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, 9 deletions

diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 4785d8ac..b5d3c245 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -1,9 +1,9 @@
 # Code for handling the kinematics of cable winch robots
 #
-# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import stepper, mathutil, homing
+import stepper, mathutil
 
 class WinchKinematics:
     def __init__(self, toolhead, config):
@@ -28,6 +28,9 @@ class WinchKinematics:
         for s in self.steppers:
             s.set_max_jerk(max_halt_velocity, max_accel)
         # Setup boundary checks
+        acoords = zip(*self.anchors)
+        self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
+        self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
         self.set_position([0., 0., 0.], ())
     def get_steppers(self):
         return list(self.steppers)
@@ -47,15 +50,10 @@ class WinchKinematics:
         pass
     def get_status(self, eventtime):
         # XXX - homed_checks and rail limits not implemented
-        axes_min = [0.0, 0.0, 0.0, 0.0]
-        axes_max = [0.0, 0.0, 0.0, 0.0]
-        for pos, axis in enumerate('xyz'):
-            axes_min[pos] = min([a[pos] for a in self.anchors])
-            axes_max[pos] = max([a[pos] for a in self.anchors])
         return {
             'homed_axes': 'xyz',
-            '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):