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homing: Merge home_prepare()/home_finalize() into move_begin/move_end events

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Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end".  This simplifies the homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-02-12 13:03:42 -05:00 • committed by KevinOConnor
parent b23346a521
commit feb15eaf2e
7 changed files with 63 additions and 74 deletions
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24
klippy/homing.py
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@ -47,9 +47,9 @@ class Homing:
self.toolhead.signal_drip_mode_end()
def homing_move(self, movepos, endstops, speed,
probe_pos=False, verify_movement=False):
# Notify endstops of upcoming home
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
# Notify start of homing/probing move
self.printer.send_event("homing:homing_move_begin",
[es for es, name in endstops])
# Note start location
self.toolhead.flush_step_generation()
kin = self.toolhead.get_kinematics()
@ -66,8 +66,6 @@ class Homing:
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
rest_time, notify=self._endstop_notify)
self.toolhead.dwell(HOMING_START_DELAY)
# notify anyone out there of move start
self.printer.send_event("homing:move_begin", endstops)
# Issue move
error = None
try:
@ -82,8 +80,6 @@ class Homing:
except mcu_endstop.TimeoutError as e:
if error is None:
error = "Failed to home %s: %s" % (name, str(e))
# notify anyone out there of move end
self.printer.send_event("homing:move_end", endstops)
# Determine stepper halt positions
self.toolhead.flush_step_generation()
end_mcu_pos = [(s, name, spos, s.get_mcu_position())
@ -95,13 +91,13 @@ class Homing:
self.set_homed_position(kin.calc_tag_position())
else:
self.toolhead.set_position(movepos)
# Signal homing complete
for mcu_endstop, name in endstops:
try:
mcu_endstop.home_finalize()
except CommandError as e:
if error is None:
error = str(e)
# Signal homing/probing move complete
try:
self.printer.send_event("homing:homing_move_end",
[es for es, name in endstops])
except CommandError as e:
if error is None:
error = str(e)
if error is not None:
raise CommandError(error)
# Check if some movement occurred