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gcode: Rework homing to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-08 18:12:20 -05:00
parent a6de1db94d
commit 89f5452ddb
6 changed files with 59 additions and 97 deletions
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21
klippy/mcu.py
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@ -111,6 +111,7 @@ class MCU_stepper:
return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
class MCU_endstop:
error = error
RETRY_QUERY = 1.000
def __init__(self, mcu, pin, stepper):
self._mcu = mcu
@ -134,7 +135,7 @@ class MCU_endstop:
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._last_state = {}
self.print_to_mcu_time = mcu.print_to_mcu_time
def home(self, mcu_time, rest_time):
def home_start(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True
@ -149,10 +150,14 @@ class MCU_endstop:
self._mcu.serial.send_flush()
self._stepper.note_stepper_stop()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
eventtime = time.time()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
self._last_state = params
def check_busy(self, eventtime):
def _check_busy(self, eventtime):
# Check if need to send an end_stop_query command
if self._mcu.is_fileoutput():
return False
@ -161,7 +166,10 @@ class MCU_endstop:
if not self._homing:
return False
if not self._last_state.get('homing', 0):
self._stepper.set_mcu_position(self.get_last_position())
pos = self._last_state.get('pos', 0)
if self._stepper.get_invert_dir():
pos = -pos
self._stepper.set_mcu_position(pos)
self._homing = False
return False
if (self._mcu.serial.get_clock(last_sent_time)
@ -178,11 +186,6 @@ class MCU_endstop:
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return True
def get_last_position(self):
pos = self._last_state.get('pos', 0)
if self._stepper.get_invert_dir():
return -pos
return pos
def query_endstop(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
self._homing = False
@ -190,7 +193,7 @@ class MCU_endstop:
self._next_query_clock = clock
def query_endstop_wait(self):
eventtime = time.time()
while self.check_busy(eventtime):
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert