From eeea7787a48f64d5e95f6f40e9e00ac8581ab7f7 Mon Sep 17 00:00:00 2001
From: Rogerio Goncalves <rogerlz@gmail.com>
Date: Mon, 13 Jan 2025 08:42:00 -0300
Subject: [PATCH] dockable_probe: fbocs feedback

---
 klippy/extras/dockable_probe.py | 26 ++++++++++++++++++++------
 1 file changed, 20 insertions(+), 6 deletions(-)

diff --git a/klippy/extras/dockable_probe.py b/klippy/extras/dockable_probe.py
index 078280acc..ada45b644 100644
--- a/klippy/extras/dockable_probe.py
+++ b/klippy/extras/dockable_probe.py
@@ -31,6 +31,11 @@
 Please see {0}.md and config_Reference.md.
 """
 
+VIRTUAL_Z_ENDSTOP_ERROR = """
+DockableProbe cannot be used as Z endstop if a z position
+is defined in approach/dock/extract/insert/detach position."
+"""
+
 
 # Helper class to handle polling pins for probe attachment states
 class PinPollingHelper:
@@ -374,6 +379,17 @@ def _handle_config(self):
 
     def _handle_connect(self):
         self.toolhead = self.printer.lookup_object("toolhead")
+        rails = self.toolhead.get_kinematics().rails
+        endstops = [es for rail in rails for es, name in rail.get_endstops()]
+        positions = [
+            self.approach_position,
+            self.dock_position,
+            self.extract_position,
+            self.insert_position,
+            self.detach_position,
+        ]
+        if self in endstops and any(pos[2] is not None for pos in positions):
+            raise self.printer.config_error(VIRTUAL_Z_ENDSTOP_ERROR)
 
     #######################################################################
     # GCode Commands
@@ -507,7 +523,6 @@ def cmd_MOVE_AVOIDING_DOCK(self, gcmd):
 
     def attach_probe(self, return_pos=None, always_restore_toolhead=False):
         self._lower_probe()
-        self.pre_attach_gcode.run_gcode_from_command()
 
         retry = 0
         while (
@@ -518,6 +533,7 @@ def attach_probe(self, return_pos=None, always_restore_toolhead=False):
                 raise self.printer.command_error(
                     "Attach Probe: Probe not detected in dock, aborting"
                 )
+            self.pre_attach_gcode.run_gcode_from_command()
             # Call these gcodes as a script because we don't have enough
             # structs/data to call the cmd_...() funcs and supply 'gcmd'.
             # This method also has the advantage of calling user-written gcodes
@@ -529,6 +545,7 @@ def attach_probe(self, return_pos=None, always_restore_toolhead=False):
                 MOVE_TO_EXTRACT_PROBE
             """
             )
+            self.post_attach_gcode.run_gcode_from_command()
 
             retry += 1
 
@@ -542,15 +559,13 @@ def attach_probe(self, return_pos=None, always_restore_toolhead=False):
             # Do NOT return to the original Z position after attach
             # as the probe might crash into the bed.
 
-        self.post_attach_gcode.run_gcode_from_command()
-
     def detach_probe(self, return_pos=None):
-        self.pre_detach_gcode.run_gcode_from_command()
         retry = 0
         while (
             self.get_probe_state() != PROBE_DOCKED
             and retry < self.dock_retries + 1
         ):
+            self.pre_detach_gcode.run_gcode_from_command()
             # Call these gcodes as a script because we don't have enough
             # structs/data to call the cmd_...() funcs and supply 'gcmd'.
             # This method also has the advantage of calling user-written gcodes
@@ -562,14 +577,13 @@ def detach_probe(self, return_pos=None):
                 MOVE_TO_DETACH_PROBE
             """
             )
+            self.post_detach_gcode.run_gcode_from_command()
 
             retry += 1
 
         if self.get_probe_state() != PROBE_DOCKED:
             raise self.printer.command_error("Probe detach failed!")
 
-        self.post_detach_gcode.run_gcode_from_command()
-
         if return_pos and self.restore_toolhead:
             # return to the original XY position, if inside safe_dock area
             # move to the closest point