stepper: Replace PrinterHomingStepper with PrinterRail

Update the code to use the term "rail" when dealing with a motor
controlled "axis".  A rail has a series of steppers and endstops that
control that motor controlled "axis".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 40 insertions, 42 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 29de7f3a..4afbdc33 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -1,6 +1,6 @@
 # Code for handling the kinematics of cartesian robots
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -11,9 +11,8 @@ StepList = (0, 1, 2)
 class CartKinematics:
     def __init__(self, toolhead, config):
         self.printer = config.get_printer()
-        self.steppers = [stepper.LookupMultiHomingStepper(
-            config.getsection('stepper_' + n))
-                         for n in ['x', 'y', 'z']]
+        self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
+                      for n in ['x', 'y', 'z']]
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
             'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
@@ -25,46 +24,45 @@ class CartKinematics:
         ffi_main, ffi_lib = chelper.get_ffi()
         self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
         self.move_fill = ffi_lib.move_fill
-        for a, s in zip('xyz', self.steppers):
-            s.setup_cartesian_itersolve(a)
+        for axis, rail in zip('xyz', self.rails):
+            rail.setup_cartesian_itersolve(axis)
         # Setup stepper max halt velocity
         max_halt_velocity = toolhead.get_max_axis_halt()
-        self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
-        self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
-        self.steppers[2].set_max_jerk(
+        self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
+        self.rails[1].set_max_jerk(max_halt_velocity, max_accel)
+        self.rails[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), max_accel)
         # Check for dual carriage support
         self.dual_carriage_axis = None
-        self.dual_carriage_steppers = []
+        self.dual_carriage_rails = []
         if config.has_section('dual_carriage'):
             dc_config = config.getsection('dual_carriage')
             dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
             self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
-            dc_stepper = stepper.LookupMultiHomingStepper(dc_config)
-            dc_stepper.setup_cartesian_itersolve(dc_axis)
-            dc_stepper.set_max_jerk(max_halt_velocity, max_accel)
-            self.dual_carriage_steppers = [
-                self.steppers[self.dual_carriage_axis], dc_stepper]
+            dc_rail = stepper.LookupMultiRail(dc_config)
+            dc_rail.setup_cartesian_itersolve(dc_axis)
+            dc_rail.set_max_jerk(max_halt_velocity, max_accel)
+            self.dual_carriage_rails = [
+                self.rails[self.dual_carriage_axis], dc_rail]
             self.printer.lookup_object('gcode').register_command(
                 'SET_DUAL_CARRIAGE', self.cmd_SET_DUAL_CARRIAGE,
                 desc=self.cmd_SET_DUAL_CARRIAGE_help)
-    def get_steppers(self, flags=""):
+    def get_rails(self, flags=""):
         if flags == "Z":
-            return [self.steppers[2]]
-        return list(self.steppers)
+            return [self.rails[2]]
+        return list(self.rails)
     def get_position(self):
-        return [s.get_commanded_position() for s in self.steppers]
+        return [rail.get_commanded_position() for rail in self.rails]
     def set_position(self, newpos, homing_axes):
         for i in StepList:
-            s = self.steppers[i]
-            s.set_position(newpos[i])
+            rail = self.rails[i]
+            rail.set_position(newpos[i])
             if i in homing_axes:
-                self.limits[i] = s.get_range()
-    def _home_axis(self, homing_state, axis, stepper):
-        s = stepper
+                self.limits[i] = rail.get_range()
+    def _home_axis(self, homing_state, axis, rail):
         # Determine moves
-        position_min, position_max = s.get_range()
-        hi = s.get_homing_info()
+        position_min, position_max = rail.get_range()
+        hi = rail.get_homing_info()
         if hi.positive_dir:
             pos = hi.position_endstop - 1.5*(hi.position_endstop - position_min)
             rpos = hi.position_endstop - hi.retract_dist
@@ -81,43 +79,43 @@ class CartKinematics:
         homepos[axis] = hi.position_endstop
         coord = [None, None, None, None]
         coord[axis] = pos
-        homing_state.home(coord, homepos, s.get_endstops(), homing_speed)
+        homing_state.home(coord, homepos, rail.get_endstops(), homing_speed)
         # Retract
         coord[axis] = rpos
         homing_state.retract(coord, homing_speed)
         # Home again
         coord[axis] = r2pos
-        homing_state.home(coord, homepos, s.get_endstops(),
+        homing_state.home(coord, homepos, rail.get_endstops(),
                           homing_speed/2.0, second_home=True)
         # Set final homed position
-        coord[axis] = hi.position_endstop + s.get_homed_offset()
+        coord[axis] = hi.position_endstop + rail.get_homed_offset()
         homing_state.set_homed_position(coord)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
             if axis == self.dual_carriage_axis:
-                dc1, dc2 = self.dual_carriage_steppers
-                altc = self.steppers[axis] == dc2
+                dc1, dc2 = self.dual_carriage_rails
+                altc = self.rails[axis] == dc2
                 self._activate_carriage(0)
                 self._home_axis(homing_state, axis, dc1)
                 self._activate_carriage(1)
                 self._home_axis(homing_state, axis, dc2)
                 self._activate_carriage(altc)
             else:
-                self._home_axis(homing_state, axis, self.steppers[axis])
+                self._home_axis(homing_state, axis, self.rails[axis])
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
-        for stepper in self.steppers:
-            stepper.motor_enable(print_time, 0)
-        for stepper in self.dual_carriage_steppers:
-            stepper.motor_enable(print_time, 0)
+        for rail in self.rails:
+            rail.motor_enable(print_time, 0)
+        for rail in self.dual_carriage_rails:
+            rail.motor_enable(print_time, 0)
         self.need_motor_enable = True
     def _check_motor_enable(self, print_time, move):
         need_motor_enable = False
         for i in StepList:
             if move.axes_d[i]:
-                self.steppers[i].motor_enable(print_time, 1)
-            need_motor_enable |= not self.steppers[i].is_motor_enabled()
+                self.rails[i].motor_enable(print_time, 1)
+            need_motor_enable |= not self.rails[i].is_motor_enabled()
         self.need_motor_enable = need_motor_enable
     def _check_endstops(self, move):
         end_pos = move.end_pos
@@ -154,18 +152,18 @@ class CartKinematics:
             move.start_v, move.cruise_v, move.accel)
         for i in StepList:
             if move.axes_d[i]:
-                self.steppers[i].step_itersolve(self.cmove)
+                self.rails[i].step_itersolve(self.cmove)
     # Dual carriage support
     def _activate_carriage(self, carriage):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.get_last_move_time()
-        dc_stepper = self.dual_carriage_steppers[carriage]
+        dc_rail = self.dual_carriage_rails[carriage]
         dc_axis = self.dual_carriage_axis
-        self.steppers[dc_axis] = dc_stepper
+        self.rails[dc_axis] = dc_rail
         extruder_pos = toolhead.get_position()[3]
         toolhead.set_position(self.get_position() + [extruder_pos])
         if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
-            self.limits[dc_axis] = dc_stepper.get_range()
+            self.limits[dc_axis] = dc_rail.get_range()
         self.need_motor_enable = True
     cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
     def cmd_SET_DUAL_CARRIAGE(self, params):