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homing: Make sure to clean up homing state even if homing fails

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Make sure to always call MCU_endstop.home_wait() if
MCU_endstop.home_start() is invoked.  Rename
MCU_stepper.note_homing_triggered() to note_homing_end() and make sure
it is always called if MCU_stepper.note_homing_start() is invoked.

With these changes, MCU_endstop.home_finalize() is no longer needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-05 23:33:23 -05:00
parent 7785d3a87d
commit b340fdcc4a
2 changed files with 55 additions and 46 deletions
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35
klippy/mcu.py
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@ -79,14 +79,17 @@ class MCU_stepper:
self._stepqueue, homing_clock)
if ret:
raise error("Internal error in stepcompress")
def note_homing_finalized(self):
def note_homing_end(self, did_trigger=False):
ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
if not did_trigger:
return
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
def note_homing_triggered(self):
if self._mcu.is_fileoutput():
return
cmd = self._get_position_cmd.encode(self._oid)
params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
pos = params['pos']
@ -131,7 +134,8 @@ class MCU_stepper:
self._commanded_pos += count
class MCU_endstop:
error = error
class TimeoutError(Exception):
pass
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
self._mcu = mcu
@ -142,7 +146,7 @@ class MCU_endstop:
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._next_query_time = self._home_timeout = 0.
self._min_query_time = self._next_query_time = 0.
self._last_state = {}
def get_mcu(self):
return self._mcu
@ -182,36 +186,33 @@ class MCU_endstop:
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
def home_finalize(self, print_time):
for s in self._steppers:
s.note_homing_finalized()
self._home_timeout = print_time
def home_wait(self):
def home_wait(self, home_end_time):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
while self._check_busy(eventtime, home_end_time):
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, home_end_time=0.):
# Check if need to send an end_stop_query command
if self._mcu.is_fileoutput():
return False
print_time = self._mcu.estimated_print_time(eventtime)
last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time:
if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput():
if not self._homing:
return False
if not self._last_state.get('homing', 0):
for s in self._steppers:
s.note_homing_triggered()
s.note_homing_end(did_trigger=True)
self._homing = False
return False
if print_time > self._home_timeout:
if print_time > home_end_time:
# Timeout - disable endstop checking
for s in self._steppers:
s.note_homing_end()
self._homing = False
msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing")
raise self.TimeoutError("Timeout during endstop homing")
if self._mcu.is_shutdown():
raise error("MCU is shutdown")
if print_time >= self._next_query_time: