probe: Add deactivate_on_each_sample: param for Probe (#4161)

Signed-off-by: Nick Lefskiy <n.lefskiy@yandex.ru>

docs/Config_Reference.md

@@ -1520,6 +1520,10 @@ stepper_z config section.
 [probe]
 pin:
 #   Probe detection pin. This parameter must be provided.
+#deactivate_on_each_sample: True
+#   This determines if Klipper should execute deactivation gcode
+#   between each probe attempt when performing a multiple probe
+#   sequence. The default is True.
 #x_offset: 0.0
 #   The distance (in mm) between the probe and the nozzle along the
 #   x-axis. The default is 0.

klippy/extras/probe.py

@@ -268,6 +268,8 @@ class ProbeEndstopWrapper:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.position_endstop = config.getfloat('z_offset')
+        self.stow_on_each_sample = config.getboolean(
+            'deactivate_on_each_sample', True)
         gcode_macro = self.printer.load_object(config, 'gcode_macro')
         self.activate_gcode = gcode_macro.load_template(
             config, 'activate_gcode', '')
@@ -287,29 +289,44 @@ class ProbeEndstopWrapper:
         self.home_start = self.mcu_endstop.home_start
         self.home_wait = self.mcu_endstop.home_wait
         self.query_endstop = self.mcu_endstop.query_endstop
+        # multi probes state
+        self.multi = 'OFF'
     def _build_config(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
         for stepper in kin.get_steppers():
             if stepper.is_active_axis('z'):
                 self.add_stepper(stepper)
-    def multi_probe_begin(self):
-        pass
-    def multi_probe_end(self):
-        pass
-    def probe_prepare(self, hmove):
-        toolhead = self.printer.lookup_object('toolhead')
-        start_pos = toolhead.get_position()
-        self.activate_gcode.run_gcode_from_command()
-        if toolhead.get_position()[:3] != start_pos[:3]:
-            raise self.printer.command_error(
-                "Toolhead moved during probe activate_gcode script")
-    def probe_finish(self, hmove):
+    def raise_probe(self):
         toolhead = self.printer.lookup_object('toolhead')
         start_pos = toolhead.get_position()
         self.deactivate_gcode.run_gcode_from_command()
+        if toolhead.get_position()[:3] != start_pos[:3]:
+            raise self.printer.command_error(
+                "Toolhead moved during probe activate_gcode script")
+    def lower_probe(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        start_pos = toolhead.get_position()
+        self.activate_gcode.run_gcode_from_command()
         if toolhead.get_position()[:3] != start_pos[:3]:
             raise self.printer.command_error(
                 "Toolhead moved during probe deactivate_gcode script")
+    def multi_probe_begin(self):
+        if self.stow_on_each_sample:
+            return
+        self.multi = 'FIRST'
+    def multi_probe_end(self):
+        if self.stow_on_each_sample:
+            return
+        self.raise_probe()
+        self.multi = 'OFF'
+    def probe_prepare(self, hmove):
+        if self.multi == 'OFF' or self.multi == 'FIRST':
+            self.lower_probe()
+            if self.multi == 'FIRST':
+                self.multi = 'ON'
+    def probe_finish(self, hmove):
+        if self.multi == 'OFF':
+            self.raise_probe()
     def get_position_endstop(self):
         return self.position_endstop