homing: Make sure to clean up homing state even if homing fails

Make sure to always call MCU_endstop.home_wait() if
MCU_endstop.home_start() is invoked.  Rename
MCU_stepper.note_homing_triggered() to note_homing_end() and make sure
it is always called if MCU_stepper.note_homing_start() is invoked.

With these changes, MCU_endstop.home_finalize() is no longer needed.

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

1 files changed, 35 insertions, 27 deletions

diff --git a/klippy/homing.py b/klippy/homing.py
index 9fde0000..db99fea9 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -29,61 +29,69 @@ class Homing:
         return thcoord
     def retract(self, newpos, speed):
         self.toolhead.move(self._fill_coord(newpos), speed)
-    def home(self, forcepos, movepos, endstops, speed, second_home=False):
-        # Alter kinematics class to think printer is at forcepos
-        self.toolhead.set_position(self._fill_coord(forcepos))
-        # Start homing and issue move
-        if not second_home:
-            est_move_d = sum([abs(forcepos[i]-movepos[i])
-                              for i in range(3) if movepos[i] is not None])
-            est_steps = sum([est_move_d / s.get_step_dist()
-                             for es, n in endstops for s in es.get_steppers()])
-            self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
+    def set_homed_position(self, pos):
+        self.toolhead.set_position(self._fill_coord(pos))
+    def homing_move(self, movepos, endstops, speed):
+        # Start endstop checking
         print_time = self.toolhead.get_last_move_time()
-        start_mcu_pos = [(s, name, s.get_mcu_position())
-                         for es, name in endstops for s in es.get_steppers()]
         for mcu_endstop, name in endstops:
             min_step_dist = min([s.get_step_dist()
                                  for s in mcu_endstop.get_steppers()])
             mcu_endstop.home_start(
                 print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
                 min_step_dist / speed)
-        self.toolhead.move(self._fill_coord(movepos), speed)
+        # Issue move
+        error = None
+        try:
+            self.toolhead.move(self._fill_coord(movepos), speed)
+        except EndstopError 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()
         self.toolhead.reset_print_time(print_time)
         for mcu_endstop, name in endstops:
-            mcu_endstop.home_finalize(move_end_print_time)
-        # Wait for endstops to trigger
-        for mcu_endstop, name in endstops:
             try:
-                mcu_endstop.home_wait()
-            except mcu_endstop.error as e:
-                raise EndstopError("Failed to home stepper %s: %s" % (
-                    name, str(e)))
+                mcu_endstop.home_wait(move_end_print_time)
+            except mcu_endstop.TimeoutError as e:
+                if error is None:
+                    error = "Failed to home %s: %s" % (name, str(e))
+        if error is not None:
+            raise EndstopError(error)
+    def home(self, forcepos, movepos, endstops, speed, second_home=False):
+        # Alter kinematics class to think printer is at forcepos
+        self.toolhead.set_position(self._fill_coord(forcepos))
+        # Add a CPU delay when homing a large axis
+        if not second_home:
+            est_move_d = sum([abs(forcepos[i]-movepos[i])
+                              for i in range(3) if movepos[i] is not None])
+            est_steps = sum([est_move_d / s.get_step_dist()
+                             for es, n in endstops for s in es.get_steppers()])
+            self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
+        # Setup for retract verification
+        self.toolhead.get_last_move_time()
+        start_mcu_pos = [(s, name, s.get_mcu_position())
+                         for es, name in endstops for s in es.get_steppers()]
+        # Issue homing move
+        self.homing_move(movepos, endstops, speed)
         # Verify retract led to some movement on second home
         if second_home and self.verify_retract:
             for s, name, pos in start_mcu_pos:
                 if s.get_mcu_position() == pos:
                     raise EndstopError(
                         "Endstop %s still triggered after retract" % (name,))
-    def set_homed_position(self, pos):
-        self.toolhead.set_position(self._fill_coord(pos))
 
 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]
+    out = []
     for s in steppers:
         for mcu_endstop, name in s.get_endstops():
             mcu_endstop.query_endstop(print_time)
-    out = []
     for s in steppers:
         for mcu_endstop, name in s.get_endstops():
-            try:
-                out.append((name, mcu_endstop.query_endstop_wait()))
-            except mcu_endstop.error as e:
-                raise EndstopError(str(e))
+            out.append((name, mcu_endstop.query_endstop_wait()))
     return out
 
 class EndstopError(Exception):