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# Code for state tracking during homing operations
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.eventtime = 0.
self.states = []
self.endstops = []
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, ()))
def plan_move(self, newpos, speed):
self.states.append((self.do_move, (newpos, speed)))
def plan_axes_update(self, callback):
self.states.append((callback, (self.changed_axes,)))
def check_busy(self, eventtime):
self.eventtime = eventtime
while self.states:
first = self.states[0]
ret = first[0](*first[1])
if ret:
return True
self.states.pop(0)
return False
def fill_coord(self, coord):
# Fill in any None entries in 'coord' with current toolhead position
thcoord = self.toolhead.get_position()
coord = list(coord)
for i in range(len(coord)):
if coord[i] is None:
coord[i] = thcoord[i]
return coord
def do_move(self, newpos, speed):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
return False
def do_home(self, forcepos, movepos, steppers, speed):
# Alter kinematics class to think printer is at forcepos
self.toolhead.set_position(self.fill_coord(forcepos))
# Start homing and issue move
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.toolhead.move(self.fill_coord(movepos), speed)
self.toolhead.reset_print_time()
for es in self.endstops:
es.home_finalize()
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
# Finished
del self.endstops[:]
return False
# Helper code for querying and reporting the status of the endstops
class QueryEndstops:
def __init__(self, print_time, respond_cb):
self.print_time = print_time
self.respond_cb = respond_cb
self.endstops = []
self.busy = []
def set_steppers(self, steppers):
for stepper in steppers:
es = stepper.query_endstop(self.print_time)
if es is None:
continue
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)
# 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))
self.respond_cb(" ".join(msgs))
return False
class EndstopError(Exception):
def __init__(self, pos, msg="Move out of range"):
self.pos = pos
self.msg = msg
def __str__(self):
return "%s: %.3f %.3f %.3f [%.3f]" % (
self.msg, self.pos[0], self.pos[1], self.pos[2], self.pos[3])
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