10 @@ class MCU_endstop:
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if not self._homing:
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return False
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if not self._last_state.get('homing', 0):
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self._stepper.set_mcu_position(self.get_last_position())
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pos = self._last_state.get('pos', 0)
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if self._stepper.get_invert_dir():
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pos = -pos
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self._stepper.set_mcu_position(pos)
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self._homing = False
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return False
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if (self._mcu.serial.get_clock(last_sent_time)
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@ -178,11 +186,6 @@ class MCU_endstop:
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msg = self._query_cmd.encode(self._oid)
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self._mcu.send(msg, cq=self._cmd_queue)
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return True
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def get_last_position(self):
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pos = self._last_state.get('pos', 0)
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if self._stepper.get_invert_dir():
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return -pos
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return pos
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def query_endstop(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self._homing = False
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@ -190,7 +193,7 @@ class MCU_endstop:
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self._next_query_clock = clock
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def query_endstop_wait(self):
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eventtime = time.time()
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while self.check_busy(eventtime):
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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return self._last_state.get('pin', self._invert) ^ self._invert
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@ -75,7 +75,7 @@ class PrinterStepper:
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self.need_motor_enable = not enable
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def enable_endstop_checking(self, move_time, step_time):
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mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
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self.mcu_endstop.home(mcu_time, step_time)
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self.mcu_endstop.home_start(mcu_time, step_time)
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return self.mcu_endstop
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def query_endstop(self, print_time):
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mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
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@ -84,7 +84,7 @@ class PrinterStepper:
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def get_homed_offset(self):
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if not self.homing_stepper_phases or self.need_motor_enable:
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return 0
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pos = self.mcu_endstop.get_last_position()
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pos = self.mcu_stepper.get_mcu_position()
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pos %= self.homing_stepper_phases
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if self.homing_endstop_phase is None:
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logging.info("Setting %s endstop phase to %d" % (
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