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| author | Kevin O'Connor <kevin@koconnor.net> | 2020-02-12 13:03:42 -0500 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2020-02-15 17:52:44 -0500 |
| commit | feb15eaf2e5e3b64f5e847d8f66f046959304335 (patch) | |
| tree | 41c6cdfec8c701bfa826c3d8422cc54c1c0e3f05 /klippy/homing.py | |
| parent | b23346a521b4b6e671ceecd85ce04ef5a03a644b (diff) | |
| download | kutter-feb15eaf2e5e3b64f5e847d8f66f046959304335.tar.gz kutter-feb15eaf2e5e3b64f5e847d8f66f046959304335.tar.xz kutter-feb15eaf2e5e3b64f5e847d8f66f046959304335.zip | |
homing: Merge home_prepare()/home_finalize() into move_begin/move_end events
Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end". This simplifies the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 24 |
1 files changed, 10 insertions, 14 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index f681e26b..4dc40ad4 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -47,9 +47,9 @@ class Homing: self.toolhead.signal_drip_mode_end() def homing_move(self, movepos, endstops, speed, probe_pos=False, verify_movement=False): - # Notify endstops of upcoming home - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() + # 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() @@ -66,8 +66,6 @@ class Homing: print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, rest_time, notify=self._endstop_notify) self.toolhead.dwell(HOMING_START_DELAY) - # notify anyone out there of move start - self.printer.send_event("homing:move_begin", endstops) # Issue move error = None try: @@ -82,8 +80,6 @@ class Homing: except mcu_endstop.TimeoutError as e: if error is None: error = "Failed to home %s: %s" % (name, str(e)) - # notify anyone out there of move end - self.printer.send_event("homing:move_end", endstops) # Determine stepper halt positions self.toolhead.flush_step_generation() end_mcu_pos = [(s, name, spos, s.get_mcu_position()) @@ -95,13 +91,13 @@ class Homing: self.set_homed_position(kin.calc_tag_position()) else: self.toolhead.set_position(movepos) - # Signal homing complete - for mcu_endstop, name in endstops: - try: - mcu_endstop.home_finalize() - except CommandError as e: - if error is None: - error = str(e) + # 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 |