update

klippy/extras/monitored_move.py

@@ -0,0 +1,85 @@
+# Módulo para movimientos G1 con monitoreo de endstops
+#
+# Copyright (C) 2024 MicroLay
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+import logging
+
+class MonitoredMove:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+        self.printer.register_event_handler("klippy:connect", self._handle_connect)
+        self.toolhead = None
+        self.phoming = None
+        self.gcode.register_command('MONITORED_G1', self.cmd_MONITORED_G1, desc=self.cmd_MONITORED_G1_help)
+        logging.info("MonitoredMove: Initialized")
+
+    def _handle_connect(self):
+        self.toolhead = self.printer.lookup_object('toolhead')
+        self.phoming = self.printer.lookup_object('homing')
+
+    def _get_endstop_by_stepper(self, stepper_name, gcmd):
+        """Obtiene el endstop de un stepper buscándolo a través del rail de su eje."""
+        kin = self.toolhead.get_kinematics()
+        target_rail = None
+        for rail in kin.rails:
+            if rail.get_name() == stepper_name:
+                target_rail = rail
+                break
+        
+        if target_rail is None:
+            rail_names = [r.get_name() for r in kin.rails]
+            raise gcmd.error(f"No se pudo encontrar el rail para el stepper '{stepper_name}'. Rails disponibles: {rail_names}")
+        
+        endstops = target_rail.get_endstops()
+        if not endstops:
+            raise gcmd.error(f"El rail del stepper '{stepper_name}' no tiene endstops configurados.")
+            
+        return endstops[0][0]
+
+    cmd_MONITORED_G1_help = "Realiza un movimiento G1 monitoreando el endstop de un stepper"
+    def cmd_MONITORED_G1(self, gcmd):
+        if not all([self.toolhead, self.phoming]):
+            raise gcmd.error("MONITORED_G1: Sistema no listo.")
+
+        stepper_name = gcmd.get('STEPPER')
+        if not stepper_name:
+            raise gcmd.error("El parámetro 'STEPPER' es requerido (ej: STEPPER=stepper_y).")
+
+        x = gcmd.get_float('X', gcmd.get_command_parameters().get('X', None))
+        y = gcmd.get_float('Y', gcmd.get_command_parameters().get('Y', None))
+        z = gcmd.get_float('Z', gcmd.get_command_parameters().get('Z', None))
+        f = gcmd.get_float('F', 60.0, above=0.)
+        
+        current_pos = self.toolhead.get_position()
+        target_pos = list(current_pos)
+        if x is not None: target_pos[0] = x
+        if y is not None: target_pos[1] = y
+        if z is not None: target_pos[2] = z
+            
+        endstop = self._get_endstop_by_stepper(stepper_name, gcmd)
+        
+        gcmd.respond_info(f"🎯 Movimiento monitoreado hacia Z={target_pos[2]:.3f}. Monitoreando '{stepper_name}'.")
+        
+        try:
+            # Corrección: Pasar el endstop directamente a probing_move
+            trigger_pos = self.phoming.probing_move(endstop, target_pos, f/60.0)
+            
+            gcmd.respond_info(f"🎯 Endstop activado en Z={trigger_pos[2]:.3f}")
+            self.gcode.run_script_from_command(f"G92 Z{trigger_pos[2]}")
+            gcmd.respond_info("✅ Movimiento detenido. Posición actualizada.")
+
+        except self.printer.command_error as e:
+            if "No trigger" in str(e):
+                gcmd.respond_info("✅ Movimiento completado sin activación de endstop.")
+                self.gcode.run_script_from_command(f"G92 Z{target_pos[2]}")
+                gcmd.respond_info("✅ Posición actualizada al objetivo.")
+            elif "triggered prior to movement" in str(e):
+                raise gcmd.error("El endstop ya estaba activado antes de empezar el movimiento.")
+            else:
+                raise
+
+def load_config(config):
+    return MonitoredMove(config)