homing: Check for timeout during homing operation
Should a homing move complete without hitting the endstop, then disable motors, disable the endstop checking, and report the error to the user. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
4f30dce64f
commit
e0aa067cc9
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@ -17,9 +17,6 @@ Host user interaction
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highlight an error (one has to look in the terminal tab to find the
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error) and errors written to the log can be non-obvious to a user.
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* Implement timeouts on homing. The host currently waits forever if
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an endstop is not hit during a homing operation.
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* Improve startup:
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* Provide startup scripts so that Klippy can startup at system
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@ -151,6 +151,9 @@ class GCodeParser:
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def busy_handler(self, eventtime):
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try:
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busy = self.busy_state.check_busy(eventtime)
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except homing.EndstopError, e:
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self.respond("Error: %s" % (e,))
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busy = False
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except:
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logging.exception("Exception in busy handler")
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self.toolhead.force_shutdown()
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@ -3,8 +3,8 @@
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# Copyright (C) 2016 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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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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@ -31,7 +31,11 @@ class Homing:
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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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ret = first[0](*first[1])
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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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@ -55,17 +59,22 @@ class Homing:
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print_time = self.toolhead.get_last_move_time()
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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(es)
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self.endstops.append((s.name, es))
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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 es in self.endstops:
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es.home_finalize()
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for name, es in self.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):
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# Check if endstops have triggered
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for es in self.endstops:
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if es.check_busy(self.eventtime):
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return True
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for name, es in self.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.MCUError, e:
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raise EndstopError("Failed to home stepper %s: %s" % (
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name, str(e)))
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# Finished
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del self.endstops[:]
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return False
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@ -85,13 +94,16 @@ class QueryEndstops:
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if es is None:
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continue
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self.endstops.append((stepper.name, es))
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self.busy.append(es)
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self.busy.append((stepper.name, es))
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def check_busy(self, eventtime):
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# Check if all endstop queries have been received
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while self.busy:
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busy = self.busy[0].check_busy(eventtime)
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if busy:
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return True
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try:
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if self.busy[0][1].check_busy(eventtime):
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return True
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except mcu.MCUError, e:
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raise EndstopError("Failed to query endstop %s: %s" % (
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self.busy[0][0], str(e)))
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self.busy.pop(0)
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# All responses received - report status
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msgs = []
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@ -6,6 +6,12 @@
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import sys, zlib, logging, time, math
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import serialhdl, pins, chelper
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class MCUError(Exception):
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def __init__(self, msg="MCU Error"):
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self._msg = msg
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def __str__(self):
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return self._msg
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def parse_pin_extras(pin, can_pullup=False):
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pullup = invert = 0
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if can_pullup and pin.startswith('^'):
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@ -100,7 +106,7 @@ class MCU_endstop:
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self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
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self._homing = False
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self._min_query_time = 0.
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self._next_query_clock = 0
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self._next_query_clock = self._home_timeout_clock = 0
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self._mcu_freq = mcu.get_mcu_freq()
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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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@ -114,11 +120,12 @@ class MCU_endstop:
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msg = self._home_cmd.encode(
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self._oid, clock, rest_ticks, 1 ^ self._invert)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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def home_finalize(self):
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def home_finalize(self, mcu_time):
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# XXX - this flushes the serial port of messages ready to be
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# sent, but doesn't flush messages if they had an unmet minclock
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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 _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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@ -126,9 +133,18 @@ class MCU_endstop:
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# Check if need to send an end_stop_query command
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if self._mcu.output_file_mode:
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return False
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if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
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last_sent_time = self._last_state.get('#sent_time', -1.)
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if last_sent_time >= self._min_query_time:
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if not self._homing or not self._last_state.get('homing', 0):
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return False
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if (self._mcu.serial.get_clock(last_sent_time)
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> self._home_timeout_clock):
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# Timeout - disable endstop checking
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msg = self._home_cmd.encode(self._oid, 0, 0, 0)
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self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
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raise MCUError("Timeout during endstop homing")
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if self._mcu.is_shutdown:
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raise MCUError("MCU is shutdown")
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last_clock = self._mcu.get_last_clock()
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if last_clock >= self._next_query_clock:
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self._next_query_clock = last_clock + self._retry_query_ticks
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