homing: Move query_endstop() code from kinematic classes to homing.py

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/cartesian.py

@@ -62,6 +62,8 @@ class CartKinematics:
             # Set final homed position
             coord[axis] = s.position_endstop + s.get_homed_offset()
             homing_state.set_homed_position(coord)
+    def query_endstops(self, print_time):
+        return homing.query_endstops(print_time, self.steppers)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
@@ -74,9 +76,6 @@ class CartKinematics:
                 self.steppers[i].motor_enable(print_time, 1)
             need_motor_enable |= self.steppers[i].need_motor_enable
         self.need_motor_enable = need_motor_enable
-    def query_endstops(self, print_time):
-        endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
-        return [(s.name, es.query_endstop_wait()) for s, es in endstops]
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in StepList:

klippy/corexy.py

@@ -67,6 +67,8 @@ class CoreXYKinematics:
                 # Support endstop phase detection on Z axis
                 coord[axis] = s.position_endstop + s.get_homed_offset()
                 homing_state.set_homed_position(coord)
+    def query_endstops(self, print_time):
+        return homing.query_endstops(print_time, self.steppers)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
@@ -82,9 +84,6 @@ class CoreXYKinematics:
         for i in StepList:
             need_motor_enable |= self.steppers[i].need_motor_enable
         self.need_motor_enable = need_motor_enable
-    def query_endstops(self, print_time):
-        endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
-        return [(s.name, es.query_endstop_wait()) for s, es in endstops]
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in StepList:

klippy/delta.py

@@ -123,6 +123,8 @@ class DeltaKinematics:
                 + self.steppers[i].get_homed_offset()
                 for i in StepList]
         homing_state.set_homed_position(self._actuator_to_cartesian(spos))
+    def query_endstops(self, print_time):
+        return homing.query_endstops(print_time, self.steppers)
     def motor_off(self, print_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
@@ -132,9 +134,6 @@ class DeltaKinematics:
         for i in StepList:
             self.steppers[i].motor_enable(print_time, 1)
         self.need_motor_enable = False
-    def query_endstops(self, print_time):
-        endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
-        return [(s.name, es.query_endstop_wait()) for s, es in endstops]
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/homing.py

@@ -36,18 +36,18 @@ class Homing:
         print_time = self.toolhead.get_last_move_time()
         endstops = []
         for s in steppers:
-            es = s.enable_endstop_checking(print_time, s.step_dist / speed)
-            endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
+            s.mcu_endstop.home_start(print_time, s.step_dist / speed)
+            endstops.append((s, s.mcu_stepper.get_mcu_position()))
         self.toolhead.move(self._fill_coord(movepos), speed)
         move_end_print_time = self.toolhead.get_last_move_time()
         self.toolhead.reset_print_time()
-        for s, es, last_pos in endstops:
-            es.home_finalize(move_end_print_time)
+        for s, last_pos in endstops:
+            s.mcu_endstop.home_finalize(move_end_print_time)
         # Wait for endstops to trigger
-        for s, es, last_pos in endstops:
+        for s, last_pos in endstops:
             try:
-                es.home_wait()
-            except es.error as e:
+                s.mcu_endstop.home_wait()
+            except s.mcu_endstop.error as e:
                 raise EndstopError("Failed to home stepper %s: %s" % (
                     s.name, str(e)))
             post_home_pos = s.mcu_stepper.get_mcu_position()
@@ -57,6 +57,17 @@ class Homing:
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
+def query_endstops(print_time, steppers):
+    for s in steppers:
+        s.mcu_endstop.query_endstop(print_time)
+    out = []
+    for s in steppers:
+        try:
+            out.append((s.name, s.mcu_endstop.query_endstop_wait()))
+        except s.mcu_endstop.error as e:
+            raise EndstopError(str(e))
+    return out
+
 class EndstopError(Exception):
     pass
 

klippy/stepper.py

@@ -95,12 +95,6 @@ class PrinterHomingStepper(PrinterStepper):
                 self.homing_stepper_phases = None
             if self.mcu_endstop.get_mcu().is_fileoutput():
                 self.homing_endstop_accuracy = self.homing_stepper_phases
-    def enable_endstop_checking(self, print_time, step_time):
-        self.mcu_endstop.home_start(print_time, step_time)
-        return self.mcu_endstop
-    def query_endstop(self, print_time):
-        self.mcu_endstop.query_endstop(print_time)
-        return self.mcu_endstop
     def get_homing_speed(self):
         # Round the configured homing speed so that it is an even
         # number of ticks per step.

klippy/toolhead.py

@@ -347,10 +347,7 @@ class ToolHead:
             eventtime = self.reactor.pause(eventtime + 0.100)
     def query_endstops(self):
         last_move_time = self.get_last_move_time()
-        try:
-            return self.kin.query_endstops(last_move_time)
-        except self.mcu.error as e:
-            raise homing.EndstopError(str(e))
+        return self.kin.query_endstops(last_move_time)
     def set_extruder(self, extruder):
         last_move_time = self.get_last_move_time()
         self.extruder.set_active(last_move_time, False)