kinematics: Calculate axis_minimum/axis_maximum in advance

Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

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

1 files changed, 7 insertions, 8 deletions

diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 73f1dd4c..726ba3c6 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -1,10 +1,10 @@
 # Code for handling the kinematics of corexy robots
 #
-# Copyright (C) 2017-2019  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2017-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
-import stepper, homing
+import stepper
 
 class CoreXYKinematics:
     def __init__(self, toolhead, config):
@@ -31,6 +31,9 @@ class CoreXYKinematics:
         self.max_z_accel = config.getfloat(
             'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.limits = [(1.0, -1.0)] * 3
+        ranges = [r.get_range() for r in self.rails]
+        self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
+        self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
         # Setup stepper max halt velocity
         max_halt_velocity = toolhead.get_max_axis_halt()
         max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
@@ -95,14 +98,10 @@ class CoreXYKinematics:
             self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
     def get_status(self, eventtime):
         axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
-        axes_min = [0.0, 0.0, 0.0, 0.0]
-        axes_max = [0.0, 0.0, 0.0, 0.0]
-        for pos, rail in enumerate(self.rails):
-            axes_min[pos], axes_max[pos] = rail.get_range()
         return {
             'homed_axes': "".join(axes),
-            'axis_minimum': homing.Coord(*axes_min),
-            'axis_maximum': homing.Coord(*axes_max)
+            'axis_minimum': self.axes_min,
+            'axis_maximum': self.axes_max,
         }
 
 def load_kinematics(toolhead, config):