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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
import mcu
class Homing:
def __init__(self, toolhead, changed_axes):
self.toolhead = toolhead
self.changed_axes = changed_axes
self.eventtime = 0.
self.states = []
self.endstops = []
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, ()))
def plan_retract(self, newpos, steppers, speed):
self.states.append((self.do_retract, (newpos, steppers, speed)))
self.states.append((self.do_verify_retract, ()))
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):
# 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):
# Issue a move command
self.toolhead.move(self.fill_coord(newpos), speed)
# Query endstops
print_time = self.toolhead.get_last_move_time()
for s in steppers:
es = s.query_endstop(print_time)
self.endstops.append((s.name, es))
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((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 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
while self.endstops:
name, es = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to home stepper %s: %s" % (
name, str(e)))
self.endstops.pop(0)
return False
def do_verify_retract(self):
while self.endstops:
name, es = self.endstops[0]
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to retract stepper %s: %s" % (
name, str(e)))
if es.get_last_triggered():
raise EndstopError("Endstop %s still triggered after retract" % (
name,))
self.endstops.pop(0)
return False
def do_calc_position(self, callback):
self.toolhead.set_position(self.fill_coord(callback(self)))
# 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((stepper.name, es))
def check_busy(self, eventtime):
# Check if all endstop queries have been received
while self.busy:
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 = []
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, msg="Endstop error"):
self._msg = msg
def __str__(self):
return self._msg
def EndstopMoveError(pos, msg="Move out of range"):
return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
msg, pos[0], pos[1], pos[2], pos[3]))
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