homing: Check for failures during multi-endstop homing

If any endstop reports a failure, then stop homing on all endstops.

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

2 files changed, 10 insertions, 3 deletions

diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index f6dead84..1d7e1948 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -13,8 +13,13 @@ ENDSTOP_SAMPLE_COUNT = 4
 def multi_complete(printer, completions):
     if len(completions) == 1:
         return completions[0]
-    cb = (lambda e: all([c.wait() for c in completions]))
-    return printer.get_reactor().register_callback(cb)
+    # Build completion that waits for all completions
+    reactor = printer.get_reactor()
+    cp = reactor.register_callback(lambda e: [c.wait() for c in completions])
+    # If any completion indicates an error, then exit main completion early
+    for c in completions:
+        reactor.register_callback(lambda e: cp.complete(1) if c.wait() else 0)
+    return cp
 
 # Implementation of homing/probing moves
 class HomingMove:
diff --git a/klippy/mcu.py b/klippy/mcu.py
index bd7267ad..1b77aff7 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -84,7 +84,9 @@ class MCU_trsync:
             tc = self._trigger_completion
             if tc is not None:
                 self._trigger_completion = None
-                self._reactor.async_complete(tc, True)
+                reason = params['trigger_reason']
+                is_failure = (reason == self.REASON_COMMS_TIMEOUT)
+                self._reactor.async_complete(tc, is_failure)
         elif self._home_end_clock is not None:
             clock = self._mcu.clock32_to_clock64(params['clock'])
             if clock >= self._home_end_clock: