From f6d4284d5ccc7e3041ab3d89a0a9244edcd157b9 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 6 Dec 2017 10:13:58 -0500
Subject: [PATCH] homing: Directly interact with the kinematic class on
query_endstops()
Move the query_endstop logic out of toolhead.py and into homing.py.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/cartesian.py | 4 ++--
klippy/corexy.py | 4 ++--
klippy/delta.py | 4 ++--
klippy/gcode.py | 9 ++-------
klippy/homing.py | 12 +++++++-----
klippy/toolhead.py | 3 ---
6 files changed, 15 insertions(+), 21 deletions(-)
diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index a295ee92b..c22b24c59 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -26,6 +26,8 @@ class CartKinematics:
self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), max_accel)
+ def get_steppers(self):
+ return list(self.steppers)
def set_position(self, newpos):
for i in StepList:
self.steppers[i].set_position(newpos[i])
@@ -62,8 +64,6 @@ class CartKinematics:
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
- def query_endstops(self, print_time, query_flags):
- return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
diff --git a/klippy/corexy.py b/klippy/corexy.py
index cd51410b5..3eac2e264 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -33,6 +33,8 @@ class CoreXYKinematics:
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
+ def get_steppers(self):
+ return list(self.steppers)
def set_position(self, newpos):
pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
for i in StepList:
@@ -71,8 +73,6 @@ class CoreXYKinematics:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
- def query_endstops(self, print_time, query_flags):
- return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
diff --git a/klippy/delta.py b/klippy/delta.py
index b0ad094e3..3b3f24efe 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -58,6 +58,8 @@ class DeltaKinematics:
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
+ def get_steppers(self):
+ return list(self.steppers)
def _cartesian_to_actuator(self, coord):
return [math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2
@@ -124,8 +126,6 @@ class DeltaKinematics:
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
- def query_endstops(self, print_time, query_flags):
- return homing.query_endstops(print_time, query_flags, self.steppers)
def motor_off(self, print_time):
self.limit_xy2 = -1.
for stepper in self.steppers:
diff --git a/klippy/gcode.py b/klippy/gcode.py
index c25608fb7..ce6a59f58 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -409,7 +409,7 @@ class GCodeParser:
if self.toolhead is None:
self.cmd_default(params)
return
- raw_pos = self.toolhead.query_endstops("get_mcu_position")
+ raw_pos = homing.query_position(self.toolhead)
self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
self.last_position[0], self.last_position[1],
self.last_position[2], self.last_position[3],
@@ -451,12 +451,7 @@ class GCodeParser:
cmd_QUERY_ENDSTOPS_aliases = ["M119"]
def cmd_QUERY_ENDSTOPS(self, params):
# Get Endstop Status
- if self.is_fileinput:
- return
- try:
- res = self.toolhead.query_endstops()
- except homing.EndstopError as e:
- raise error(str(e))
+ res = homing.query_endstops(self.toolhead)
self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
for name, t in res]))
cmd_PID_TUNE_help = "Run PID Tuning"
diff --git a/klippy/homing.py b/klippy/homing.py
index 8ee785309..9f56a6e91 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -87,11 +87,9 @@ class Homing:
self.toolhead.motor_off()
raise
-def query_endstops(print_time, query_flags, steppers):
- if query_flags == "get_mcu_position":
- # Only the commanded position is requested
- return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
- for s in steppers]
+def query_endstops(toolhead):
+ print_time = toolhead.get_last_move_time()
+ steppers = toolhead.get_kinematics().get_steppers()
out = []
for s in steppers:
for mcu_endstop, name in s.get_endstops():
@@ -101,6 +99,10 @@ def query_endstops(print_time, query_flags, steppers):
out.append((name, mcu_endstop.query_endstop_wait()))
return out
+def query_position(toolhead):
+ steppers = toolhead.get_kinematics().get_steppers()
+ return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) for s in steppers]
+
class EndstopError(Exception):
pass
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index e258f4738..25220ab81 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -348,9 +348,6 @@ class ToolHead:
while (not self.sync_print_time
or self.print_time >= self.mcu.estimated_print_time(eventtime)):
eventtime = self.reactor.pause(eventtime + 0.100)
- def query_endstops(self, query_flags=""):
- last_move_time = self.get_last_move_time()
- return self.kin.query_endstops(last_move_time, query_flags)
def set_extruder(self, extruder):
last_move_time = self.get_last_move_time()
self.extruder.set_active(last_move_time, False)