diff options
| -rw-r--r-- | klippy/extras/load_cell_probe.py | 658 |
1 files changed, 658 insertions, 0 deletions
diff --git a/klippy/extras/load_cell_probe.py b/klippy/extras/load_cell_probe.py new file mode 100644 index 00000000..115609f5 --- /dev/null +++ b/klippy/extras/load_cell_probe.py @@ -0,0 +1,658 @@ +# Load Cell Probe +# +# Copyright (C) 2025 Gareth Farrington <gareth@waves.ky> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import logging, math +import mcu +from . import probe, sos_filter, load_cell, hx71x, ads1220 + +np = None # delay NumPy import until configuration time + +# constants for fixed point numbers +Q2_INT_BITS = 2 +Q2_FRAC_BITS = (32 - (1 + Q2_INT_BITS)) +Q16_INT_BITS = 16 +Q16_FRAC_BITS = (32 - (1 + Q16_INT_BITS)) + + +class TapAnalysis: + def __init__(self, samples): + nd_samples = np.asarray(samples, dtype=np.float64) + self.time = nd_samples[:, 0] + self.force = nd_samples[:, 1] + + # convert to dictionary for JSON encoder + def to_dict(self): + return { + 'time': self.time.tolist(), 'force': self.force.tolist(), + 'is_valid': True, + } + + +# Access a parameter from config or GCode command via a consistent interface +# stores name and constraints to keep things DRY +class ParamHelper: + def __init__(self, config, name, type_name, default=None, minval=None, + maxval=None, above=None, below=None, max_len=None): + self._config_section = config.section + self._config_error = config.error + self.name = name + self._type_name = type_name + self.value = default + self.minval = minval + self.maxval = maxval + self.above = above + self.below = below + self.max_len = max_len + # read from config once + self.value = self.get(config=config) + + def _get_name(self, gcmd): + return self.name.upper() if gcmd else self.name + + def _validate_float(self, description, error, value, above, below): + above = above or self.above + if above is not None and value <= above: + raise error("%s must be above %s" % (description, above)) + below = below or self.below + if below is not None and value >= below: + raise error("%s must be below %s" % (description, below)) + + # support for validating individual options in a list of floats + def _validate_float_list(self, gcmd, values, above, below): + if gcmd: + description = ("Error on '%s': %s" % ( + gcmd.get_commandline(), self._get_name(gcmd))) + error = gcmd.error + else: + description = ("Option '%s' in section '%s'" % ( + self._get_name(gcmd), self._config_section)) + error = self._config_error + if self.max_len is not None and len(values) > self.max_len: + raise error( + "%s has maximum length %s" % (description, self.max_len)) + for value in values: + self._validate_float(description, error, value, above, below) + + def _get_int(self, config, gcmd, minval, maxval): + get = gcmd.get_int if gcmd else config.getint + return get(self._get_name(gcmd), self.value, minval or self.minval, + maxval or self.maxval) + + def _get_float(self, config, gcmd, minval, maxval, above, below): + get = gcmd.get_float if gcmd else config.getfloat + return get(self._get_name(gcmd), self.value, minval or self.minval, + maxval or self.maxval, above or self.above, below or self.below) + + def _get_float_list(self, config, gcmd, above, below): + # this code defaults to the empty list, never return None + default = (self.value or []) + if gcmd: + # if the parameter isn't part of the command, return the default + if not self._get_name(gcmd) in gcmd.get_command_parameters(): + return default + # parameter exists, always prefer whatever is in the command + value = gcmd.get(self._get_name(gcmd), default='') + # Return an empty list for empty value + if len(value.strip()) == 0: + return [] + try: + float_list = [float(p.strip()) for p in value.split(',')] + except: + raise gcmd.error("Error on '%s': unable to parse %s" % ( + gcmd.get_commandline(), value)) + else: + float_list = config.getfloatlist(self._get_name(gcmd), + default=default) + if float_list: + self._validate_float_list(gcmd, float_list, above, below) + return float_list + + def get(self, gcmd=None, minval=None, maxval=None, above=None, below=None, + config=None): + if config is None and gcmd is None: + return self.value + if self._type_name == 'int': + return self._get_int(config, gcmd, minval, maxval) + elif self._type_name == 'float': + return self._get_float(config, gcmd, minval, maxval, above, below) + else: + return self._get_float_list(config, gcmd, above, below) + + +def intParamHelper(config, name, default=None, minval=None, maxval=None): + return ParamHelper(config, name, 'int', default, minval=minval, + maxval=maxval) + + +def floatParamHelper(config, name, default=None, minval=None, maxval=None, + above=None, below=None): + return ParamHelper(config, name, 'float', default, minval=minval, + maxval=maxval, above=above, below=below) + + +def floatListParamHelper(config, name, default=None, above=None, below=None, + max_len=None): + return ParamHelper(config, name, 'float_list', default, above=above, + below=below, max_len=max_len) + + +# container for filter parameters +# allows different filter configurations to be compared +class ContinuousTareFilter: + def __init__(self, sps=None, drift=None, drift_delay=None, buzz=None, + buzz_delay=None, notches=None, notch_quality=None): + self.sps = sps + self.drift = drift + self.drift_delay = drift_delay + self.buzz = buzz + self.buzz_delay = buzz_delay + self.notches = notches + self.notch_quality = notch_quality + + def __eq__(self, other): + if not isinstance(other, ContinuousTareFilter): + return False + return ( + self.sps == other.sps and self.drift == other.drift and + self.drift_delay == other.drift_delay and self.buzz == + other.buzz and self.buzz_delay == other.buzz_delay and + self.notches == other.notches and self.notch_quality == + other.notch_quality) + + # create a filter design from the parameters + def design_filter(self, error_func): + design = sos_filter.DigitalFilter(self.sps, error_func, self.drift, + self.drift_delay, self.buzz, self.buzz_delay, self.notches, + self.notch_quality) + fixed_filter = sos_filter.FixedPointSosFilter( + design.get_filter_sections(), design.get_initial_state(), + Q2_INT_BITS, Q16_INT_BITS) + return fixed_filter + + +# Combine ContinuousTareFilter and SosFilter into an easy-to-use class +class ContinuousTareFilterHelper: + def __init__(self, config, sensor, cmd_queue): + self._sensor = sensor + self._sps = self._sensor.get_samples_per_second() + max_filter_frequency = math.floor(self._sps / 2.) + # setup filter parameters + self._drift_param = floatParamHelper(config, + "drift_filter_cutoff_frequency", default=None, minval=0.1, + maxval=20.0) + self._drift_delay_param = intParamHelper(config, "drift_filter_delay", + default=2, minval=1, maxval=2) + self._buzz_param = floatParamHelper(config, + "buzz_filter_cutoff_frequency", default=None, + above=min(80.0, max_filter_frequency - 1.0), + below=max_filter_frequency) + self._buzz_delay_param = intParamHelper(config, "buzz_filter_delay", + default=2, minval=1, maxval=2) + self._notches_param = floatListParamHelper(config, + "notch_filter_frequencies", default=[], above=0., + below=max_filter_frequency, max_len=2) + self._notch_quality_param = floatParamHelper(config, + "notch_filter_quality", default=2.0, minval=0.5, maxval=6.0) + # filter design specified in the config file, used for defaults + self._config_design = ContinuousTareFilter() # empty filter + self._config_design = self._build_filter() + # filter design currently inside the MCU + self._active_design = self._config_design + self._sos_filter = self._create_filter( + self._active_design.design_filter(config.error), cmd_queue) + + def _build_filter(self, gcmd=None): + drift = self._drift_param.get(gcmd) + drift_delay = self._drift_delay_param.get(gcmd) + buzz = self._buzz_param.get(gcmd) + buzz_delay = self._buzz_delay_param.get(gcmd) + # notches must be between drift and buzz: + notches = self._notches_param.get(gcmd, above=drift, below=buzz) + notch_quality = self._notch_quality_param.get(gcmd) + return ContinuousTareFilter(self._sps, drift, drift_delay, buzz, + buzz_delay, notches, notch_quality) + + def _create_filter(self, fixed_filter, cmd_queue): + return sos_filter.SosFilter(self._sensor.get_mcu(), cmd_queue, + fixed_filter, 4) + + def update_from_command(self, gcmd, cq=None): + gcmd_filter = self._build_filter(gcmd) + # if filters are identical, no change required + if self._active_design == gcmd_filter: + return + # update MCU filter from GCode command + self._sos_filter.change_filter( + self._active_design.design_filter(gcmd.error)) + + def get_sos_filter(self): + return self._sos_filter + + +# check results from the collector for errors and raise an exception is found +def check_sensor_errors(results, printer): + samples, errors = results + if errors: + raise printer.command_error("Load cell sensor reported errors while" + " probing: %i errors, %i overflows" % ( + errors[0], errors[1])) + return samples + + +class LoadCellProbeConfigHelper: + def __init__(self, config, load_cell_inst): + self._printer = config.get_printer() + self._load_cell = load_cell_inst + self._sensor = load_cell_inst.get_sensor() + self._rest_time = 1. / float(self._sensor.get_samples_per_second()) + # Collect 4 x 60hz power cycles of data to average across power noise + self._tare_time_param = floatParamHelper(config, 'tare_time', + default=4. / 60., minval=0.01, maxval=1.0) + # triggering options + self._trigger_force_param = intParamHelper(config, 'trigger_force', + default=75, minval=10, maxval=250) + self._force_safety_limit_param = intParamHelper(config, + 'force_safety_limit', minval=100, maxval=5000, default=2000) + + def get_tare_samples(self, gcmd=None): + tare_time = self._tare_time_param.get(gcmd) + sps = self._sensor.get_samples_per_second() + return max(2, math.ceil(tare_time * sps)) + + def get_trigger_force_grams(self, gcmd=None): + return self._trigger_force_param.get(gcmd) + + def get_safety_limit_grams(self, gcmd=None): + return self._force_safety_limit_param.get(gcmd) + + def get_rest_time(self): + return self._rest_time + + def get_safety_range(self, gcmd=None): + counts_per_gram = self._load_cell.get_counts_per_gram() + # calculate the safety band + zero = self._load_cell.get_reference_tare_counts() + safety_counts = int(counts_per_gram * self.get_safety_limit_grams(gcmd)) + safety_min = int(zero - safety_counts) + safety_max = int(zero + safety_counts) + # don't allow a safety range outside the sensor's real range + sensor_min, sensor_max = self._load_cell.get_sensor().get_range() + if safety_min <= sensor_min or safety_max >= sensor_max: + cmd_err = self._printer.command_error + raise cmd_err("Load cell force_safety_limit exceeds sensor range!") + return safety_min, safety_max + + # calculate 1/counts_per_gram in Q2 fixed point + def get_grams_per_count(self): + counts_per_gram = self._load_cell.get_counts_per_gram() + # The counts_per_gram could be so large that it becomes 0.0 when + # converted to Q2 format. This would mean the ADC range only measures a + # few grams which seems very unlikely. Treat this as an error: + if counts_per_gram >= 2**Q2_FRAC_BITS: + raise OverflowError("counts_per_gram value is too large to filter") + return sos_filter.to_fixed_32((1. / counts_per_gram), Q2_INT_BITS) + + +# McuLoadCellProbe is the interface to `load_cell_probe` on the MCU +# This also manages the SosFilter so all commands use one command queue +class McuLoadCellProbe: + WATCHDOG_MAX = 3 + ERROR_SAFETY_RANGE = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1 + ERROR_OVERFLOW = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 2 + ERROR_WATCHDOG = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 3 + + def __init__(self, config, load_cell_inst, sos_filter_inst, config_helper, + trigger_dispatch): + self._printer = config.get_printer() + self._load_cell = load_cell_inst + self._sos_filter = sos_filter_inst + self._config_helper = config_helper + self._sensor = load_cell_inst.get_sensor() + self._mcu = self._sensor.get_mcu() + # configure MCU objects + self._dispatch = trigger_dispatch + self._cmd_queue = self._dispatch.get_command_queue() + self._oid = self._mcu.create_oid() + self._config_commands() + self._home_cmd = None + self._query_cmd = None + self._set_range_cmd = None + self._mcu.register_config_callback(self._build_config) + self._printer.register_event_handler("klippy:connect", self._on_connect) + + def _config_commands(self): + self._sos_filter.create_filter() + self._mcu.add_config_cmd( + "config_load_cell_probe oid=%d sos_filter_oid=%d" % ( + self._oid, self._sos_filter.get_oid())) + + def _build_config(self): + # Lookup commands + self._query_cmd = self._mcu.lookup_query_command( + "load_cell_probe_query_state oid=%c", + "load_cell_probe_state oid=%c is_homing_trigger=%c " + "trigger_ticks=%u", oid=self._oid, cq=self._cmd_queue) + self._set_range_cmd = self._mcu.lookup_command( + "load_cell_probe_set_range" + " oid=%c safety_counts_min=%i safety_counts_max=%i tare_counts=%i" + " trigger_grams=%u grams_per_count=%i", cq=self._cmd_queue) + self._home_cmd = self._mcu.lookup_command( + "load_cell_probe_home oid=%c trsync_oid=%c trigger_reason=%c" + " error_reason=%c clock=%u rest_ticks=%u timeout=%u", + cq=self._cmd_queue) + + # the sensor data stream is connected on the MCU at the ready event + def _on_connect(self): + self._sensor.attach_load_cell_probe(self._oid) + + def get_oid(self): + return self._oid + + def get_mcu(self): + return self._mcu + + def get_load_cell(self): + return self._load_cell + + def get_dispatch(self): + return self._dispatch + + def set_endstop_range(self, tare_counts, gcmd=None): + # update the load cell so it reflects the new tare value + self._load_cell.tare(tare_counts) + # update internal tare value + safety_min, safety_max = self._config_helper.get_safety_range(gcmd) + args = [self._oid, safety_min, safety_max, int(tare_counts), + self._config_helper.get_trigger_force_grams(gcmd), + self._config_helper.get_grams_per_count()] + self._set_range_cmd.send(args) + self._sos_filter.reset_filter() + + def home_start(self, print_time): + clock = self._mcu.print_time_to_clock(print_time) + rest_time = self._config_helper.get_rest_time() + rest_ticks = self._mcu.seconds_to_clock(rest_time) + self._home_cmd.send([self._oid, self._dispatch.get_oid(), + mcu.MCU_trsync.REASON_ENDSTOP_HIT, self.ERROR_SAFETY_RANGE, clock, + rest_ticks, self.WATCHDOG_MAX], reqclock=clock) + + def clear_home(self): + params = self._query_cmd.send([self._oid]) + # The time of the first sample that triggered is in "trigger_ticks" + trigger_ticks = self._mcu.clock32_to_clock64(params['trigger_ticks']) + # clear trsync from load_cell_endstop + self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0]) + return self._mcu.clock_to_print_time(trigger_ticks) + + +# Execute probing moves using the McuLoadCellProbe +class LoadCellProbingMove: + ERROR_MAP = { + mcu.MCU_trsync.REASON_COMMS_TIMEOUT: "Communication timeout during " + "homing", + McuLoadCellProbe.ERROR_SAFETY_RANGE: "Load Cell Probe Error: load " + "exceeds safety limit", + McuLoadCellProbe.ERROR_OVERFLOW: "Load Cell Probe Error: fixed point " + "math overflow", + McuLoadCellProbe.ERROR_WATCHDOG: "Load Cell Probe Error: timed out " + "waiting for sensor data" + } + + def __init__(self, config, mcu_load_cell_probe, param_helper, + continuous_tare_filter_helper, config_helper): + self._printer = config.get_printer() + self._mcu_load_cell_probe = mcu_load_cell_probe + self._param_helper = param_helper + self._continuous_tare_filter_helper = continuous_tare_filter_helper + self._config_helper = config_helper + self._mcu = mcu_load_cell_probe.get_mcu() + self._load_cell = mcu_load_cell_probe.get_load_cell() + self._z_min_position = probe.lookup_minimum_z(config) + self._dispatch = mcu_load_cell_probe.get_dispatch() + probe.LookupZSteppers(config, self._dispatch.add_stepper) + # internal state tracking + self._tare_counts = 0 + self._last_trigger_time = 0 + + def _start_collector(self): + toolhead = self._printer.lookup_object('toolhead') + # homing uses the toolhead last move time which gets special handling + # to significantly buffer print_time if the move queue has drained + print_time = toolhead.get_last_move_time() + collector = self._load_cell.get_collector() + collector.start_collecting(min_time=print_time) + return collector + + # pauses for the last move to complete and then + # sets the endstop tare value and range + def _pause_and_tare(self, gcmd): + collector = self._start_collector() + num_samples = self._config_helper.get_tare_samples(gcmd) + # use collect_min collected samples are not wasted + results = collector.collect_min(num_samples) + tare_samples = check_sensor_errors(results, self._printer) + tare_counts = np.average(np.array(tare_samples)[:, 2].astype(float)) + # update sos_filter with any gcode parameter changes + self._continuous_tare_filter_helper.update_from_command(gcmd) + self._mcu_load_cell_probe.set_endstop_range(tare_counts, gcmd) + + def _home_start(self, print_time): + # start trsync + trigger_completion = self._dispatch.start(print_time) + self._mcu_load_cell_probe.home_start(print_time) + return trigger_completion + + def home_start(self, print_time, sample_time, sample_count, rest_time, + triggered=True): + return self._home_start(print_time) + + def home_wait(self, home_end_time): + self._dispatch.wait_end(home_end_time) + # trigger has happened, now to find out why... + res = self._dispatch.stop() + # clear the homing state so it stops processing samples + self._last_trigger_time = self._mcu_load_cell_probe.clear_home() + if res >= mcu.MCU_trsync.REASON_COMMS_TIMEOUT: + error = "Load Cell Probe Error: unknown reason code %i" % (res,) + if res in self.ERROR_MAP: + error = self.ERROR_MAP[res] + raise self._printer.command_error(error) + if res != mcu.MCU_trsync.REASON_ENDSTOP_HIT: + return 0. + return self._last_trigger_time + + def get_steppers(self): + return self._dispatch.get_steppers() + + # Probe towards z_min until the load_cell_probe on the MCU triggers + def probing_move(self, gcmd): + # do not permit probing if the load cell is not calibrated + if not self._load_cell.is_calibrated(): + raise self._printer.command_error("Load Cell not calibrated") + # tare the sensor just before probing + self._pause_and_tare(gcmd) + # get params for the homing move + toolhead = self._printer.lookup_object('toolhead') + pos = toolhead.get_position() + pos[2] = self._z_min_position + speed = self._param_helper.get_probe_params(gcmd)['probe_speed'] + phoming = self._printer.lookup_object('homing') + # start collector after tare samples are consumed + collector = self._start_collector() + # do homing move + return phoming.probing_move(self, pos, speed), collector + + # Wait for the MCU to trigger with no movement + def probing_test(self, gcmd, timeout): + self._pause_and_tare(gcmd) + toolhead = self._printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + self._home_start(print_time) + return self.home_wait(print_time + timeout) + + def get_status(self, eventtime): + return { + 'tare_counts': self._tare_counts, + 'last_trigger_time': self._last_trigger_time, + } + + +# Perform a single complete tap +class TappingMove: + def __init__(self, config, load_cell_probing_move, config_helper): + self._printer = config.get_printer() + self._load_cell_probing_move = load_cell_probing_move + self._config_helper = config_helper + # track results of the last tap + self._last_result = None + self._is_last_result_valid = False + # webhooks support + self._clients = load_cell.ApiClientHelper(config.get_printer()) + name = config.get_name() + header = {"header": ["probe_tap_event"]} + self._clients.add_mux_endpoint("load_cell_probe/dump_taps", + "load_cell_probe", name, header) + + # perform a probing move and a pullback move + def run_tap(self, gcmd): + # do the descending move + epos, collector = self._load_cell_probing_move.probing_move(gcmd) + # collect samples from the tap + toolhead = self._printer.lookup_object('toolhead') + toolhead.flush_step_generation() + move_end = toolhead.get_last_move_time() + results = collector.collect_until(move_end) + samples = check_sensor_errors(results, self._printer) + # Analyze the tap data + ppa = TapAnalysis(samples) + # broadcast tap event data: + self._clients.send({'tap': ppa.to_dict()}) + self._is_last_result_valid = True + self._last_result = epos[2] + return epos, self._is_last_result_valid + + def get_status(self, eventtime): + return { + 'last_z_result': self._last_result, + 'is_last_tap_valid': self._is_last_result_valid + } + + +# ProbeSession that implements Tap logic +class TapSession: + def __init__(self, config, tapping_move, probe_params_helper): + self._printer = config.get_printer() + self._tapping_move = tapping_move + self._probe_params_helper = probe_params_helper + # Session state + self._results = [] + + def start_probe_session(self, gcmd): + return self + + def end_probe_session(self): + self._results = [] + + # probe until a single good sample is returned or retries are exhausted + def run_probe(self, gcmd): + epos, is_good = self._tapping_move.run_tap(gcmd) + self._results.append(epos) + + def pull_probed_results(self): + res = self._results + self._results = [] + return res + + +class LoadCellProbeCommands: + def __init__(self, config, load_cell_probing_move): + self._printer = config.get_printer() + self._load_cell_probing_move = load_cell_probing_move + self._register_commands() + + def _register_commands(self): + # Register commands + gcode = self._printer.lookup_object('gcode') + gcode.register_command("LOAD_CELL_TEST_TAP", + self.cmd_LOAD_CELL_TEST_TAP, desc=self.cmd_LOAD_CELL_TEST_TAP_help) + + cmd_LOAD_CELL_TEST_TAP_help = "Tap the load cell probe to verify operation" + + def cmd_LOAD_CELL_TEST_TAP(self, gcmd): + taps = gcmd.get_int("TAPS", 3, minval=1, maxval=10) + timeout = gcmd.get_float("TIMEOUT", 30., minval=1., maxval=120.) + gcmd.respond_info("Tap the load cell %s times:" % (taps,)) + reactor = self._printer.get_reactor() + for i in range(0, taps): + result = self._load_cell_probing_move.probing_test(gcmd, timeout) + if result == 0.: + # notify of error, likely due to timeout + raise gcmd.error("Test timeout out") + gcmd.respond_info("Tap Detected!") + # give the user some time for their finger to move away + reactor.pause(reactor.monotonic() + 0.2) + gcmd.respond_info("Test complete, %s taps detected" % (taps,)) + + +class LoadCellPrinterProbe: + def __init__(self, config): + cfg_error = config.error + try: + global np + import numpy as np + except: + raise cfg_error("[load_cell_probe] requires the NumPy module") + self._printer = config.get_printer() + # Sensor types supported by load_cell_probe + sensors = {} + sensors.update(hx71x.HX71X_SENSOR_TYPES) + sensors.update(ads1220.ADS1220_SENSOR_TYPE) + sensor_class = config.getchoice('sensor_type', sensors) + sensor = sensor_class(config) + self._load_cell = load_cell.LoadCell(config, sensor) + # Read all user configuration and build modules + config_helper = LoadCellProbeConfigHelper(config, self._load_cell) + self._mcu = self._load_cell.get_sensor().get_mcu() + trigger_dispatch = mcu.TriggerDispatch(self._mcu) + continuous_tare_filter_helper = ContinuousTareFilterHelper(config, + sensor, trigger_dispatch.get_command_queue()) + # Probe Interface + self._param_helper = probe.ProbeParameterHelper(config) + self._cmd_helper = probe.ProbeCommandHelper(config, self) + self._probe_offsets = probe.ProbeOffsetsHelper(config) + self._mcu_load_cell_probe = McuLoadCellProbe(config, self._load_cell, + continuous_tare_filter_helper.get_sos_filter(), config_helper, + trigger_dispatch) + load_cell_probing_move = LoadCellProbingMove(config, + self._mcu_load_cell_probe, self._param_helper, + continuous_tare_filter_helper, config_helper) + self._tapping_move = TappingMove(config, load_cell_probing_move, + config_helper) + tap_session = TapSession(config, self._tapping_move, self._param_helper) + self._probe_session = probe.ProbeSessionHelper(config, + self._param_helper, tap_session.start_probe_session) + # printer integration + LoadCellProbeCommands(config, load_cell_probing_move) + probe.ProbeVirtualEndstopDeprecation(config) + self._printer.add_object('probe', self) + + def get_probe_params(self, gcmd=None): + return self._param_helper.get_probe_params(gcmd) + + def get_offsets(self): + return self._probe_offsets.get_offsets() + + def start_probe_session(self, gcmd): + return self._probe_session.start_probe_session(gcmd) + + def get_status(self, eventtime): + status = self._cmd_helper.get_status(eventtime) + status.update(self._load_cell.get_status(eventtime)) + status.update(self._tapping_move.get_status(eventtime)) + return status + + +def load_config(config): + return LoadCellPrinterProbe(config) |