From bd3c8920f617e0159e7d73b97efb9fd36fc8508b Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 29 Oct 2019 12:06:46 -0400
Subject: [PATCH] mcu: Remove set_ignore_move()
Update callers of set_ignore_move() to use the trapq system to set a
stepper to ignore moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/extras/force_move.py | 13 +++++--------
klippy/extras/z_tilt.py | 8 ++++----
klippy/mcu.py | 19 ++++---------------
klippy/stepper.py | 1 -
4 files changed, 13 insertions(+), 28 deletions(-)
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index 1c837e9df..63e1c293f 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -56,10 +56,8 @@ class ForceMove:
if not was_enable:
stepper.motor_enable(print_time, 1)
toolhead.dwell(STALL_TIME)
- was_ignore = stepper.set_ignore_move(False)
- return was_enable, was_ignore
- def restore_enable(self, stepper, was_enable, was_ignore):
- stepper.set_ignore_move(was_ignore)
+ return was_enable
+ def restore_enable(self, stepper, was_enable):
if not was_enable:
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(STALL_TIME)
@@ -89,14 +87,14 @@ class ForceMove:
def cmd_STEPPER_BUZZ(self, params):
stepper = self._lookup_stepper(params)
logging.info("Stepper buzz %s", stepper.get_name())
- was_enable, was_ignore = self.force_enable(stepper)
+ was_enable = self.force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
for i in range(10):
self.manual_move(stepper, 1., BUZZ_VELOCITY)
toolhead.dwell(.050)
self.manual_move(stepper, -1., BUZZ_VELOCITY)
toolhead.dwell(.450)
- self.restore_enable(stepper, was_enable, was_ignore)
+ self.restore_enable(stepper, was_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, params):
stepper = self._lookup_stepper(params)
@@ -105,9 +103,8 @@ class ForceMove:
accel = self.gcode.get_float('ACCEL', params, 0., minval=0.)
logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
stepper.get_name(), distance, speed, accel)
- was_enable, was_ignore = self.force_enable(stepper)
+ self.force_enable(stepper)
self.manual_move(stepper, distance, speed, accel)
- self.restore_enable(stepper, True, was_ignore)
cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
def cmd_SET_KINEMATIC_POSITION(self, params):
toolhead = self.printer.lookup_object('toolhead')
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index ac28a7b18..6bccfe37e 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -36,7 +36,7 @@ class ZAdjustHelper:
gcode.respond_info(msg)
# Disable Z stepper movements
for s in self.z_steppers:
- s.set_ignore_move(True)
+ s.set_trapq(None)
# Move each z stepper (sorted from lowest to highest) until they match
positions = [(-a, s) for a, s in zip(adjustments, self.z_steppers)]
positions.sort()
@@ -45,7 +45,7 @@ class ZAdjustHelper:
for i in range(len(positions)-1):
stepper_offset, stepper = positions[i]
next_stepper_offset, next_stepper = positions[i+1]
- stepper.set_ignore_move(False)
+ stepper.set_trapq(toolhead.get_trapq())
curpos[2] = z_low + next_stepper_offset
try:
toolhead.move(curpos, speed)
@@ -53,11 +53,11 @@ class ZAdjustHelper:
except:
logging.exception("ZAdjustHelper adjust_steppers")
for s in self.z_steppers:
- s.set_ignore_move(False)
+ s.set_trapq(toolhead.get_trapq())
raise
# Z should now be level - do final cleanup
last_stepper_offset, last_stepper = positions[-1]
- last_stepper.set_ignore_move(False)
+ last_stepper.set_trapq(toolhead.get_trapq())
curpos[2] += first_stepper_offset
toolhead.set_position(curpos)
gcode.reset_last_position()
diff --git a/klippy/mcu.py b/klippy/mcu.py
index ec490e657..e81e7eb43 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -26,10 +26,11 @@ class MCU_stepper:
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
- self._stepper_kinematics = self._itersolve_gen_steps = None
- self._itersolve_generate_steps = self._itersolve_check_active = None
+ self._stepper_kinematics = None
+ self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
+ self._itersolve_generate_steps = self._ffi_lib.itersolve_generate_steps
+ self._itersolve_check_active = self._ffi_lib.itersolve_check_active
self._trapq = ffi_main.NULL
- self.set_ignore_move(False)
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
@@ -97,18 +98,6 @@ class MCU_stepper:
self._ffi_lib.itersolve_set_stepcompress(
sk, self._stepqueue, self._step_dist)
return old_sk
- def set_ignore_move(self, ignore_move):
- fl = self._ffi_lib
- was_ignore = self._itersolve_gen_steps is not fl.itersolve_gen_steps
- if ignore_move:
- self._itersolve_gen_steps = (lambda *args: 0)
- self._itersolve_generate_steps = (lambda *args: 0)
- self._itersolve_check_active = (lambda *args: 0.)
- else:
- self._itersolve_gen_steps = fl.itersolve_gen_steps
- self._itersolve_generate_steps = fl.itersolve_generate_steps
- self._itersolve_check_active = fl.itersolve_check_active
- return was_ignore
def note_homing_end(self, did_trigger=False):
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
diff --git a/klippy/stepper.py b/klippy/stepper.py
index f3721b457..003616970 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -81,7 +81,6 @@ class PrinterStepper:
self.generate_steps = mcu_stepper.generate_steps
self.set_trapq = mcu_stepper.set_trapq
self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics
- self.set_ignore_move = mcu_stepper.set_ignore_move
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
self.set_position = mcu_stepper.set_position
self.get_commanded_position = mcu_stepper.get_commanded_position