diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 16 |
1 files changed, 7 insertions, 9 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index fafaab9c..6793fdff 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -25,7 +25,6 @@ class MCU_endstop: self._min_query_time = self._last_sent_time = 0. self._next_query_print_time = self._end_home_time = 0. self._trigger_completion = self._home_completion = None - self._trigger_notify = None def get_mcu(self): return self._mcu def add_stepper(self, stepper): @@ -55,16 +54,14 @@ class MCU_endstop: self._query_cmd = self._mcu.lookup_command( "endstop_query_state oid=%c", cq=cmd_queue) def home_start(self, print_time, sample_time, sample_count, rest_time, - triggered=True, notify=None): + triggered=True): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) - self._trigger_notify = notify self._next_query_print_time = print_time + self.RETRY_QUERY self._min_query_time = self._reactor.monotonic() self._last_sent_time = 0. self._home_end_time = self._reactor.NEVER self._trigger_completion = self._reactor.completion() - self._home_completion = self._reactor.completion() self._mcu.register_response(self._handle_endstop_state, "endstop_state", self._oid) self._home_cmd.send( @@ -73,6 +70,7 @@ class MCU_endstop: reqclock=clock) self._home_completion = self._reactor.register_callback( self._home_retry) + return self._trigger_completion def _handle_endstop_state(self, params): logging.debug("endstop_state %s", params) if params['#sent_time'] >= self._min_query_time: @@ -80,16 +78,14 @@ class MCU_endstop: self._last_sent_time = params['#sent_time'] else: self._min_query_time = self._reactor.NEVER - self._reactor.async_complete(self._trigger_completion, params) + self._reactor.async_complete(self._trigger_completion, True) def _home_retry(self, eventtime): if self._mcu.is_fileoutput(): return True while 1: - params = self._trigger_completion.wait(eventtime + 0.100) - if params is not None: + did_trigger = self._trigger_completion.wait(eventtime + 0.100) + if did_trigger is not None: # Homing completed successfully - if self._trigger_notify is not None: - self._trigger_notify() return True # Check for timeout last = self._mcu.estimated_print_time(self._last_sent_time) @@ -108,6 +104,8 @@ class MCU_endstop: self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) for s in self._steppers: s.note_homing_end(did_trigger=did_trigger) + if not self._trigger_completion.test(): + self._trigger_completion.complete(False) if not did_trigger: raise self.TimeoutError("Timeout during endstop homing") def query_endstop(self, print_time): |