diff options
Diffstat (limited to 'klippy/extras/probe.py')
| -rw-r--r-- | klippy/extras/probe.py | 82 |
1 files changed, 51 insertions, 31 deletions
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index 0bf87460..12e6109f 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -171,6 +171,55 @@ class ProbeCommandHelper: configfile = self.printer.lookup_object('configfile') configfile.set(self.name, 'z_offset', "%.3f" % (new_calibrate,)) +# Homing via probe:z_virtual_endstop +class HomingViaProbeHelper: + def __init__(self, config, mcu_probe): + self.printer = config.get_printer() + self.mcu_probe = mcu_probe + self.multi_probe_pending = False + # Register z_virtual_endstop pin + self.printer.lookup_object('pins').register_chip('probe', self) + # Register event handlers + self.printer.register_event_handler("homing:homing_move_begin", + self._handle_homing_move_begin) + self.printer.register_event_handler("homing:homing_move_end", + self._handle_homing_move_end) + self.printer.register_event_handler("homing:home_rails_begin", + self._handle_home_rails_begin) + self.printer.register_event_handler("homing:home_rails_end", + self._handle_home_rails_end) + self.printer.register_event_handler("gcode:command_error", + self._handle_command_error) + def _handle_homing_move_begin(self, hmove): + if self.mcu_probe in hmove.get_mcu_endstops(): + self.mcu_probe.probe_prepare(hmove) + def _handle_homing_move_end(self, hmove): + if self.mcu_probe in hmove.get_mcu_endstops(): + self.mcu_probe.probe_finish(hmove) + def _handle_home_rails_begin(self, homing_state, rails): + endstops = [es for rail in rails for es, name in rail.get_endstops()] + if self.mcu_probe in endstops: + self.mcu_probe.multi_probe_begin() + self.multi_probe_pending = True + def _handle_home_rails_end(self, homing_state, rails): + endstops = [es for rail in rails for es, name in rail.get_endstops()] + if self.multi_probe_pending and self.mcu_probe in endstops: + self.multi_probe_pending = False + self.mcu_probe.multi_probe_end() + def _handle_command_error(self): + if self.multi_probe_pending: + self.multi_probe_pending = False + try: + self.mcu_probe.multi_probe_end() + except: + logging.exception("Homing multi-probe end") + def setup_pin(self, pin_type, pin_params): + if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop': + raise pins.error("Probe virtual endstop only useful as endstop pin") + if pin_params['invert'] or pin_params['pullup']: + raise pins.error("Can not pullup/invert probe virtual endstop") + return self.mcu_probe + # Helper to track multiple probe attempts in a single command class ProbeSessionHelper: def __init__(self, config, mcu_probe): @@ -188,6 +237,7 @@ class ProbeSessionHelper: pconfig = config.getsection('printer') self.z_position = pconfig.getfloat('minimum_z_position', 0., note_valid=False) + self.homing_helper = HomingViaProbeHelper(config, mcu_probe) # Configurable probing speeds self.speed = config.getfloat('speed', 5.0, above=0.) self.lift_speed = config.getfloat('lift_speed', self.speed, above=0.) @@ -202,33 +252,9 @@ class ProbeSessionHelper: minval=0.) self.samples_retries = config.getint('samples_tolerance_retries', 0, minval=0) - # Register z_virtual_endstop pin - self.printer.lookup_object('pins').register_chip('probe', self) - # Register homing event handlers - self.printer.register_event_handler("homing:homing_move_begin", - self._handle_homing_move_begin) - self.printer.register_event_handler("homing:homing_move_end", - self._handle_homing_move_end) - self.printer.register_event_handler("homing:home_rails_begin", - self._handle_home_rails_begin) - self.printer.register_event_handler("homing:home_rails_end", - self._handle_home_rails_end) + # Register event handlers self.printer.register_event_handler("gcode:command_error", self._handle_command_error) - def _handle_homing_move_begin(self, hmove): - if self.mcu_probe in hmove.get_mcu_endstops(): - self.mcu_probe.probe_prepare(hmove) - def _handle_homing_move_end(self, hmove): - if self.mcu_probe in hmove.get_mcu_endstops(): - self.mcu_probe.probe_finish(hmove) - def _handle_home_rails_begin(self, homing_state, rails): - endstops = [es for rail in rails for es, name in rail.get_endstops()] - if self.mcu_probe in endstops: - self.multi_probe_begin() - def _handle_home_rails_end(self, homing_state, rails): - endstops = [es for rail in rails for es, name in rail.get_endstops()] - if self.mcu_probe in endstops: - self.multi_probe_end() def _handle_command_error(self): try: self.multi_probe_end() @@ -241,12 +267,6 @@ class ProbeSessionHelper: if self.multi_probe_pending: self.multi_probe_pending = False self.mcu_probe.multi_probe_end() - def setup_pin(self, pin_type, pin_params): - if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop': - raise pins.error("Probe virtual endstop only useful as endstop pin") - if pin_params['invert'] or pin_params['pullup']: - raise pins.error("Can not pullup/invert probe virtual endstop") - return self.mcu_probe def get_probe_params(self, gcmd=None): if gcmd is None: gcmd = self.dummy_gcode_cmd |