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probe: Change probing_move() to pass a gcmd instead of (pos, speed)

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-04 02:44:16 -04:00
parent ff0ffedd17
commit b2e36e5d98
2 changed files with 25 additions and 16 deletions
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23
klippy/extras/probe.py
View File

@ -182,10 +182,12 @@ def lookup_minimum_z(config):
# Homing via probe:z_virtual_endstop # Homing via probe:z_virtual_endstop
class HomingViaProbeHelper: class HomingViaProbeHelper:
def __init__(self, config, mcu_probe): def __init__(self, config, mcu_probe, param_helper):
self.printer = config.get_printer() self.printer = config.get_printer()
self.mcu_probe = mcu_probe self.mcu_probe = mcu_probe
self.param_helper = param_helper
self.multi_probe_pending = False self.multi_probe_pending = False
self.z_min_position = lookup_minimum_z(config)
# Register z_virtual_endstop pin # Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self) self.printer.lookup_object('pins').register_chip('probe', self)
# Register event handlers # Register event handlers
@ -236,7 +238,11 @@ class HomingViaProbeHelper:
raise pins.error("Can not pullup/invert probe virtual endstop") raise pins.error("Can not pullup/invert probe virtual endstop")
return self.mcu_probe return self.mcu_probe
# Helper to convert probe based commands to use homing module # 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') phoming = self.printer.lookup_object('homing')
return phoming.probing_move(self.mcu_probe, pos, speed) return phoming.probing_move(self.mcu_probe, pos, speed)
@ -287,8 +293,6 @@ class ProbeSessionHelper:
self.mcu_probe = mcu_probe self.mcu_probe = mcu_probe
self.param_helper = param_helper self.param_helper = param_helper
self.probing_move_cb = probing_move_cb 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 # Session state
self.multi_probe_pending = False self.multi_probe_pending = False
self.results = [] self.results = []
@ -317,15 +321,13 @@ class ProbeSessionHelper:
self.results = [] self.results = []
self.multi_probe_pending = False self.multi_probe_pending = False
self.mcu_probe.multi_probe_end() self.mcu_probe.multi_probe_end()
def _probe(self, speed): def _probe(self, gcmd):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
curtime = self.printer.get_reactor().monotonic() curtime = self.printer.get_reactor().monotonic()
if 'z' not in toolhead.get_status(curtime)['homed_axes']: if 'z' not in toolhead.get_status(curtime)['homed_axes']:
raise self.printer.command_error("Must home before probe") raise self.printer.command_error("Must home before probe")
pos = toolhead.get_position()
pos[2] = self.z_position
try: try:
epos = self.probing_move_cb(pos, speed) epos = self.probing_move_cb(gcmd)
except self.printer.command_error as e: except self.printer.command_error as e:
reason = str(e) reason = str(e)
if "Timeout during endstop homing" in reason: if "Timeout during endstop homing" in reason:
@ -349,7 +351,7 @@ class ProbeSessionHelper:
sample_count = params['samples'] sample_count = params['samples']
while len(positions) < sample_count: while len(positions) < sample_count:
# Probe position # Probe position
pos = self._probe(params['probe_speed']) pos = self._probe(gcmd)
positions.append(pos) positions.append(pos)
# Check samples tolerance # Check samples tolerance
z_positions = [p[2] for p in positions] z_positions = [p[2] for p in positions]
@ -376,7 +378,8 @@ class ProbeSessionHelper:
class ProbeEndstopSessionHelper: class ProbeEndstopSessionHelper:
def __init__(self, config, mcu_probe): def __init__(self, config, mcu_probe):
self.param_helper = ProbeParameterHelper(config) 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( self.probe_session = ProbeSessionHelper(
config, mcu_probe, self.param_helper, config, mcu_probe, self.param_helper,
self.homing_helper.probing_move) self.homing_helper.probing_move)

18
klippy/extras/probe_eddy_current.py
View File

@ -304,11 +304,13 @@ class EddyGatherSamples:
# Helper for implementing PROBE style commands (descend until trigger) # Helper for implementing PROBE style commands (descend until trigger)
class EddyEndstopWrapper: class EddyEndstopWrapper:
REASON_SENSOR_ERROR = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1 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._printer = config.get_printer()
self._sensor_helper = sensor_helper self._sensor_helper = sensor_helper
self._mcu = sensor_helper.get_mcu() self._mcu = sensor_helper.get_mcu()
self._calibration = calibration 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._z_offset = config.getfloat('z_offset', minval=0.)
self._dispatch = mcu.TriggerDispatch(self._mcu) self._dispatch = mcu.TriggerDispatch(self._mcu)
self._trigger_time = 0. self._trigger_time = 0.
@ -347,7 +349,11 @@ class EddyEndstopWrapper:
def query_endstop(self, print_time): def query_endstop(self, print_time):
return False # XXX return False # XXX
# Interface for ProbeEndstopWrapper # 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 # Perform probing move
phoming = self._printer.lookup_object('homing') phoming = self._printer.lookup_object('homing')
trig_pos = phoming.probing_move(self, pos, speed) trig_pos = phoming.probing_move(self, pos, speed)
@ -356,7 +362,6 @@ class EddyEndstopWrapper:
# Extract samples # Extract samples
start_time = self._trigger_time + 0.050 start_time = self._trigger_time + 0.050
end_time = start_time + 0.100 end_time = start_time + 0.100
toolhead = self._printer.lookup_object("toolhead")
toolhead_pos = toolhead.get_position() toolhead_pos = toolhead.get_position()
self._gather.note_probe(start_time, end_time, toolhead_pos) self._gather.note_probe(start_time, end_time, toolhead_pos)
return self._gather.pull_probed()[0] return self._gather.pull_probed()[0]
@ -424,12 +429,13 @@ class PrinterEddyProbe:
self.sensor_helper = sensors[sensor_type](config, self.calibration) self.sensor_helper = sensors[sensor_type](config, self.calibration)
# Probe interface # Probe interface
self.param_helper = probe.ProbeParameterHelper(config) self.param_helper = probe.ProbeParameterHelper(config)
self.mcu_probe = EddyEndstopWrapper(config, self.sensor_helper, self.mcu_probe = EddyEndstopWrapper(
self.calibration) config, self.sensor_helper, self.calibration, self.param_helper)
self.cmd_helper = probe.ProbeCommandHelper( self.cmd_helper = probe.ProbeCommandHelper(
config, self, self.mcu_probe.query_endstop) config, self, self.mcu_probe.query_endstop)
self.probe_offsets = probe.ProbeOffsetsHelper(config) 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( self.probe_session = probe.ProbeSessionHelper(
config, self.mcu_probe, self.param_helper, config, self.mcu_probe, self.param_helper,
self.mcu_probe.probing_move) self.mcu_probe.probing_move)