homing: Make homing.py an "extras" module

Move klippy/homing.py to klippy/extras/homing.py and convert the code
to an "extras" modules.

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

1 files changed, 0 insertions, 159 deletions

diff --git a/klippy/homing.py b/klippy/homing.py
deleted file mode 100644
index 49f5a8dc..00000000
--- a/klippy/homing.py
+++ /dev/null
@@ -1,159 +0,0 @@
-# Code for state tracking during homing operations
-#
-# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
-#
-# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, math, collections
-
-HOMING_START_DELAY = 0.001
-ENDSTOP_SAMPLE_TIME = .000015
-ENDSTOP_SAMPLE_COUNT = 4
-
-class Homing:
-    def __init__(self, printer):
-        self.printer = printer
-        self.toolhead = printer.lookup_object('toolhead')
-        self.changed_axes = []
-        self.verify_retract = True
-        if self.printer.get_start_args().get("debuginput"):
-            self.verify_retract = False
-    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)]
-        move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
-        move_t = move_d / speed
-        max_steps = max([(abs(s.calc_position_from_coord(startpos)
-                              - s.calc_position_from_coord(movepos))
-                          / s.get_step_dist())
-                         for s in mcu_endstop.get_steppers()])
-        if max_steps <= 0.:
-            return .001
-        return move_t / max_steps
-    def homing_move(self, movepos, endstops, speed,
-                    probe_pos=False, verify_movement=False):
-        # Notify start of homing/probing move
-        self.printer.send_event("homing:homing_move_begin",
-                                [es for es, name in endstops])
-        # Note start location
-        self.toolhead.flush_step_generation()
-        kin = self.toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
-        start_mcu_pos = [(s, name, s.get_mcu_position())
-                         for es, name in endstops for s in es.get_steppers()]
-        # Start endstop checking
-        print_time = self.toolhead.get_last_move_time()
-        endstop_triggers = []
-        for mcu_endstop, name in endstops:
-            rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
-            wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
-                                          ENDSTOP_SAMPLE_COUNT, rest_time)
-            endstop_triggers.append(wait)
-        all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
-        self.toolhead.dwell(HOMING_START_DELAY)
-        # Issue move
-        error = None
-        try:
-            self.toolhead.drip_move(movepos, speed, all_endstop_trigger)
-        except CommandError as e:
-            error = "Error during homing move: %s" % (str(e),)
-        # Wait for endstops to trigger
-        move_end_print_time = self.toolhead.get_last_move_time()
-        for mcu_endstop, name in endstops:
-            did_trigger = mcu_endstop.home_wait(move_end_print_time)
-            if not did_trigger and error is None:
-                error = "Failed to home %s: Timeout during homing" % (name,)
-        # Determine stepper halt positions
-        self.toolhead.flush_step_generation()
-        end_mcu_pos = [(s, name, spos, s.get_mcu_position())
-                       for s, name, spos in start_mcu_pos]
-        if probe_pos:
-            for s, name, spos, epos in end_mcu_pos:
-                md = (epos - spos) * s.get_step_dist()
-                s.set_tag_position(s.get_tag_position() + md)
-            self.set_homed_position(kin.calc_tag_position())
-        else:
-            self.toolhead.set_position(movepos)
-        # Signal homing/probing move complete
-        try:
-            self.printer.send_event("homing:homing_move_end",
-                                    [es for es, name in endstops])
-        except CommandError as e:
-            if error is None:
-                error = str(e)
-        if error is not None:
-            raise CommandError(error)
-        # Check if some movement occurred
-        if verify_movement:
-            for s, name, spos, epos in end_mcu_pos:
-                if spos == epos:
-                    if probe_pos:
-                        raise CommandError("Probe triggered prior to movement")
-                    raise CommandError(
-                        "Endstop %s still triggered after retract" % (name,))
-    def home_rails(self, rails, forcepos, movepos):
-        # Notify of upcoming homing operation
-        self.printer.send_event("homing:home_rails_begin", rails)
-        # Alter kinematics class to think printer is at forcepos
-        homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
-        forcepos = self._fill_coord(forcepos)
-        movepos = self._fill_coord(movepos)
-        self.toolhead.set_position(forcepos, homing_axes=homing_axes)
-        # 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)
-        # Perform second home
-        if hi.retract_dist:
-            # Retract
-            axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)]
-            move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
-            retract_r = min(1., hi.retract_dist / move_d)
-            retractpos = [mp - ad * retract_r
-                          for mp, ad in zip(movepos, axes_d)]
-            self.toolhead.move(retractpos, hi.retract_speed)
-            # Home again
-            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=self.verify_retract)
-        # Signal home operation complete
-        self.toolhead.flush_step_generation()
-        kin = self.toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
-        ret = self.printer.send_event("homing:home_rails_end", rails)
-        if any(ret):
-            # Apply any homing offsets
-            adjustpos = kin.calc_tag_position()
-            for axis in homing_axes:
-                movepos[axis] = adjustpos[axis]
-            self.toolhead.set_position(movepos)
-    def home_axes(self, axes):
-        self.changed_axes = axes
-        try:
-            self.toolhead.get_kinematics().home(self)
-        except CommandError:
-            self.printer.lookup_object('stepper_enable').motor_off()
-            raise
-
-# 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)