mcu: Integrate query_endstop_wait() into query_endstop()
There is no need to have two separate calls to query an endstop. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -55,7 +55,6 @@ class BLTouchEndstopWrapper:
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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# Register BLTOUCH_DEBUG command
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self.gcode = self.printer.lookup_object('gcode')
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@ -145,8 +145,7 @@ class PrinterProbe:
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def cmd_QUERY_PROBE(self, params):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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self.mcu_probe.query_endstop(print_time)
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res = self.mcu_probe.query_endstop_wait()
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res = self.mcu_probe.query_endstop(print_time)
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self.gcode.respond_info(
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"probe: %s" % (["open", "TRIGGERED"][not not res],))
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cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
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@ -244,7 +243,6 @@ class ProbeEndstopWrapper:
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def _build_config(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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@ -1,6 +1,6 @@
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# Utility for querying the current state of all endstops
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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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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@ -16,14 +16,10 @@ class QueryEndstops:
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self.endstops.append((mcu_endstop, name))
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cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
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def cmd_QUERY_ENDSTOPS(self, params):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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# Query the endstops
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for mcu_endstop, name in self.endstops:
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mcu_endstop.query_endstop(print_time)
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out = []
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for mcu_endstop, name in self.endstops:
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out.append((name, mcu_endstop.query_endstop_wait()))
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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out = [(name, mcu_endstop.query_endstop(print_time))
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for mcu_endstop, name in self.endstops]
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# Report results
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msg = " ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
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for name, t in out])
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@ -171,7 +171,6 @@ class TMCVirtualEndstop:
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self.home_start = self.mcu_endstop.home_start
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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self.TimeoutError = self.mcu_endstop.TimeoutError
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def home_prepare(self):
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self.fields.set_field("en_pwm_mode", 0)
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@ -234,10 +234,8 @@ class MCU_endstop:
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return True
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def query_endstop(self, print_time):
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self._homing = False
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self._min_query_time = self._mcu.monotonic()
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self._min_query_time = eventtime = self._mcu.monotonic()
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self._next_query_print_time = print_time
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def query_endstop_wait(self):
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eventtime = self._mcu.monotonic()
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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_value', self._invert) ^ self._invert
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