homing: Create Homing class from gcode

Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

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

5 files changed, 20 insertions, 19 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index b7b4a9ab..c1cddc7d 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -31,10 +31,9 @@ class CartKinematics:
     def get_homed_position(self):
         return [s.position_endstop + s.get_homed_offset()*s.step_dist
                 for s in self.steppers]
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # Each axis is homed independently and in order
-        homing_state = homing.Homing(toolhead, axes)
-        for axis in axes:
+        for axis in homing_state.get_axes():
             s = self.steppers[axis]
             self.limits[axis] = (s.position_min, s.position_max)
             # Determine moves
@@ -60,7 +59,6 @@ class CartKinematics:
             # Home again
             coord[axis] = r2pos
             homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
diff --git a/klippy/delta.py b/klippy/delta.py
index 8f5bd409..34b5a9e2 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -83,9 +83,9 @@ class DeltaKinematics:
                * self.steppers[i].step_dist
                for i in StepList]
         return self.actuator_to_cartesian(pos)
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # All axes are homed simultaneously
-        homing_state = homing.Homing(toolhead, [0, 1, 2])
+        homing_state.set_axes([0, 1, 2])
         s = self.steppers[0] # Assume homing parameters same for all steppers
         self.limit_xy2 = self.max_xy2
         # Initial homing
@@ -101,7 +101,6 @@ class DeltaKinematics:
         coord[2] -= s.homing_retract_dist
         homing_state.plan_home(list(coord), homepos, self.steppers
                                , s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 97f88563..5262676a 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -250,14 +250,15 @@ class GCodeParser:
                 axes.append(self.axis2pos[axis])
         if not axes:
             axes = [0, 1, 2]
-        busy_handler = self.toolhead.home(axes)
-        def axes_update(axes):
+        homing_state = homing.Homing(self.toolhead, axes)
+        self.toolhead.home(homing_state)
+        def axes_update(homing_state):
             newpos = self.toolhead.get_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 self.last_position[axis] = newpos[axis]
                 self.base_position[axis] = -self.homing_add[axis]
-        busy_handler.plan_axes_update(axes_update)
-        self.set_busy(busy_handler)
+        homing_state.plan_axes_update(axes_update)
+        self.set_busy(homing_state)
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True
diff --git a/klippy/homing.py b/klippy/homing.py
index 117080f1..29c1a48f 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -14,13 +14,17 @@ class Homing:
         self.eventtime = 0.
         self.states = []
         self.endstops = []
+    def set_axes(self, axes):
+        self.changed_axes = axes
+    def get_axes(self):
+        return self.changed_axes
     def plan_home(self, forcepos, movepos, steppers, speed):
         self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
         self.states.append((self.do_wait_endstop, ()))
     def plan_move(self, newpos, speed):
         self.states.append((self.do_move, (newpos, speed)))
     def plan_axes_update(self, callback):
-        self.states.append((callback, (self.changed_axes,)))
+        self.states.append((callback, (self,)))
     def check_busy(self, eventtime):
         self.eventtime = eventtime
         while self.states:
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 91bcd87f..bc0356dc 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -259,16 +259,15 @@ class ToolHead:
             self.extruder.check_move(move)
         self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)
-    def home(self, axes):
-        homing = self.kin.home(self, axes)
-        def axes_update(axes):
+    def home(self, homing_state):
+        self.kin.home(homing_state)
+        def axes_update(homing_state):
             pos = self.get_position()
             homepos = self.kin.get_homed_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 pos[axis] = homepos[axis]
             self.set_position(pos)
-        homing.plan_axes_update(axes_update)
-        return homing
+        homing_state.plan_axes_update(axes_update)
     def dwell(self, delay):
         self.get_last_move_time()
         self.update_move_time(delay)