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Update beacon.py
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@Zeanon
Zeanon committed Oct 18, 2024
1 parent 1afb860 commit 7f7087a
Showing 1 changed file with 87 additions and 77 deletions.
164 changes: 87 additions & 77 deletions beacon.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1385,7 +1385,7 @@ def cmd_Z_OFFSET_APPLY_PROBE(self, gcmd):

if not self.model:
raise self.gcode.error(
"You must calibrate your model first, " "use BEACON_CALIBRATE."
"You must calibrate your model first, use BEACON_CALIBRATE."
)

# We use the model code to save the new offset, but we can't actually
Expand Down Expand Up @@ -2646,12 +2646,16 @@ def __init__(self, beacon, config, home_xy_position):
)

gcode_macro = beacon.printer.load_object(config, "gcode_macro")
self.tmpl_pre = gcode_macro.load_template(config, "home_gcode_pre", "")
self.tmpl_post = gcode_macro.load_template(config, "home_gcode_post", "")
self.tmpl_pre_xy = gcode_macro.load_template(config, "home_gcode_pre_xy", "")
self.tmpl_post_xy = gcode_macro.load_template(config, "home_gcode_post_xy", "")
self.tmpl_pre_x = gcode_macro.load_template(config, "home_gcode_pre_x", "")
self.tmpl_post_x = gcode_macro.load_template(config, "home_gcode_post_x", "")
self.tmpl_pre_y = gcode_macro.load_template(config, "home_gcode_pre_y", "")
self.tmpl_post_y = gcode_macro.load_template(config, "home_gcode_post_y", "")
self.tmpl_pre_z = gcode_macro.load_template(config, "home_gcode_pre_z", "")
self.tmpl_post_z = gcode_macro.load_template(config, "home_gcode_post_z", "")

# Ensure homing is loaded so we can override G28
beacon.printer.load_object(config, "homing")
Expand Down Expand Up @@ -2699,91 +2703,97 @@ def cmd_G28(self, gcmd):
if not (want_x or want_y or want_z):
want_x = want_y = want_z = True

if want_x or want_y:
if want_x or want_y or want_z:
orig_params = gcmd.get_command_parameters()
raw_params = gcmd.get_raw_command_parameters()
self._run_hook(self.tmpl_pre_xy, orig_params, raw_params)
if self.home_y_before_x:
axis_order = "yx"
else:
axis_order = "xy"
for axis in axis_order:
if axis == "x" and want_x:
self._run_hook(self.tmpl_pre_x, orig_params, raw_params)
cmd = self.gcode.create_gcode_command("G28", "G28", {"X": "0"})
self.prev_gcmd(cmd)
self._run_hook(self.tmpl_post_x, orig_params, raw_params)
elif axis == "y" and want_y:
self._run_hook(self.tmpl_pre_y, orig_params, raw_params)
cmd = self.gcode.create_gcode_command("G28", "G28", {"Y": "0"})
self.prev_gcmd(cmd)
self._run_hook(self.tmpl_post_y, orig_params, raw_params)
self._run_hook(self.tmpl_post_xy, orig_params, raw_params)
self._run_hook(self.tmpl_pre, orig_params, raw_params)

if want_z:
curtime = self.beacon.reactor.monotonic()
kin = toolhead.get_kinematics()
kin_status = kin.get_status(curtime)
if "xy" not in kin_status["homed_axes"]:
raise gcmd.error("Must home X and Y axes before homing Z")

method = self.method
if "z" in kin_status["homed_axes"]:
method = self.method_when_homed

# G28 is not normally an extended gcode, so we need this hack
args = gcmd.get_commandline().split(" ")
for arg in args:
kv = arg.split("=")
if len(kv) == 2 and kv[0].strip().lower() == "method":
method = HOMING_AUTOCAL_METHOD_CHOICES.get(
kv[1].strip().lower(), None
)
if method is None:
raise gcmd.error(
"Invalid homing method, valid choices: proximity, proximity_if_available, contact"
if want_x or want_y:
self._run_hook(self.tmpl_pre_xy, orig_params, raw_params)
if self.home_y_before_x:
axis_order = "yx"
else:
axis_order = "xy"
for axis in axis_order:
if axis == "x" and want_x:
self._run_hook(self.tmpl_pre_x, orig_params, raw_params)
cmd = self.gcode.create_gcode_command("G28", "G28", {"X": "0"})
self.prev_gcmd(cmd)
self._run_hook(self.tmpl_post_x, orig_params, raw_params)
elif axis == "y" and want_y:
self._run_hook(self.tmpl_pre_y, orig_params, raw_params)
cmd = self.gcode.create_gcode_command("G28", "G28", {"Y": "0"})
self.prev_gcmd(cmd)
self._run_hook(self.tmpl_post_y, orig_params, raw_params)
self._run_hook(self.tmpl_post_xy, orig_params, raw_params)

if want_z:
self._run_hook(self.tmpl_pre_z, orig_params, raw_params)
curtime = self.beacon.reactor.monotonic()
kin = toolhead.get_kinematics()
kin_status = kin.get_status(curtime)
if "xy" not in kin_status["homed_axes"]:
raise gcmd.error("Must home X and Y axes before homing Z")

method = self.method
if "z" in kin_status["homed_axes"]:
method = self.method_when_homed

# G28 is not normally an extended gcode, so we need this hack
args = gcmd.get_commandline().split(" ")
for arg in args:
kv = arg.split("=")
if len(kv) == 2 and kv[0].strip().lower() == "method":
method = HOMING_AUTOCAL_METHOD_CHOICES.get(
kv[1].strip().lower(), None
)
break
if method is None:
raise gcmd.error(
"Invalid homing method, valid choices: proximity, proximity_if_available, contact"
)
break

pos = [self.home_pos[0], self.home_pos[1]]
pos = [self.home_pos[0], self.home_pos[1]]

if method == HOMING_AUTOCAL_METHOD_PROXIMITY_IF_AVAILABLE:
if self.beacon.model is not None:
method = HOMING_AUTOCAL_METHOD_PROXIMITY
else:
method = HOMING_AUTOCAL_METHOD_CONTACT

if method == HOMING_AUTOCAL_METHOD_CONTACT:
toolhead.manual_move(pos, self.xy_move_speed)
if method == HOMING_AUTOCAL_METHOD_PROXIMITY_IF_AVAILABLE:
if self.beacon.model is not None:
method = HOMING_AUTOCAL_METHOD_PROXIMITY
else:
method = HOMING_AUTOCAL_METHOD_CONTACT

calibrate = True
if self.autocal_create_model == HOMING_AUTOCAL_CALIBRATE_UNHOMED:
calibrate = "z" not in kin_status["homed_axes"]
elif self.autocal_create_model == HOMING_AUTOCAL_CALIBRATE_NEVER:
calibrate = False
if method == HOMING_AUTOCAL_METHOD_CONTACT:
toolhead.manual_move(pos, self.xy_move_speed)

override = gcmd.get("CALIBRATE", None)
if override is not None:
if override.lower() in ["=0", "=no", "=false"]:
calibrate = True
if self.autocal_create_model == HOMING_AUTOCAL_CALIBRATE_UNHOMED:
calibrate = "z" not in kin_status["homed_axes"]
elif self.autocal_create_model == HOMING_AUTOCAL_CALIBRATE_NEVER:
calibrate = False
else:
calibrate = True

cmd = "BEACON_AUTO_CALIBRATE"
params = {}
if not calibrate:
params["SKIP_MODEL_CREATION"] = "1"
cmd = self.gcode.create_gcode_command(cmd, cmd, params)
self.beacon.cmd_BEACON_AUTO_CALIBRATE(cmd)
elif method == HOMING_AUTOCAL_METHOD_PROXIMITY:
pos[0] -= self.beacon.x_offset
pos[1] -= self.beacon.y_offset
toolhead.manual_move(pos, self.xy_move_speed)
cmd = self.gcode.create_gcode_command("G28", "G28", {"Z": "0"})
self.prev_gcmd(cmd)
else:
raise gcmd.error("Invalid homing method '%s'" % (method,))
self._maybe_zhop(toolhead)

override = gcmd.get("CALIBRATE", None)
if override is not None:
if override.lower() in ["=0", "=no", "=false"]:
calibrate = False
else:
calibrate = True

cmd = "BEACON_AUTO_CALIBRATE"
params = {}
if not calibrate:
params["SKIP_MODEL_CREATION"] = "1"
cmd = self.gcode.create_gcode_command(cmd, cmd, params)
self.beacon.cmd_BEACON_AUTO_CALIBRATE(cmd)
elif method == HOMING_AUTOCAL_METHOD_PROXIMITY:
pos[0] -= self.beacon.x_offset
pos[1] -= self.beacon.y_offset
toolhead.manual_move(pos, self.xy_move_speed)
cmd = self.gcode.create_gcode_command("G28", "G28", {"Z": "0"})
self.prev_gcmd(cmd)
else:
raise gcmd.error("Invalid homing method '%s'" % (method,))
self._maybe_zhop(toolhead)
self._run_hook(self.tmpl_post_z, orig_params, raw_params)
self._run_hook(self.tmpl_post, orig_params, raw_params)


class BeaconHomingState:
Expand Down

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