probe: Use new GCodeCommand wrappers
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
1746148a45
commit
ff6c11e827
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@ -98,10 +98,9 @@ class PrinterProbe:
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if pin_params['invert'] or pin_params['pullup']:
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raise pins.error("Can not pullup/invert probe virtual endstop")
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return self.mcu_probe
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def get_lift_speed(self, params=None):
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if params is not None:
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return self.gcode.get_float("LIFT_SPEED", params,
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self.lift_speed, above=0.)
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def get_lift_speed(self, gcmd=None):
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if gcmd is not None:
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return gcmd.get_float("LIFT_SPEED", self.lift_speed, above=0.)
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return self.lift_speed
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def get_offsets(self):
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return self.x_offset, self.y_offset, self.z_offset
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@ -121,8 +120,8 @@ class PrinterProbe:
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reason += HINT_TIMEOUT
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raise homing.CommandError(reason)
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pos = toolhead.get_position()
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self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f" % (
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pos[0], pos[1], pos[2]))
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self.gcode.respond_info("probe at %.3f,%.3f is z=%.6f"
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% (pos[0], pos[1], pos[2]))
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self.gcode.reset_last_position()
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return pos[:3]
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def _move(self, coord, speed):
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@ -145,20 +144,17 @@ class PrinterProbe:
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return z_sorted[middle]
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# even number of samples
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return self._calc_mean(z_sorted[middle-1:middle+1])
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def run_probe(self, params={}):
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speed = self.gcode.get_float(
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"PROBE_SPEED", params, self.speed, above=0.)
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lift_speed = self.get_lift_speed(params)
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sample_count = self.gcode.get_int(
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"SAMPLES", params, self.sample_count, minval=1)
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sample_retract_dist = self.gcode.get_float(
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"SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.)
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samples_tolerance = self.gcode.get_float(
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"SAMPLES_TOLERANCE", params, self.samples_tolerance, minval=0.)
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samples_retries = self.gcode.get_int(
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"SAMPLES_TOLERANCE_RETRIES", params, self.samples_retries, minval=0)
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samples_result = self.gcode.get_str(
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"SAMPLES_RESULT", params, self.samples_result)
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def run_probe(self, gcmd):
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speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.)
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lift_speed = self.get_lift_speed(gcmd)
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sample_count = gcmd.get_int("SAMPLES", self.sample_count, minval=1)
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sample_retract_dist = gcmd.get_float("SAMPLE_RETRACT_DIST",
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self.sample_retract_dist, above=0.)
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samples_tolerance = gcmd.get_float("SAMPLES_TOLERANCE",
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self.samples_tolerance, minval=0.)
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samples_retries = gcmd.get_int("SAMPLES_TOLERANCE_RETRIES",
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self.samples_retries, minval=0)
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samples_result = gcmd.get("SAMPLES_RESULT", self.samples_result)
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must_notify_multi_probe = not self.multi_probe_pending
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if must_notify_multi_probe:
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self.multi_probe_begin()
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@ -174,8 +170,7 @@ class PrinterProbe:
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if retries >= samples_retries:
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raise homing.CommandError(
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"Probe samples exceed samples_tolerance")
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self.gcode.respond_info(
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"Probe samples exceed tolerance. Retrying...")
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gcmd.respond_info("Probe samples exceed tolerance. Retrying...")
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retries += 1
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positions = []
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# Retract
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@ -189,32 +184,30 @@ class PrinterProbe:
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return self._calc_median(positions)
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return self._calc_mean(positions)
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cmd_PROBE_help = "Probe Z-height at current XY position"
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def cmd_PROBE(self, params):
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pos = self.run_probe(params)
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self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
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def cmd_PROBE(self, gcmd):
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pos = self.run_probe(gcmd)
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gcmd.respond_info("Result is z=%.6f" % (pos[2],))
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cmd_QUERY_PROBE_help = "Return the status of the z-probe"
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def cmd_QUERY_PROBE(self, params):
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def cmd_QUERY_PROBE(self, gcmd):
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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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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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gcmd.respond_info("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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def cmd_PROBE_ACCURACY(self, params):
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speed = self.gcode.get_float("PROBE_SPEED", params,
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self.speed, above=0.)
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lift_speed = self.get_lift_speed(params)
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sample_count = self.gcode.get_int("SAMPLES", params, 10, minval=1)
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sample_retract_dist = self.gcode.get_float(
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"SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.)
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def cmd_PROBE_ACCURACY(self, gcmd):
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speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.)
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lift_speed = self.get_lift_speed(gcmd)
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sample_count = gcmd.get_int("SAMPLES", 10, minval=1)
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sample_retract_dist = gcmd.get_float("SAMPLE_RETRACT_DIST",
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self.sample_retract_dist, above=0.)
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toolhead = self.printer.lookup_object('toolhead')
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pos = toolhead.get_position()
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self.gcode.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f"
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" (samples=%d retract=%.3f"
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" speed=%.1f lift_speed=%.1f)\n"
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% (pos[0], pos[1], pos[2],
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sample_count, sample_retract_dist,
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speed, lift_speed))
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gcmd.respond_info("PROBE_ACCURACY at X:%.3f Y:%.3f Z:%.3f"
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" (samples=%d retract=%.3f"
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" speed=%.1f lift_speed=%.1f)\n"
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% (pos[0], pos[1], pos[2],
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sample_count, sample_retract_dist,
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speed, lift_speed))
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# Probe bed sample_count times
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self.multi_probe_begin()
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positions = []
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@ -238,7 +231,7 @@ class PrinterProbe:
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deviation_sum += pow(positions[i][2] - avg_value, 2.)
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sigma = (deviation_sum / len(positions)) ** 0.5
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# Show information
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self.gcode.respond_info(
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gcmd.respond_info(
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"probe accuracy results: maximum %.6f, minimum %.6f, range %.6f, "
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"average %.6f, median %.6f, standard deviation %.6f" % (
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max_value, min_value, range_value, avg_value, median, sigma))
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@ -253,11 +246,11 @@ class PrinterProbe:
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configfile = self.printer.lookup_object('configfile')
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configfile.set(self.name, 'z_offset', "%.3f" % (z_offset,))
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cmd_PROBE_CALIBRATE_help = "Calibrate the probe's z_offset"
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def cmd_PROBE_CALIBRATE(self, params):
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def cmd_PROBE_CALIBRATE(self, gcmd):
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manual_probe.verify_no_manual_probe(self.printer)
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# Perform initial probe
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lift_speed = self.get_lift_speed(params)
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curpos = self.run_probe(params)
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lift_speed = self.get_lift_speed(gcmd)
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curpos = self.run_probe(gcmd)
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# Move away from the bed
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self.probe_calibrate_z = curpos[2]
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curpos[2] += 5.
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@ -267,14 +260,13 @@ class PrinterProbe:
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curpos[1] += self.y_offset
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self._move(curpos, self.speed)
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# Start manual probe
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manual_probe.ManualProbeHelper(self.printer, params,
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manual_probe.ManualProbeHelper(self.printer, gcmd,
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self.probe_calibrate_finalize)
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# Endstop wrapper that enables probe specific features
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class ProbeEndstopWrapper:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.gcode = self.printer.lookup_object('gcode')
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self.position_endstop = config.getfloat('z_offset')
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gcode_macro = self.printer.try_load_module(config, 'gcode_macro')
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self.activate_gcode = gcode_macro.load_template(
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@ -381,11 +373,11 @@ class ProbePointsHelper:
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toolhead.move(curpos, self.speed)
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self.gcode.reset_last_position()
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return False
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def start_probe(self, params):
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def start_probe(self, gcmd):
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manual_probe.verify_no_manual_probe(self.printer)
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# Lookup objects
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probe = self.printer.lookup_object('probe', None)
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method = self.gcode.get_str('METHOD', params, 'automatic').lower()
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method = gcmd.get('METHOD', 'automatic').lower()
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self.results = []
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if probe is None or method != 'automatic':
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# Manual probe
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@ -394,17 +386,17 @@ class ProbePointsHelper:
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self._manual_probe_start()
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return
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# Perform automatic probing
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self.lift_speed = probe.get_lift_speed(params)
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self.lift_speed = probe.get_lift_speed(gcmd)
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self.probe_offsets = probe.get_offsets()
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if self.horizontal_move_z < self.probe_offsets[2]:
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raise self.gcode.error("horizontal_move_z can't be less than"
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" probe's z_offset")
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raise gcmd.error("horizontal_move_z can't be less than"
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" probe's z_offset")
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probe.multi_probe_begin()
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while 1:
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done = self._move_next()
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if done:
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break
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pos = probe.run_probe(params)
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pos = probe.run_probe(gcmd)
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self.results.append(pos)
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probe.multi_probe_end()
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def _manual_probe_start(self):
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