mirror of
https://github.com/andreili/klipper.git
synced 2025-08-23 19:34:06 +02:00
probe: Change probing_move() to pass a gcmd instead of (pos, speed)
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
ff0ffedd17
commit
b2e36e5d98
@ -182,10 +182,12 @@ def lookup_minimum_z(config):
|
||||
|
||||
# Homing via probe:z_virtual_endstop
|
||||
class HomingViaProbeHelper:
|
||||
def __init__(self, config, mcu_probe):
|
||||
def __init__(self, config, mcu_probe, param_helper):
|
||||
self.printer = config.get_printer()
|
||||
self.mcu_probe = mcu_probe
|
||||
self.param_helper = param_helper
|
||||
self.multi_probe_pending = False
|
||||
self.z_min_position = lookup_minimum_z(config)
|
||||
# Register z_virtual_endstop pin
|
||||
self.printer.lookup_object('pins').register_chip('probe', self)
|
||||
# Register event handlers
|
||||
@ -236,7 +238,11 @@ class HomingViaProbeHelper:
|
||||
raise pins.error("Can not pullup/invert probe virtual endstop")
|
||||
return self.mcu_probe
|
||||
# Helper to convert probe based commands to use homing module
|
||||
def probing_move(self, pos, speed):
|
||||
def probing_move(self, gcmd):
|
||||
toolhead = self.printer.lookup_object('toolhead')
|
||||
pos = toolhead.get_position()
|
||||
pos[2] = self.z_min_position
|
||||
speed = self.param_helper.get_probe_params(gcmd)['probe_speed']
|
||||
phoming = self.printer.lookup_object('homing')
|
||||
return phoming.probing_move(self.mcu_probe, pos, speed)
|
||||
|
||||
@ -287,8 +293,6 @@ class ProbeSessionHelper:
|
||||
self.mcu_probe = mcu_probe
|
||||
self.param_helper = param_helper
|
||||
self.probing_move_cb = probing_move_cb
|
||||
# Infer Z position to move to during a probe
|
||||
self.z_position = lookup_minimum_z(config)
|
||||
# Session state
|
||||
self.multi_probe_pending = False
|
||||
self.results = []
|
||||
@ -317,15 +321,13 @@ class ProbeSessionHelper:
|
||||
self.results = []
|
||||
self.multi_probe_pending = False
|
||||
self.mcu_probe.multi_probe_end()
|
||||
def _probe(self, speed):
|
||||
def _probe(self, gcmd):
|
||||
toolhead = self.printer.lookup_object('toolhead')
|
||||
curtime = self.printer.get_reactor().monotonic()
|
||||
if 'z' not in toolhead.get_status(curtime)['homed_axes']:
|
||||
raise self.printer.command_error("Must home before probe")
|
||||
pos = toolhead.get_position()
|
||||
pos[2] = self.z_position
|
||||
try:
|
||||
epos = self.probing_move_cb(pos, speed)
|
||||
epos = self.probing_move_cb(gcmd)
|
||||
except self.printer.command_error as e:
|
||||
reason = str(e)
|
||||
if "Timeout during endstop homing" in reason:
|
||||
@ -349,7 +351,7 @@ class ProbeSessionHelper:
|
||||
sample_count = params['samples']
|
||||
while len(positions) < sample_count:
|
||||
# Probe position
|
||||
pos = self._probe(params['probe_speed'])
|
||||
pos = self._probe(gcmd)
|
||||
positions.append(pos)
|
||||
# Check samples tolerance
|
||||
z_positions = [p[2] for p in positions]
|
||||
@ -376,7 +378,8 @@ class ProbeSessionHelper:
|
||||
class ProbeEndstopSessionHelper:
|
||||
def __init__(self, config, mcu_probe):
|
||||
self.param_helper = ProbeParameterHelper(config)
|
||||
self.homing_helper = HomingViaProbeHelper(config, mcu_probe)
|
||||
self.homing_helper = HomingViaProbeHelper(config, mcu_probe,
|
||||
self.param_helper)
|
||||
self.probe_session = ProbeSessionHelper(
|
||||
config, mcu_probe, self.param_helper,
|
||||
self.homing_helper.probing_move)
|
||||
|
@ -304,11 +304,13 @@ class EddyGatherSamples:
|
||||
# Helper for implementing PROBE style commands (descend until trigger)
|
||||
class EddyEndstopWrapper:
|
||||
REASON_SENSOR_ERROR = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1
|
||||
def __init__(self, config, sensor_helper, calibration):
|
||||
def __init__(self, config, sensor_helper, calibration, param_helper):
|
||||
self._printer = config.get_printer()
|
||||
self._sensor_helper = sensor_helper
|
||||
self._mcu = sensor_helper.get_mcu()
|
||||
self._calibration = calibration
|
||||
self._param_helper = param_helper
|
||||
self._z_min_position = probe.lookup_minimum_z(config)
|
||||
self._z_offset = config.getfloat('z_offset', minval=0.)
|
||||
self._dispatch = mcu.TriggerDispatch(self._mcu)
|
||||
self._trigger_time = 0.
|
||||
@ -347,7 +349,11 @@ class EddyEndstopWrapper:
|
||||
def query_endstop(self, print_time):
|
||||
return False # XXX
|
||||
# Interface for ProbeEndstopWrapper
|
||||
def probing_move(self, pos, speed):
|
||||
def probing_move(self, gcmd):
|
||||
toolhead = self._printer.lookup_object('toolhead')
|
||||
pos = toolhead.get_position()
|
||||
pos[2] = self._z_min_position
|
||||
speed = self._param_helper.get_probe_params(gcmd)['probe_speed']
|
||||
# Perform probing move
|
||||
phoming = self._printer.lookup_object('homing')
|
||||
trig_pos = phoming.probing_move(self, pos, speed)
|
||||
@ -356,7 +362,6 @@ class EddyEndstopWrapper:
|
||||
# Extract samples
|
||||
start_time = self._trigger_time + 0.050
|
||||
end_time = start_time + 0.100
|
||||
toolhead = self._printer.lookup_object("toolhead")
|
||||
toolhead_pos = toolhead.get_position()
|
||||
self._gather.note_probe(start_time, end_time, toolhead_pos)
|
||||
return self._gather.pull_probed()[0]
|
||||
@ -424,12 +429,13 @@ class PrinterEddyProbe:
|
||||
self.sensor_helper = sensors[sensor_type](config, self.calibration)
|
||||
# Probe interface
|
||||
self.param_helper = probe.ProbeParameterHelper(config)
|
||||
self.mcu_probe = EddyEndstopWrapper(config, self.sensor_helper,
|
||||
self.calibration)
|
||||
self.mcu_probe = EddyEndstopWrapper(
|
||||
config, self.sensor_helper, self.calibration, self.param_helper)
|
||||
self.cmd_helper = probe.ProbeCommandHelper(
|
||||
config, self, self.mcu_probe.query_endstop)
|
||||
self.probe_offsets = probe.ProbeOffsetsHelper(config)
|
||||
self.homing_helper = probe.HomingViaProbeHelper(config, self.mcu_probe)
|
||||
self.homing_helper = probe.HomingViaProbeHelper(config, self.mcu_probe,
|
||||
self.param_helper)
|
||||
self.probe_session = probe.ProbeSessionHelper(
|
||||
config, self.mcu_probe, self.param_helper,
|
||||
self.mcu_probe.probing_move)
|
||||
|
Loading…
x
Reference in New Issue
Block a user