48 lines
2.2 KiB
Python
48 lines
2.2 KiB
Python
# Utility for querying the current state of all endstops
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#
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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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class QueryEndstops:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.endstops = []
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self.last_state = {}
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# Register webhook if server is available
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webhooks = self.printer.lookup_object('webhooks')
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webhooks.register_endpoint(
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"query_endstops/status", self._handle_web_request)
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command("QUERY_ENDSTOPS", self.cmd_QUERY_ENDSTOPS,
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desc=self.cmd_QUERY_ENDSTOPS_help)
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gcode.register_command("M119", self.cmd_QUERY_ENDSTOPS)
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def register_endstop(self, mcu_endstop, name):
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self.endstops.append((mcu_endstop, name))
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def get_status(self, eventtime):
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return {'last_query': {name: value for name, value in self.last_state}}
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def _handle_web_request(self, web_request):
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if web_request.get_method() != 'GET':
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raise web_request.error("Invalid Request Method")
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gc_mutex = self.printer.lookup_object('gcode').get_mutex()
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toolhead = self.printer.lookup_object('toolhead')
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with gc_mutex:
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print_time = toolhead.get_last_move_time()
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self.last_state = [(name, mcu_endstop.query_endstop(print_time))
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for mcu_endstop, name in self.endstops]
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web_request.send({name: ["open", "TRIGGERED"][not not t]
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for name, t in self.last_state})
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cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
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def cmd_QUERY_ENDSTOPS(self, gcmd):
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# Query the endstops
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.last_state = [(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 self.last_state])
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gcmd.respond_raw(msg)
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def load_config(config):
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return QueryEndstops(config)
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