From 89f5452ddbcaecfba7cee5a3ba73b2659746d63f Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Thu, 8 Dec 2016 18:12:20 -0500
Subject: gcode: Rework homing to use greenlets

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/homing.py | 75 ++++++++++++++------------------------------------------
 1 file changed, 19 insertions(+), 56 deletions(-)

(limited to 'klippy/homing.py')

diff --git a/klippy/homing.py b/klippy/homing.py
index b1126b57..1e06f0b9 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -4,91 +4,54 @@
 #
 # 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):
         self.toolhead = toolhead
         self.changed_axes = changed_axes
         self.verify_retract = True
-
-        self.eventtime = 0.
-        self.states = []
-        self.endstops = []
     def set_no_verify_retract(self):
         self.verify_retract = False
     def set_axes(self, axes):
         self.changed_axes = axes
     def get_axes(self):
         return self.changed_axes
-    def plan_home(self, forcepos, movepos, steppers, speed):
-        self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
-        self.states.append((self.do_wait_endstop, (False,)))
-    def plan_second_home(self, forcepos, movepos, steppers, speed):
-        self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
-        self.states.append((self.do_wait_endstop, (self.verify_retract,)))
-    def plan_retract(self, newpos, steppers, speed):
-        self.states.append((self.do_retract, (newpos, steppers, speed)))
-    def plan_calc_position(self, callback):
-        self.states.append((self.do_calc_position, (callback,)))
-    def plan_axes_update(self, callback):
-        self.states.append((callback, (self,)))
-    def check_busy(self, eventtime):
-        self.eventtime = eventtime
-        while self.states:
-            first = self.states[0]
-            try:
-                ret = first[0](*first[1])
-            except EndstopError, e:
-                self.toolhead.motor_off()
-                raise
-            if ret:
-                return True
-            self.states.pop(0)
-        return False
-
-    def fill_coord(self, coord):
+    def _fill_coord(self, coord):
         # Fill in any None entries in 'coord' with current toolhead position
         thcoord = list(self.toolhead.get_position())
         for i in range(len(coord)):
             if coord[i] is not None:
                 thcoord[i] = coord[i]
         return thcoord
-    def do_retract(self, newpos, steppers, speed):
-        self.toolhead.move(self.fill_coord(newpos), speed)
-        return False
-    def do_home(self, forcepos, movepos, steppers, speed):
+    def retract(self, newpos, speed):
+        self.toolhead.move(self._fill_coord(newpos), speed)
+    def home(self, forcepos, movepos, steppers, speed, second_home=False):
         # Alter kinematics class to think printer is at forcepos
-        self.toolhead.set_position(self.fill_coord(forcepos))
+        self.toolhead.set_position(self._fill_coord(forcepos))
         # Start homing and issue move
         print_time = self.toolhead.get_last_move_time()
+        endstops = []
         for s in steppers:
             es = s.enable_endstop_checking(print_time, s.step_dist / speed)
-            self.endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
-        self.toolhead.move(self.fill_coord(movepos), speed)
+            endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
+        self.toolhead.move(self._fill_coord(movepos), speed)
         move_end_print_time = self.toolhead.get_last_move_time()
         self.toolhead.reset_print_time()
-        for s, es, last_pos in self.endstops:
+        for s, es, last_pos in endstops:
             es.home_finalize(es.print_to_mcu_time(move_end_print_time))
-        return False
-    def do_wait_endstop(self, verify_retract):
-        # Check if endstops have triggered
-        while self.endstops:
-            stepper, es, last_pos = self.endstops[0]
+        # Wait for endstops to trigger
+        for s, es, last_pos in endstops:
             try:
-                if es.check_busy(self.eventtime):
-                    return True
-            except mcu.error, e:
+                es.home_wait()
+            except es.error, e:
                 raise EndstopError("Failed to home stepper %s: %s" % (
-                    stepper.name, str(e)))
-            post_home_pos = stepper.mcu_stepper.get_mcu_position()
-            if verify_retract and last_pos == post_home_pos:
+                    s.name, str(e)))
+            post_home_pos = s.mcu_stepper.get_mcu_position()
+            if second_home and self.verify_retract and last_pos == post_home_pos:
                 raise EndstopError("Endstop %s still triggered after retract" % (
-                    stepper.name,))
-            self.endstops.pop(0)
-        return False
-    def do_calc_position(self, callback):
-        self.toolhead.set_position(self.fill_coord(callback(self)))
+                    s.name,))
+    def set_homed_position(self, pos):
+        self.toolhead.set_position(self._fill_coord(pos))
 
 class EndstopError(Exception):
     pass
-- 
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