diff options
Diffstat (limited to 'klippy/homing.py')
| -rw-r--r-- | klippy/homing.py | 36 |
1 files changed, 24 insertions, 12 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index fb0f4ca7..1cdd2543 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -3,8 +3,8 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. - import logging +import mcu class Homing: def __init__(self, toolhead, changed_axes): @@ -31,7 +31,11 @@ class Homing: self.eventtime = eventtime while self.states: first = self.states[0] - ret = first[0](*first[1]) + try: + ret = first[0](*first[1]) + except EndstopError, e: + self.toolhead.motor_off() + raise if ret: return True self.states.pop(0) @@ -55,17 +59,22 @@ class Homing: print_time = self.toolhead.get_last_move_time() for s in steppers: es = s.enable_endstop_checking(print_time, s.step_dist / speed) - self.endstops.append(es) + self.endstops.append((s.name, es)) self.toolhead.move(self.fill_coord(movepos), speed) + move_end_print_time = self.toolhead.get_last_move_time() self.toolhead.reset_print_time() - for es in self.endstops: - es.home_finalize() + for name, es in self.endstops: + es.home_finalize(es.print_to_mcu_time(move_end_print_time)) return False def do_wait_endstop(self): # Check if endstops have triggered - for es in self.endstops: - if es.check_busy(self.eventtime): - return True + for name, es in self.endstops: + try: + if es.check_busy(self.eventtime): + return True + except mcu.MCUError, e: + raise EndstopError("Failed to home stepper %s: %s" % ( + name, str(e))) # Finished del self.endstops[:] return False @@ -85,13 +94,16 @@ class QueryEndstops: if es is None: continue self.endstops.append((stepper.name, es)) - self.busy.append(es) + self.busy.append((stepper.name, 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 + try: + if self.busy[0][1].check_busy(eventtime): + return True + except mcu.MCUError, e: + raise EndstopError("Failed to query endstop %s: %s" % ( + self.busy[0][0], str(e))) self.busy.pop(0) # All responses received - report status msgs = [] |