probe: Support manual probing at runtime

Don't require the config file to specify manual probing.  Instead,
allow the user to select manual probing on each ProbePointsHelper
invocation.

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

10 files changed, 41 insertions, 54 deletions

diff --git a/config/example-delta.cfg b/config/example-delta.cfg
index 1b577224..858716e5 100644
--- a/config/example-delta.cfg
+++ b/config/example-delta.cfg
@@ -121,14 +121,6 @@ radius: 50
 #horizontal_move_z: 5
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
-#manual_probe:
-#   If true, then DELTA_CALIBRATE will perform manual probing. If
-#   false, then a PROBE command will be run at each probe
-#   point. Manual probing is accomplished by manually jogging the Z
-#   position of the print head at each probe point and then issuing a
-#   NEXT extended g-code command to record the position at that
-#   point. The default is false if a [probe] config section is present
-#   and true otherwise.
 #samples: 1
 #   The number of times to probe each point.  The probed z-values
 #   will be averaged.  The default is to probe 1 time.
diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index e893c07c..7257961e 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -63,14 +63,6 @@
 #horizontal_move_z: 5
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
-#manual_probe:
-#   If true, then BED_TILT_CALIBRATE will perform manual probing. If
-#   false, then a PROBE command will be run at each probe
-#   point. Manual probing is accomplished by manually jogging the Z
-#   position of the print head at each probe point and then issuing a
-#   NEXT extended g-code command to record the position at that
-#   point. The default is false if a [probe] config section is present
-#   and true otherwise.
 #samples: 1
 #   The number of times to probe each point.  The probed z-values
 #   will be averaged.  The default is to probe 1 time.
@@ -140,9 +132,6 @@
 #   may be applied to change the amount of slope interpolated.
 #   Larger numbers will increase the amount of slope, which
 #   results in more curvature in the mesh. Default is .2.
-#manual_probe:
-#   See the manual_probe option of [bed_tilt] for details. The default
-#   is false if a [probe] config section is present and true otherwise.
 
 
 # Multiple Z stepper tilt adjustment. This feature enables independent
diff --git a/docs/Delta_Calibrate.md b/docs/Delta_Calibrate.md
index e444f473..cec41863 100644
--- a/docs/Delta_Calibrate.md
+++ b/docs/Delta_Calibrate.md
@@ -46,7 +46,7 @@ eliminates error introduced by the probe.
 To perform the basic probe, make sure the config has a
 [delta_calibrate] section defined and run:
 ```
-DELTA_CALIBRATE
+DELTA_CALIBRATE METHOD=manual
 ```
 After probing the seven points new delta parameters will be
 calculated.  Save and apply these parameters by running:
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index dcaa2b20..29e89a6b 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -147,8 +147,9 @@ enabled:
 
 The following commands are available when the "delta_calibrate" config
 section is enabled:
-- `DELTA_CALIBRATE`: This command will probe seven points on the bed
-  and recommend updated endstop positions, tower angles, and radius.
+- `DELTA_CALIBRATE [METHOD=manual]`: This command will probe seven
+  points on the bed and recommend updated endstop positions, tower
+  angles, and radius.
   - `NEXT`: If manual bed probing is enabled, then one can use this
     command to move to the next probing point during a DELTA_CALIBRATE
     operation.
@@ -159,8 +160,9 @@ section is enabled:
 
 The following commands are available when the "bed_tilt" config
 section is enabled:
-- `BED_TILT_CALIBRATE`: This command will probe the points specified
-  in the config and then recommend updated x and y tilt adjustments.
+- `BED_TILT_CALIBRATE [METHOD=manual]`: This command will probe the
+  points specified in the config and then recommend updated x and y
+  tilt adjustments.
   - `NEXT`: If manual bed probing is enabled, then one can use this
     command to move to the next probing point during a
     BED_TILT_CALIBRATE operation.
@@ -169,9 +171,13 @@ section is enabled:
 
 The following commands are available when the "bed_mesh" config
 section is enabled:
-- `BED_MESH_CALIBRATE`: This command probes the bed using generated
-  points specified by the parameters in the config. After probing,
-  a mesh is generated and z-movement is adjusted according to the mesh.
+- `BED_MESH_CALIBRATE [METHOD=manual]`: This command probes the bed
+  using generated points specified by the parameters in the
+  config. After probing, a mesh is generated and z-movement is
+  adjusted according to the mesh.
+  - `NEXT`: If manual bed probing is enabled, then one can use this
+    command to move to the next probing point during a
+    BED_MESH_CALIBRATE operation.
 - `BED_MESH_OUTPUT`: This command outputs the current probed z values
   and current mesh values to the terminal.
 - `BED_MESH_MAP`: This command probes the bed in a similar fashion
diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py
index d31c2609..5a7a622d 100644
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -204,15 +204,15 @@ class BedMeshCalibrate:
     cmd_BED_MESH_MAP_help = "Probe the bed and serialize output"
     def cmd_BED_MESH_MAP(self, params):
         self.build_map = True
-        self.start_calibration()
+        self.start_calibration(params)
     cmd_BED_MESH_CALIBRATE_help = "Perform Mesh Bed Leveling"
     def cmd_BED_MESH_CALIBRATE(self, params):
         self.build_map = False
-        self.start_calibration()
-    def start_calibration(self):
+        self.start_calibration(params)
+    def start_calibration(self, params):
         self.bedmesh.set_mesh(None)
         self.gcode.run_script_from_command("G28")
-        self.probe_helper.start_probe()
+        self.probe_helper.start_probe(params)
     def print_probed_positions(self, print_func):
         if self.probed_z_table is not None:
             msg = "Mesh Leveling Probed Z positions:\n"
diff --git a/klippy/extras/bed_tilt.py b/klippy/extras/bed_tilt.py
index 558047cc..67c61a62 100644
--- a/klippy/extras/bed_tilt.py
+++ b/klippy/extras/bed_tilt.py
@@ -56,7 +56,7 @@ class BedTiltCalibrate:
     cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
     def cmd_BED_TILT_CALIBRATE(self, params):
         self.gcode.run_script_from_command("G28")
-        self.probe_helper.start_probe()
+        self.probe_helper.start_probe(params)
     def probe_finalize(self, offsets, positions):
         z_offset = offsets[2]
         logging.info("Calculating bed_tilt with: %s", positions)
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py
index 78a46586..b30ffaf2 100644
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@@ -275,7 +275,7 @@ class DeltaCalibrate:
     cmd_DELTA_CALIBRATE_help = "Delta calibration script"
     def cmd_DELTA_CALIBRATE(self, params):
         self.gcode.run_script_from_command("G28")
-        self.probe_helper.start_probe()
+        self.probe_helper.start_probe(params)
     def do_extended_calibration(self):
         # Extract distance positions
         if len(self.delta_analyze_entry) <= 1:
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 3b96a9a3..df5f9268 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -155,23 +155,10 @@ class ProbePointsHelper:
                 config.get_name()))
         self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
         self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.)
-        # Lookup probe object
-        self.probe = None
         self.probe_offsets = (0., 0., 0.)
         self.samples = config.getint('samples', 1, minval=1)
         self.sample_retract_dist = config.getfloat(
             'sample_retract_dist', 2., above=0.)
-        manual_probe = config.getboolean('manual_probe', None)
-        if manual_probe is None:
-            manual_probe = not config.has_section('probe')
-        if not manual_probe:
-            self.printer.try_load_module(config, 'probe')
-            self.probe = self.printer.lookup_object('probe')
-            self.lift_speed = min(self.speed, self.probe.speed)
-            self.probe_offsets = self.probe.get_offsets()
-            if self.horizontal_move_z < self.probe_offsets[2]:
-                raise config.error("horizontal_move_z can't be less than probe's"
-                                   " z_offset in %s" % (config.get_name()))
         # Internal probing state
         self.results = []
         self.busy = False
@@ -179,10 +166,10 @@ class ProbePointsHelper:
     def get_lift_speed(self):
         return self.lift_speed
     def get_last_xy_home_positon(self):
-        if self.probe is not None:
-            return self.probe.last_home_position()
-        else:
+        probe = self.printer.lookup_object('probe', None)
+        if probe is None:
             return None
+        return probe.last_home_position()
     def _lift_z(self, z_pos, add=False, speed=None):
         # Lift toolhead
         curpos = self.toolhead.get_position()
@@ -232,15 +219,28 @@ class ProbePointsHelper:
         avg_pos = [sum([pos[i] for pos in positions]) / self.samples
                    for i in range(3)]
         self.results.append(avg_pos)
-    def start_probe(self):
-        # Begin probing
+    def start_probe(self, params):
+        # Lookup objects
         self.toolhead = self.printer.lookup_object('toolhead')
         self.gcode = self.printer.lookup_object('gcode')
+        probe = self.printer.lookup_object('probe', None)
+        method = self.gcode.get_str('METHOD', params, 'automatic').lower()
+        if probe is not None and method == 'automatic':
+            self.lift_speed = min(self.speed, probe.speed)
+            self.probe_offsets = probe.get_offsets()
+            if self.horizontal_move_z < self.probe_offsets[2]:
+                raise self.gcode.error("horizontal_move_z can't be less than"
+                                       " probe's z_offset")
+        else:
+            probe = None
+            self.lift_speed = self.speed
+            self.probe_offsets = (0., 0., 0.)
+        # Start probe
         self.results = []
         self.busy = True
         self._lift_z(self.horizontal_move_z, speed=self.speed)
         self._move_next()
-        if self.probe is None:
+        if probe is None:
             # Setup for manual probing
             self.gcode.register_command('NEXT', None)
             self.gcode.register_command('NEXT', self.cmd_NEXT,
diff --git a/klippy/extras/quad_gantry_level.py b/klippy/extras/quad_gantry_level.py
index 9eb1810c..b9f91f1f 100644
--- a/klippy/extras/quad_gantry_level.py
+++ b/klippy/extras/quad_gantry_level.py
@@ -38,7 +38,7 @@ class QuadGantryLevel:
         self.z_steppers = z_steppers
     cmd_QUAD_GANTRY_LEVEL_help = "Conform a moving, twistable gantry to the shape of a stationary bed"
     def cmd_QUAD_GANTRY_LEVEL(self, params):
-        self.probe_helper.start_probe()
+        self.probe_helper.start_probe(params)
     def probe_finalize(self, offsets, positions):
         logging.info("quad_gantry_level Calculating gantry geometry with: %s", positions)
         p1 = [positions[0][0] + offsets[0],positions[0][2]]
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index f5c4614d..e6e1aab8 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -39,7 +39,7 @@ class ZTilt:
         self.z_steppers = z_steppers
     cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt"
     def cmd_Z_TILT_ADJUST(self, params):
-        self.probe_helper.start_probe()
+        self.probe_helper.start_probe(params)
     def probe_finalize(self, offsets, positions):
         z_offset = offsets[2]
         logging.info("Calculating bed tilt with: %s", positions)