From 1591a51f76cff336f0109bf4459bfa46dca1eaa3 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Fri, 31 May 2024 14:10:34 -0400
Subject: [PATCH] probe: Gather multiple results in ProbeSessionHelper
Change run_probe() to gather the results locally, and introduce a new
pull_probed_results() method that returns the previously probed
results. This is in preparation for future probing code that benefits
from batching probe results.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/extras/probe.py | 42 +++++++++++++++++++++++++++---------------
1 file changed, 27 insertions(+), 15 deletions(-)
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 944956ea7..6a69d1b5a 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -128,14 +128,16 @@ class ProbeCommandHelper:
fo_gcmd = gcode.create_gcode_command("", "", fo_params)
# Probe bed sample_count times
probe_session = self.probe.start_probe_session(fo_gcmd)
- positions = []
- while len(positions) < sample_count:
+ probe_num = 0
+ while probe_num < sample_count:
# Probe position
- pos = probe_session.run_probe(fo_gcmd)
- positions.append(pos)
+ probe_session.run_probe(fo_gcmd)
+ probe_num += 1
# Retract
+ pos = toolhead.get_position()
liftpos = [None, None, pos[2] + params['sample_retract_dist']]
self._move(liftpos, params['lift_speed'])
+ positions = probe_session.pull_probed_results()
probe_session.end_probe_session()
# Calculate maximum, minimum and average values
max_value = max([p[2] for p in positions])
@@ -259,6 +261,7 @@ class ProbeSessionHelper:
minval=0)
# Session state
self.multi_probe_pending = False
+ self.results = []
# Register event handlers
self.printer.register_event_handler("gcode:command_error",
self._handle_command_error)
@@ -276,10 +279,12 @@ class ProbeSessionHelper:
self._probe_state_error()
self.mcu_probe.multi_probe_begin()
self.multi_probe_pending = True
+ self.results = []
return self
def end_probe_session(self):
if not self.multi_probe_pending:
self._probe_state_error()
+ self.results = []
self.multi_probe_pending = False
self.mcu_probe.multi_probe_end()
def get_probe_params(self, gcmd=None):
@@ -349,8 +354,13 @@ class ProbeSessionHelper:
toolhead.manual_move(
probexy + [pos[2] + params['sample_retract_dist']],
params['lift_speed'])
- # Calculate and return result
- return calc_probe_z_average(positions, params['samples_result'])
+ # Calculate result
+ epos = calc_probe_z_average(positions, params['samples_result'])
+ self.results.append(epos)
+ def pull_probed_results(self):
+ res = self.results
+ self.results = []
+ return res
# Helper to read the xyz probe offsets from the config
class ProbeOffsetsHelper:
@@ -441,19 +451,20 @@ class ProbePointsHelper:
if self.horizontal_move_z < self.probe_offsets[2]:
raise gcmd.error("horizontal_move_z can't be less than"
" probe's z_offset")
- results = []
probe_session = probe.start_probe_session(gcmd)
+ probe_num = 0
while 1:
- self._raise_tool(not results)
- if len(results) >= len(self.probe_points):
+ self._raise_tool(not probe_num)
+ if probe_num >= len(self.probe_points):
+ results = probe_session.pull_probed_results()
done = self._invoke_callback(results)
if done:
break
- # Caller wants a "retry" - clear results and restart probing
- results = []
- self._move_next(len(results))
- pos = probe_session.run_probe(gcmd)
- results.append(pos)
+ # Caller wants a "retry" - restart probing
+ probe_num = 0
+ self._move_next(probe_num)
+ probe_session.run_probe(gcmd)
+ probe_num += 1
probe_session.end_probe_session()
def _manual_probe_start(self):
self._raise_tool(not self.manual_results)
@@ -476,7 +487,8 @@ class ProbePointsHelper:
# Helper to obtain a single probe measurement
def run_single_probe(probe, gcmd):
probe_session = probe.start_probe_session(gcmd)
- pos = probe_session.run_probe(gcmd)
+ probe_session.run_probe(gcmd)
+ pos = probe_session.pull_probed_results()[0]
probe_session.end_probe_session()
return pos