diff options
| -rw-r--r-- | klippy/extras/probe.py | 61 |
1 files changed, 38 insertions, 23 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 80a6d4e7..c7e838aa 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -18,6 +18,41 @@ can travel further (the Z minimum position can be negative). # Probe device implementation helpers ###################################################################### +# Helper to implement common probing commands +class ProbeCommandHelper: + def __init__(self, config, probe, query_endstop=None): + self.printer = config.get_printer() + self.probe = probe + self.query_endstop = query_endstop + self.name = config.get_name() + gcode = self.printer.lookup_object('gcode') + # QUERY_PROBE command + self.last_state = False + gcode.register_command('QUERY_PROBE', self.cmd_QUERY_PROBE, + desc=self.cmd_QUERY_PROBE_help) + # PROBE command + self.last_z_result = 0. + gcode.register_command('PROBE', self.cmd_PROBE, + desc=self.cmd_PROBE_help) + def get_status(self, eventtime): + return {'name': self.name, + 'last_query': self.last_state, + 'last_z_result': self.last_z_result} + cmd_QUERY_PROBE_help = "Return the status of the z-probe" + def cmd_QUERY_PROBE(self, gcmd): + if self.query_endstop is None: + raise gcmd.error("Probe does not support QUERY_PROBE") + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + res = self.query_endstop(print_time) + self.last_state = res + gcmd.respond_info("probe: %s" % (["open", "TRIGGERED"][not not res],)) + cmd_PROBE_help = "Probe Z-height at current XY position" + def cmd_PROBE(self, gcmd): + pos = run_single_probe(self.probe, gcmd) + gcmd.respond_info("Result is z=%.6f" % (pos[2],)) + self.last_z_result = pos[2] + # Helper to track multiple probe attempts in a single command class ProbeSessionHelper: def __init__(self, config, mcu_probe): @@ -31,8 +66,6 @@ class ProbeSessionHelper: self.z_offset = config.getfloat('z_offset') self.probe_calibrate_z = 0. self.multi_probe_pending = False - self.last_state = False - self.last_z_result = 0. self.gcode_move = self.printer.load_object(config, "gcode_move") # Infer Z position to move to during a probe if config.has_section('stepper_z'): @@ -69,10 +102,6 @@ class ProbeSessionHelper: self._handle_command_error) # Register PROBE/QUERY_PROBE commands self.gcode = self.printer.lookup_object('gcode') - self.gcode.register_command('PROBE', self.cmd_PROBE, - desc=self.cmd_PROBE_help) - self.gcode.register_command('QUERY_PROBE', self.cmd_QUERY_PROBE, - desc=self.cmd_QUERY_PROBE_help) self.gcode.register_command('PROBE_CALIBRATE', self.cmd_PROBE_CALIBRATE, desc=self.cmd_PROBE_CALIBRATE_help) self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY, @@ -196,22 +225,6 @@ class ProbeSessionHelper: if samples_result == 'median': return self._calc_median(positions) return self._calc_mean(positions) - cmd_PROBE_help = "Probe Z-height at current XY position" - def cmd_PROBE(self, gcmd): - pos = self.run_probe(gcmd) - gcmd.respond_info("Result is z=%.6f" % (pos[2],)) - self.last_z_result = pos[2] - cmd_QUERY_PROBE_help = "Return the status of the z-probe" - def cmd_QUERY_PROBE(self, gcmd): - toolhead = self.printer.lookup_object('toolhead') - print_time = toolhead.get_last_move_time() - res = self.mcu_probe.query_endstop(print_time) - self.last_state = res - gcmd.respond_info("probe: %s" % (["open", "TRIGGERED"][not not res],)) - def get_status(self, eventtime): - return {'name': self.name, - 'last_query': self.last_state, - 'last_z_result': self.last_z_result} cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position" def cmd_PROBE_ACCURACY(self, gcmd): speed = gcmd.get_float("PROBE_SPEED", self.speed, above=0.) @@ -483,13 +496,15 @@ class ProbeEndstopWrapper: class PrinterProbe: def __init__(self, config, mcu_probe): self.printer = config.get_printer() + self.cmd_helper = ProbeCommandHelper(config, self, + mcu_probe.query_endstop) self.probe_session = ProbeSessionHelper(config, mcu_probe) def get_lift_speed(self, gcmd=None): return self.probe_session.get_lift_speed(gcmd) def get_offsets(self): return self.probe_session.get_offsets() def get_status(self, eventtime): - return self.probe_session.get_status(eventtime) + return self.cmd_helper.get_status(eventtime) def start_probe_session(self, gcmd): return self.probe_session |