diff options
Diffstat (limited to 'klippy/extras/probe.py')
| -rw-r--r-- | klippy/extras/probe.py | 66 |
1 files changed, 39 insertions, 27 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 5a976a06..944956ea 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -386,7 +386,7 @@ class ProbePointsHelper: # Internal probing state self.lift_speed = self.speed self.probe_offsets = (0., 0., 0.) - self.results = [] + self.manual_results = [] def minimum_points(self,n): if len(self.probe_points) < n: raise self.printer.config_error( @@ -398,34 +398,33 @@ class ProbePointsHelper: self.use_offsets = use_offsets def get_lift_speed(self): return self.lift_speed - def _move_next(self): - toolhead = self.printer.lookup_object('toolhead') - # Lift toolhead + def _move(self, coord, speed): + self.printer.lookup_object('toolhead').manual_move(coord, speed) + def _raise_tool(self, is_first=False): speed = self.lift_speed - if not self.results: + if is_first: # Use full speed to first probe position speed = self.speed - toolhead.manual_move([None, None, self.horizontal_move_z], speed) - # Check if done probing - if len(self.results) >= len(self.probe_points): - toolhead.get_last_move_time() - res = self.finalize_callback(self.probe_offsets, self.results) - if res != "retry": - return True - self.results = [] + self._move([None, None, self.horizontal_move_z], speed) + def _invoke_callback(self, results): + # Flush lookahead queue + toolhead = self.printer.lookup_object('toolhead') + toolhead.get_last_move_time() + # Invoke callback + res = self.finalize_callback(self.probe_offsets, results) + return res != "retry" + def _move_next(self, probe_num): # Move to next XY probe point - nextpos = list(self.probe_points[len(self.results)]) + nextpos = list(self.probe_points[probe_num]) if self.use_offsets: nextpos[0] -= self.probe_offsets[0] nextpos[1] -= self.probe_offsets[1] - toolhead.manual_move(nextpos, self.speed) - return False + self._move(nextpos, self.speed) def start_probe(self, gcmd): manual_probe.verify_no_manual_probe(self.printer) # Lookup objects probe = self.printer.lookup_object('probe', None) method = gcmd.get('METHOD', 'automatic').lower() - self.results = [] def_move_z = self.default_horizontal_move_z self.horizontal_move_z = gcmd.get_float('HORIZONTAL_MOVE_Z', def_move_z) @@ -433,6 +432,7 @@ class ProbePointsHelper: # Manual probe self.lift_speed = self.speed self.probe_offsets = (0., 0., 0.) + self.manual_results = [] self._manual_probe_start() return # Perform automatic probing @@ -441,24 +441,36 @@ class ProbePointsHelper: if self.horizontal_move_z < self.probe_offsets[2]: raise gcmd.error("horizontal_move_z can't be less than" " probe's z_offset") + results = [] probe_session = probe.start_probe_session(gcmd) while 1: - done = self._move_next() - if done: - break + self._raise_tool(not results) + if len(results) >= len(self.probe_points): + done = self._invoke_callback(results) + if done: + break + # Caller wants a "retry" - clear results and restart probing + results = [] + self._move_next(len(results)) pos = probe_session.run_probe(gcmd) - self.results.append(pos) + results.append(pos) probe_session.end_probe_session() def _manual_probe_start(self): - done = self._move_next() - if not done: - gcmd = self.gcode.create_gcode_command("", "", {}) - manual_probe.ManualProbeHelper(self.printer, gcmd, - self._manual_probe_finalize) + self._raise_tool(not self.manual_results) + if len(self.manual_results) >= len(self.probe_points): + done = self._invoke_callback(self.manual_results) + if done: + return + # Caller wants a "retry" - clear results and restart probing + self.manual_results = [] + self._move_next(len(self.manual_results)) + gcmd = self.gcode.create_gcode_command("", "", {}) + manual_probe.ManualProbeHelper(self.printer, gcmd, + self._manual_probe_finalize) def _manual_probe_finalize(self, kin_pos): if kin_pos is None: return - self.results.append(kin_pos) + self.manual_results.append(kin_pos) self._manual_probe_start() # Helper to obtain a single probe measurement |