diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 9b405299..117080f1 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -65,31 +65,36 @@ class Homing: del self.endstops[:] return False +# Helper code for querying and reporting the status of the endstops class QueryEndstops: - def __init__(self, names, steppers): + def __init__(self, print_time, respond_cb): + self.print_time = print_time + self.respond_cb = respond_cb self.endstops = [] self.busy = [] - for name, stepper in zip(names, steppers): - es = stepper.query_endstop() + def set_steppers(self, steppers): + for stepper in steppers: + es = stepper.query_endstop(self.print_time) if es is None: continue - self.endstops.append((name, es)) + self.endstops.append((stepper.name, es)) self.busy.append(es) def check_busy(self, eventtime): + # Check if all endstop queries have been received while self.busy: busy = self.busy[0].check_busy(eventtime) if busy: return True self.busy.pop(0) - return False - def get_msg(self): + # All responses received - report status msgs = [] for name, es in self.endstops: msg = "open" if es.get_last_triggered(): msg = "TRIGGERED" msgs.append("%s:%s" % (name, msg)) - return " ".join(msgs) + self.respond_cb(" ".join(msgs)) + return False class EndstopError(Exception): def __init__(self, pos, msg="Move out of range"): |