diff options
Diffstat (limited to 'klippy/extras/probe.py')
| -rw-r--r-- | klippy/extras/probe.py | 101 |
1 files changed, 43 insertions, 58 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 5d1c52f9..f2baa25b 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -246,6 +246,7 @@ class ProbePointsHelper: self.finalize_callback = finalize_callback self.probe_points = default_points self.name = config.get_name() + self.gcode = self.printer.lookup_object('gcode') # Read config settings if default_points is None or config.get('points', None) is not None: points = config.get('points').split('\n') @@ -257,93 +258,77 @@ class ProbePointsHelper: raise config.error("Unable to parse probe points in %s" % ( self.name)) self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.) - self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.) - self.probe_offsets = (0., 0., 0.) + self.speed = config.getfloat('speed', 50., above=0.) # Internal probing state + self.lift_speed = self.speed + self.probe_offsets = (0., 0., 0.) self.results = [] - self.busy = self.manual_probe = False - self.gcode = self.toolhead = None def minimum_points(self,n): if len(self.probe_points) < n: raise self.printer.config_error( "Need at least %d probe points for %s" % (n, self.name)) def get_lift_speed(self): return self.lift_speed - def _lift_z(self, z_pos, speed): + def _move_next(self): + toolhead = self.printer.lookup_object('toolhead') # Lift toolhead - curpos = self.toolhead.get_position() - curpos[2] = z_pos + speed = self.lift_speed + if not self.results: + # Use full speed to first probe position + speed = self.speed + curpos = toolhead.get_position() + curpos[2] = self.horizontal_move_z try: - self.toolhead.move(curpos, speed) + toolhead.move(curpos, speed) except homing.EndstopError as e: - self._finalize(False) raise self.gcode.error(str(e)) - self.gcode.reset_last_position() - def _move_next(self): - # Lift toolhead - self._lift_z(self.horizontal_move_z, self.lift_speed) # Check if done probing if len(self.results) >= len(self.probe_points): - self.toolhead.get_last_move_time() - self._finalize(True) - return + self.gcode.reset_last_position() + toolhead.get_last_move_time() + self.finalize_callback(self.probe_offsets, self.results) + return True # Move to next XY probe point - x, y = self.probe_points[len(self.results)] - curpos = self.toolhead.get_position() - curpos[0] = x - curpos[1] = y - curpos[2] = self.horizontal_move_z + curpos[:2] = self.probe_points[len(self.results)] try: - self.toolhead.move(curpos, self.speed) + toolhead.move(curpos, self.speed) except homing.EndstopError as e: - self._finalize(False) raise self.gcode.error(str(e)) self.gcode.reset_last_position() - if self.manual_probe: - manual_probe.ManualProbeHelper(self.printer, {}, - self._manual_probe_finalize) + return False def start_probe(self, params): # Lookup objects - self.toolhead = self.printer.lookup_object('toolhead') - self.gcode = self.printer.lookup_object('gcode') probe = self.printer.lookup_object('probe', None) method = self.gcode.get_str('METHOD', params, 'automatic').lower() - if probe is not None and method == 'automatic': - self.manual_probe = False - self.lift_speed = min(self.speed, probe.speed) - self.probe_offsets = probe.get_offsets() - if self.horizontal_move_z < self.probe_offsets[2]: - raise self.gcode.error("horizontal_move_z can't be less than" - " probe's z_offset") - else: - self.manual_probe = True + self.results = [] + if probe is None or method != 'automatic': + # Manual probe self.lift_speed = self.speed self.probe_offsets = (0., 0., 0.) - # Start probe - self.results = [] - self.busy = True - self._lift_z(self.horizontal_move_z, self.speed) - self._move_next() - if not self.manual_probe: - # Perform automatic probing - while self.busy: - try: - pos = probe.run_probe() - except self.gcode.error as e: - self._finalize(False) - raise - self.results.append(pos) - self._move_next() + self._manual_probe_start() + return + # Perform automatic probing + self.lift_speed = min(self.speed, probe.speed) + self.probe_offsets = probe.get_offsets() + if self.horizontal_move_z < self.probe_offsets[2]: + raise self.gcode.error("horizontal_move_z can't be less than" + " probe's z_offset") + while 1: + done = self._move_next() + if done: + break + pos = probe.run_probe() + self.results.append(pos) + def _manual_probe_start(self): + done = self._move_next() + if not done: + manual_probe.ManualProbeHelper(self.printer, {}, + self._manual_probe_finalize) def _manual_probe_finalize(self, kin_pos): if kin_pos is None: - self._finalize(False) return self.results.append(kin_pos) - self._move_next() - def _finalize(self, success): - self.busy = False - if success: - self.finalize_callback(self.probe_offsets, self.results) + self._manual_probe_start() def load_config(config): return PrinterProbe(config, ProbeEndstopWrapper(config)) |