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# Z-Probe support
#
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import pins, homing
class PrinterProbe:
def __init__(self, config):
self.printer = config.get_printer()
self.speed = config.getfloat('speed', 5.0)
self.z_position = config.getfloat('z_position', 0.)
# Create an "endstop" object to handle the probe pin
ppins = self.printer.lookup_object('pins')
pin_params = ppins.lookup_pin('endstop', config.get('pin'))
mcu = pin_params['chip']
mcu.add_config_object(self)
self.mcu_probe = mcu.setup_pin(pin_params)
if (config.get('activate_gcode', None) is not None or
config.get('deactivate_gcode', None) is not None):
self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe)
# Create z_virtual_endstop pin
ppins.register_chip('probe', self)
# Register PROBE/QUERY_PROBE commands
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help)
self.gcode.register_command(
'QUERY_PROBE', self.cmd_QUERY_PROBE, desc=self.cmd_QUERY_PROBE_help)
def build_config(self):
toolhead = self.printer.lookup_object('toolhead')
z_steppers = toolhead.get_kinematics().get_steppers("Z")
for s in z_steppers:
for mcu_endstop, name in s.get_endstops():
for mcu_stepper in mcu_endstop.get_steppers():
self.mcu_probe.add_stepper(mcu_stepper)
def setup_pin(self, pin_params):
if (pin_params['pin'] != 'z_virtual_endstop'
or pin_params['type'] != '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
cmd_PROBE_help = "Probe Z-height at current XY position"
def cmd_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
homing_state = homing.Homing(toolhead)
pos = toolhead.get_position()
pos[2] = self.z_position
try:
homing_state.homing_move(
pos, [(self.mcu_probe, "probe")], self.speed, probe_pos=True)
except homing.EndstopError as e:
raise self.gcode.error(str(e))
self.gcode.reset_last_position()
cmd_QUERY_PROBE_help = "Return the status of the z-probe"
def cmd_QUERY_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
self.mcu_probe.query_endstop(print_time)
res = self.mcu_probe.query_endstop_wait()
self.gcode.respond_info(
"probe: %s" % (["open", "TRIGGERED"][not not res],))
# Endstop wrapper that enables running g-code scripts on setup
class ProbeEndstopWrapper:
def __init__(self, config, mcu_endstop):
self.mcu_endstop = mcu_endstop
self.gcode = config.get_printer().lookup_object('gcode')
self.activate_gcode = config.get('activate_gcode', "")
self.deactivate_gcode = config.get('deactivate_gcode', "")
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self):
self.gcode.run_script(self.activate_gcode)
self.mcu_endstop.home_prepare()
def home_finalize(self):
self.gcode.run_script(self.deactivate_gcode)
self.mcu_endstop.home_finalize()
# Helper code that can probe a series of points and report the
# position at each point.
class ProbePointsHelper:
def __init__(self, printer, probe_points, horizontal_move_z, speed,
manual_probe, callback):
self.printer = printer
self.probe_points = probe_points
self.horizontal_move_z = horizontal_move_z
self.speed = speed
self.callback = callback
self.toolhead = self.printer.lookup_object('toolhead')
self.results = []
self.busy = True
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command(
'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help)
# Begin probing
self.move_next()
if not manual_probe:
while self.busy:
self.gcode.run_script("PROBE")
self.cmd_NEXT({})
def move_next(self):
x, y = self.probe_points[len(self.results)]
curpos = self.toolhead.get_position()
curpos[0] = x
curpos[1] = y
curpos[2] = self.horizontal_move_z
self.toolhead.move(curpos, self.speed)
self.gcode.reset_last_position()
cmd_NEXT_help = "Move to the next XY position to probe"
def cmd_NEXT(self, params):
# Record current position
self.toolhead.wait_moves()
self.results.append(self.callback.get_position())
# Move to next position
curpos = self.toolhead.get_position()
curpos[2] = self.horizontal_move_z
self.toolhead.move(curpos, self.speed)
if len(self.results) == len(self.probe_points):
self.toolhead.get_last_move_time()
self.finalize(True)
return
self.move_next()
def finalize(self, success):
self.busy = False
self.gcode.reset_last_position()
self.gcode.register_command('NEXT', None)
if success:
self.callback.finalize(self.results)
# Helper code that implements coordinate descent
def coordinate_descent(adj_params, params, error_func):
# Define potential changes
params = dict(params)
dp = {param_name: 1. for param_name in adj_params}
# Calculate the error
best_err = error_func(params)
threshold = 0.00001
rounds = 0
while sum(dp.values()) > threshold and rounds < 10000:
rounds += 1
for param_name in adj_params:
orig = params[param_name]
params[param_name] = orig + dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig - dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig
dp[param_name] *= 0.9
logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds)
return params
def load_config(config):
return PrinterProbe(config)
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