klipper update

klippy/extras/homing_override.py

@@ -0,0 +1,65 @@
+# Run user defined actions in place of a normal G28 homing command
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class HomingOverride:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.start_pos = [config.getfloat('set_position_' + a, None)
+                          for a in 'xyz']
+        self.axes = config.get('axes', 'XYZ').upper()
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.template = gcode_macro.load_template(config, 'gcode')
+        self.in_script = False
+        self.printer.load_object(config, 'homing')
+        self.gcode = self.printer.lookup_object('gcode')
+        self.prev_G28 = self.gcode.register_command("G28", None)
+        self.gcode.register_command("G28", self.cmd_G28)
+    def cmd_G28(self, gcmd):
+        if self.in_script:
+            # Was called recursively - invoke the real G28 command
+            self.prev_G28(gcmd)
+            return
+
+        # if no axis is given as parameter we assume the override
+        no_axis = True
+        for axis in 'XYZ':
+            if gcmd.get(axis, None) is not None:
+                no_axis = False
+                break
+
+        if no_axis:
+            override = True
+        else:
+            # check if we home an axis which needs the override
+            override = False
+            for axis in self.axes:
+                if gcmd.get(axis, None) is not None:
+                    override = True
+
+        if not override:
+            self.prev_G28(gcmd)
+            return
+
+        # Calculate forced position (if configured)
+        toolhead = self.printer.lookup_object('toolhead')
+        pos = toolhead.get_position()
+        homing_axes = []
+        for axis, loc in enumerate(self.start_pos):
+            if loc is not None:
+                pos[axis] = loc
+                homing_axes.append(axis)
+        toolhead.set_position(pos, homing_axes=homing_axes)
+        # Perform homing
+        context = self.template.create_template_context()
+        context['params'] = gcmd.get_command_parameters()
+        try:
+            self.in_script = True
+            self.template.run_gcode_from_command(context)
+        finally:
+            self.in_script = False
+
+def load_config(config):
+    return HomingOverride(config)