From 6ab8567d51d9f1b536d0adef276e31c3a986c1f2 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 23 Aug 2017 18:59:25 -0400
Subject: [PATCH] mcu: Track stepqueues separately from steppers

The MCU() class needs to track the stepqueues so that it can
initialize the steppersync object.  Track the stepqueues directly
instead of via the list of steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/mcu.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/klippy/mcu.py b/klippy/mcu.py
index 2340514b..4d012286 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -48,7 +48,6 @@ class MCU_stepper:
             " min_stop_interval=TICKS(%.9f) invert_step=%d" % (
                 self._oid, self._step_pin, self._dir_pin,
                 min_stop_interval, self._invert_step))
-        self._mcu.register_stepper(self)
         step_cmd = self._mcu.lookup_command(
             "queue_step oid=%c interval=%u count=%hu add=%hi")
         dir_cmd = self._mcu.lookup_command(
@@ -63,6 +62,7 @@ class MCU_stepper:
             max_error, step_cmd.msgid, dir_cmd.msgid,
             self._invert_dir, self._oid),
                                       self._ffi_lib.stepcompress_free)
+        self._mcu.register_stepqueue(self._stepqueue)
     def get_oid(self):
         return self._oid
     def set_position(self, pos):
@@ -417,7 +417,7 @@ class MCU:
         ffi_main, self._ffi_lib = chelper.get_ffi()
         self._max_stepper_error = config.getfloat(
             'max_stepper_error', 0.000025, minval=0.)
-        self._steppers = []
+        self._stepqueues = []
         self._steppersync = None
         # Print time to clock epoch calculations
         self._print_start_time = 0.
@@ -617,9 +617,9 @@ class MCU:
                 "MCU config: %s" % (" ".join(
                     ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
             self._printer.bglogger.set_rollover_info("mcu", "\n".join(info))
-        stepqueues = tuple(s._stepqueue for s in self._steppers)
         self._steppersync = self._ffi_lib.steppersync_alloc(
-            self.serial.serialqueue, stepqueues, len(stepqueues), move_count)
+            self.serial.serialqueue, self._stepqueues, len(self._stepqueues),
+            move_count)
         for c in self._init_cmds:
             self.send(self.create_command(c))
     # Config creation helpers
@@ -644,8 +644,8 @@ class MCU:
             self._config_cmds.append(cmd)
     def register_msg(self, cb, msg, oid=None):
         self.serial.register_callback(cb, msg, oid)
-    def register_stepper(self, stepper):
-        self._steppers.append(stepper)
+    def register_stepqueue(self, stepqueue):
+        self._stepqueues.append(stepqueue)
     def alloc_command_queue(self):
         return self.serial.alloc_command_queue()
     def lookup_command(self, msgformat):