From d39f8492035c093c700390083732ada2b61ed6ce Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Mon, 29 Mar 2021 11:22:30 -0400
Subject: [PATCH] homing: Separate homing/probing movement logic to its own
class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/extras/homing.py | 66 +++++++++++++++++++++++------------------
1 file changed, 37 insertions(+), 29 deletions(-)
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index 972e30299..5a2c518f0 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -9,25 +9,18 @@ HOMING_START_DELAY = 0.001
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
-# State tracking during toolhead homing/probing operations
-class Homing:
+# Return a completion that completes when all completions in a list complete
+def multi_complete(printer, completions):
+ if len(completions) == 1:
+ return completions[0]
+ cb = (lambda e: all([c.wait() for c in completions]))
+ return printer.get_reactor().register_callback(cb)
+
+# Implementation of homing/probing moves
+class HomingMove:
def __init__(self, printer):
self.printer = printer
self.toolhead = printer.lookup_object('toolhead')
- self.changed_axes = []
- def set_axes(self, axes):
- self.changed_axes = axes
- def get_axes(self):
- return self.changed_axes
- def _fill_coord(self, coord):
- # Fill in any None entries in 'coord' with current toolhead position
- thcoord = list(self.toolhead.get_position())
- for i in range(len(coord)):
- if coord[i] is not None:
- thcoord[i] = coord[i]
- return thcoord
- def set_homed_position(self, pos):
- self.toolhead.set_position(self._fill_coord(pos))
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
startpos = self.toolhead.get_position()
axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
@@ -104,6 +97,26 @@ class Homing:
raise self.printer.command_error(
"Endstop %s still triggered after retract" % (name,))
return movepos
+
+# State tracking of homing requests
+class Homing:
+ def __init__(self, printer):
+ self.printer = printer
+ self.toolhead = printer.lookup_object('toolhead')
+ self.changed_axes = []
+ def set_axes(self, axes):
+ self.changed_axes = axes
+ def get_axes(self):
+ return self.changed_axes
+ def _fill_coord(self, coord):
+ # Fill in any None entries in 'coord' with current toolhead position
+ thcoord = list(self.toolhead.get_position())
+ for i in range(len(coord)):
+ if coord[i] is not None:
+ thcoord[i] = coord[i]
+ return thcoord
+ def set_homed_position(self, pos):
+ self.toolhead.set_position(self._fill_coord(pos))
def home_rails(self, rails, forcepos, movepos):
# Notify of upcoming homing operation
self.printer.send_event("homing:home_rails_begin", self, rails)
@@ -115,7 +128,8 @@ class Homing:
# Perform first home
endstops = [es for rail in rails for es in rail.get_endstops()]
hi = rails[0].get_homing_info()
- self.homing_move(movepos, endstops, hi.speed)
+ hmove = HomingMove(self.printer)
+ hmove.homing_move(movepos, endstops, hi.speed)
# Perform second home
if hi.retract_dist:
# Retract
@@ -129,8 +143,9 @@ class Homing:
forcepos = [rp - ad * retract_r
for rp, ad in zip(retractpos, axes_d)]
self.toolhead.set_position(forcepos)
- self.homing_move(movepos, endstops, hi.second_homing_speed,
- verify_movement=True)
+ hmove = HomingMove(self.printer)
+ hmove.homing_move(movepos, endstops, hi.second_homing_speed,
+ verify_movement=True)
# Signal home operation complete
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
@@ -144,13 +159,6 @@ class Homing:
movepos[axis] = adjustpos[axis]
self.toolhead.set_position(movepos)
-# Return a completion that completes when all completions in a list complete
-def multi_complete(printer, completions):
- if len(completions) == 1:
- return completions[0]
- cb = (lambda e: all([c.wait() for c in completions]))
- return printer.get_reactor().register_callback(cb)
-
class PrinterHoming:
def __init__(self, config):
self.printer = config.get_printer()
@@ -158,10 +166,10 @@ class PrinterHoming:
gcode = self.printer.lookup_object('gcode')
gcode.register_command('G28', self.cmd_G28)
def probing_move(self, mcu_probe, pos, speed):
- homing_state = Homing(self.printer)
+ hmove = HomingMove(self.printer)
endstops = [(mcu_probe, "probe")]
- return homing_state.homing_move(pos, endstops, speed,
- probe_pos=True, verify_movement=True)
+ return hmove.homing_move(pos, endstops, speed,
+ probe_pos=True, verify_movement=True)
def cmd_G28(self, gcmd):
# Move to origin
axes = []