homing: Replace notify callback with a completion
Update the endstop code to return its trigger completion object during home_start(). Update the toolhead class to take a completion object (instead of creating its own). This reduces the number of intermediate callbacks needed during a homing operation. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
e3a5e2d271
commit
fbbbbc85cf
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@ -174,11 +174,10 @@ class BLTouchEndstopWrapper:
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for s, mcu_pos in self.start_mcu_pos:
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if s.get_mcu_position() == mcu_pos:
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raise homing.EndstopError("BLTouch failed to deploy")
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def home_start(self, print_time, sample_time, sample_count, rest_time,
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notify=None):
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def home_start(self, print_time, sample_time, sample_count, rest_time):
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rest_time = min(rest_time, ENDSTOP_REST_TIME)
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self.mcu_endstop.home_start(print_time, sample_time, sample_count,
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rest_time, notify=notify)
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return self.mcu_endstop.home_start(print_time, sample_time,
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sample_count, rest_time)
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def get_position_endstop(self):
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return self.position_endstop
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cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"
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@ -15,7 +15,6 @@ class Homing:
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self.toolhead = printer.lookup_object('toolhead')
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self.changed_axes = []
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self.verify_retract = True
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self.endstops_pending = -1
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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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@ -41,10 +40,6 @@ class Homing:
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/ s.get_step_dist())
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for s in mcu_endstop.get_steppers()])
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return move_t / max_steps
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def _endstop_notify(self):
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self.endstops_pending -= 1
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if not self.endstops_pending:
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self.toolhead.signal_drip_mode_end()
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def homing_move(self, movepos, endstops, speed,
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probe_pos=False, verify_movement=False):
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# Notify start of homing/probing move
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@ -59,17 +54,18 @@ class Homing:
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for es, name in endstops for s in es.get_steppers()]
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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self.endstops_pending = len(endstops)
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endstop_triggers = []
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for mcu_endstop, name in endstops:
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rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
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mcu_endstop.home_start(
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print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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rest_time, notify=self._endstop_notify)
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wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
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ENDSTOP_SAMPLE_COUNT, rest_time)
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endstop_triggers.append(wait)
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all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
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self.toolhead.dwell(HOMING_START_DELAY)
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# Issue move
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error = None
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try:
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self.toolhead.drip_move(movepos, speed)
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self.toolhead.drip_move(movepos, speed, all_endstop_trigger)
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except CommandError as e:
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error = "Error during homing move: %s" % (str(e),)
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# Wait for endstops to trigger
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@ -110,7 +106,7 @@ class Homing:
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"Endstop %s still triggered after retract" % (name,))
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def home_rails(self, rails, forcepos, movepos):
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# Notify of upcoming homing operation
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ret = self.printer.send_event("homing:home_rails_begin", rails)
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self.printer.send_event("homing:home_rails_begin", rails)
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# Alter kinematics class to think printer is at forcepos
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homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
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forcepos = self._fill_coord(forcepos)
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@ -155,6 +151,13 @@ class Homing:
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self.printer.lookup_object('stepper_enable').motor_off()
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raise
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# Return a completion that completes when all completions in a list complete
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def multi_complete(printer, completions):
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if len(completions) == 1:
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return completions[0]
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cb = (lambda e: all([c.wait() for c in completions]))
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return printer.get_reactor().register_callback(cb)
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class CommandError(Exception):
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pass
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@ -25,7 +25,6 @@ class MCU_endstop:
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self._min_query_time = self._last_sent_time = 0.
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self._next_query_print_time = self._end_home_time = 0.
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self._trigger_completion = self._home_completion = None
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self._trigger_notify = None
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def get_mcu(self):
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return self._mcu
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def add_stepper(self, stepper):
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@ -55,16 +54,14 @@ class MCU_endstop:
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self._query_cmd = self._mcu.lookup_command(
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"endstop_query_state oid=%c", cq=cmd_queue)
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def home_start(self, print_time, sample_time, sample_count, rest_time,
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triggered=True, notify=None):
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triggered=True):
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clock = self._mcu.print_time_to_clock(print_time)
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rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
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self._trigger_notify = notify
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self._next_query_print_time = print_time + self.RETRY_QUERY
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self._min_query_time = self._reactor.monotonic()
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self._last_sent_time = 0.
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self._home_end_time = self._reactor.NEVER
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self._trigger_completion = self._reactor.completion()
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self._home_completion = self._reactor.completion()
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self._mcu.register_response(self._handle_endstop_state,
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"endstop_state", self._oid)
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self._home_cmd.send(
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@ -73,6 +70,7 @@ class MCU_endstop:
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reqclock=clock)
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self._home_completion = self._reactor.register_callback(
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self._home_retry)
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return self._trigger_completion
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def _handle_endstop_state(self, params):
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logging.debug("endstop_state %s", params)
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if params['#sent_time'] >= self._min_query_time:
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@ -80,16 +78,14 @@ class MCU_endstop:
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self._last_sent_time = params['#sent_time']
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else:
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self._min_query_time = self._reactor.NEVER
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self._reactor.async_complete(self._trigger_completion, params)
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self._reactor.async_complete(self._trigger_completion, True)
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def _home_retry(self, eventtime):
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if self._mcu.is_fileoutput():
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return True
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while 1:
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params = self._trigger_completion.wait(eventtime + 0.100)
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if params is not None:
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did_trigger = self._trigger_completion.wait(eventtime + 0.100)
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if did_trigger is not None:
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# Homing completed successfully
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if self._trigger_notify is not None:
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self._trigger_notify()
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return True
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# Check for timeout
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last = self._mcu.estimated_print_time(self._last_sent_time)
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@ -108,6 +104,8 @@ class MCU_endstop:
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self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
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for s in self._steppers:
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s.note_homing_end(did_trigger=did_trigger)
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if not self._trigger_completion.test():
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self._trigger_completion.complete(False)
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if not did_trigger:
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raise self.TimeoutError("Timeout during endstop homing")
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def query_endstop(self, print_time):
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@ -441,7 +441,7 @@ class ToolHead:
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continue
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npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
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self._update_move_time(npt)
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def drip_move(self, newpos, speed):
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def drip_move(self, newpos, speed, drip_completion):
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# Transition from "Flushed"/"Priming"/main state to "Drip" state
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self.move_queue.flush()
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self.special_queuing_state = "Drip"
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@ -449,7 +449,7 @@ class ToolHead:
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self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
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self.move_queue.set_flush_time(self.buffer_time_high)
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self.idle_flush_print_time = 0.
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self.drip_completion = self.reactor.completion()
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self.drip_completion = drip_completion
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# Submit move
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try:
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self.move(newpos, speed)
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@ -464,8 +464,6 @@ class ToolHead:
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self.trapq_free_moves(self.trapq, self.reactor.NEVER)
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# Exit "Drip" state
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self.flush_step_generation()
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def signal_drip_mode_end(self):
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self.drip_completion.complete(True)
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# Misc commands
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def stats(self, eventtime):
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for m in self.all_mcus:
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