probe: Allow probe parameters to be specified as g-code parameters

Add PROBE_SPEED, SAMPLES, SAMPLE_RETRACT_DIST, SAMPLES_TOLERANCE,
SAMPLES_TOLERANCE_RETRIES, and SAMPLES_RESULT parameters to the PROBE
command (and to commands that indirectly invoke a probe).

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

2 files changed, 75 insertions, 46 deletions

diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 5d06a4a1..3fcdd88e 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -220,17 +220,26 @@ section is enabled:
 
 The following commands are available when a "probe" config section is
 enabled:
-- `PROBE`: Move the nozzle downwards until the probe triggers.
+- `PROBE [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
+  [SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>]
+  [SAMPLES_TOLERANCE_RETRIES=<count>]
+  [SAMPLES_RESULT=median|average]`: Move the nozzle downwards until
+  the probe triggers. If any of the optional parameters are provided
+  they override their equivalent setting in the probe config section
+  (see
+  [example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
+  for details).
 - `QUERY_PROBE`: Report the current status of the probe ("triggered"
   or "open").
 - `PROBE_ACCURACY [REPEAT=<times>] [SPEED=<speed mm/s>] [X=<x pos>]
   [Y=<y pos>] [Z=<z height>]`: Calculate the maximum, minimum, average,
   median and standard deviation. The default values are: REPEAT=10,
   SPEED=probe config speed, X=current X, Y=current Y and Z=10.
-- `PROBE_CALIBRATE [SPEED=<speed>]`: Run a helper script useful for
-  calibrating the probe's z_offset. See the MANUAL_PROBE command for
-  details on the parameters and the additional commands available
-  while the tool is active.
+- `PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]`: Run a
+  helper script useful for calibrating the probe's z_offset. See the
+  PROBE command for details on the optional probe parameters. See the
+  MANUAL_PROBE command for details on the SPEED parameter and the
+  additional commands available while the tool is active.
 
 ## BLTouch
 
@@ -246,12 +255,13 @@ See [Working with the BL-Touch](BLTouch.md) for more details.
 
 The following commands are available when the "delta_calibrate" config
 section is enabled:
-- `DELTA_CALIBRATE [METHOD=manual]`: This command will probe seven
-  points on the bed and recommend updated endstop positions, tower
-  angles, and radius. If METHOD=manual is specified then the manual
-  probing tool is activated - see the MANUAL_PROBE command above for
-  details on the additional commands available while this tool is
-  active.
+- `DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
+  command will probe seven points on the bed and recommend updated
+  endstop positions, tower angles, and radius. See the PROBE command
+  for details on the optional probe parameters. If METHOD=manual is
+  specified then the manual probing tool is activated - see the
+  MANUAL_PROBE command above for details on the additional commands
+  available while this tool is active.
 - `DELTA_ANALYZE`: This command is used during enhanced delta
   calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
 
@@ -259,24 +269,26 @@ section is enabled:
 
 The following commands are available when the "bed_tilt" config
 section is enabled:
-- `BED_TILT_CALIBRATE [METHOD=manual]`: This command will probe the
-  points specified in the config and then recommend updated x and y
-  tilt adjustments. If METHOD=manual is specified then the manual
-  probing tool is activated - see the MANUAL_PROBE command above for
-  details on the additional commands available while this tool is
-  active.
+- `BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
+  This command will probe the points specified in the config and then
+  recommend updated x and y tilt adjustments. See the PROBE command
+  for details on the optional probe parameters. If METHOD=manual is
+  specified then the manual probing tool is activated - see the
+  MANUAL_PROBE command above for details on the additional commands
+  available while this tool is active.
 
 ## Mesh Bed Leveling
 
 The following commands are available when the "bed_mesh" config
 section is enabled:
-- `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. If METHOD=manual is specified then
-  the manual probing tool is activated - see the MANUAL_PROBE command
-  above for details on the additional commands available while this
-  tool is active.
+- `BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
+  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. See the PROBE command
+  for details on the optional probe parameters. If METHOD=manual is
+  specified then the manual probing tool is activated - see the
+  MANUAL_PROBE command above for details on the additional commands
+  available while this tool is active.
 - `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
@@ -311,19 +323,22 @@ section is enabled:
 
 The following commands are available when the "screws_tilt_adjust"
 config section is enabled:
-- `SCREWS_TILT_CALCULATE`: This command will invoke the bed screws
-  adjustment tool. It will command the nozzle to different locations
-  (as defined in the config file) probing the z height and calculate
-  the number of knob turns to adjust the bed level.
+- `SCREWS_TILT_CALCULATE [<probe_parameter>=<value>]`: This command
+  will invoke the bed screws adjustment tool. It will command the
+  nozzle to different locations (as defined in the config file)
+  probing the z height and calculate the number of knob turns to
+  adjust the bed level. See the PROBE command for details on the
+  optional probe parameters.
   IMPORTANT: You MUST always do a G28 before using this command.
 
 ## Z Tilt
 
 The following commands are available when the "z_tilt" config section
 is enabled:
-- `Z_TILT_ADJUST`: This command will probe the points specified in the
-  config and then make independent adjustments to each Z stepper to
-  compensate for tilt.
+- `Z_TILT_ADJUST [<probe_parameter>=<value>]`: This command will probe
+  the points specified in the config and then make independent
+  adjustments to each Z stepper to compensate for tilt. See the PROBE
+  command for details on the optional probe parameters.
 
 ## Dual Carriages
 
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index ccf32a74..92f0528c 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -30,14 +30,16 @@ class PrinterProbe:
             pconfig = config.getsection('printer')
             self.z_position = pconfig.getfloat('minimum_z_position', 0.)
         # Multi-sample support (for improved accuracy)
-        self.samples = config.getint('samples', 1, minval=1)
+        self.sample_count = config.getint('samples', 1, minval=1)
         self.sample_retract_dist = config.getfloat('sample_retract_dist', 2.,
                                                    above=0.)
         atypes = {'median': 'median', 'average': 'average'}
         self.samples_result = config.getchoice('samples_result', atypes,
                                                'average')
-        self.samples_tolerance = config.getfloat('samples_tolerance', 0.100)
-        self.samples_retries = config.getint('samples_tolerance_retries', 0)
+        self.samples_tolerance = config.getfloat('samples_tolerance', 0.100,
+                                                 minval=0.)
+        self.samples_retries = config.getint('samples_tolerance_retries', 0,
+                                             minval=0)
         # Register z_virtual_endstop pin
         self.printer.lookup_object('pins').register_chip('probe', self)
         # Register PROBE/QUERY_PROBE commands
@@ -98,17 +100,29 @@ class PrinterProbe:
             return z_sorted[middle]
         # even number of samples
         return self._calc_mean(z_sorted[middle-1:middle+1])
-    def run_probe(self):
+    def run_probe(self, params={}):
+        speed = self.gcode.get_float(
+            "PROBE_SPEED", params, self.speed, above=0.)
+        sample_count = self.gcode.get_int(
+            "SAMPLES", params, self.sample_count, minval=1)
+        sample_retract_dist = self.gcode.get_float(
+            "SAMPLE_RETRACT_DIST", params, self.sample_retract_dist, above=0.)
+        samples_tolerance = self.gcode.get_float(
+            "SAMPLES_TOLERANCE", params, self.samples_tolerance, minval=0.)
+        samples_retries = self.gcode.get_int(
+            "SAMPLES_TOLERANCE_RETRIES", params, self.samples_retries, minval=0)
+        samples_result = self.gcode.get_str(
+            "SAMPLES_RESULT", params, self.samples_result)
         retries = 0
         positions = []
-        while len(positions) < self.samples:
+        while len(positions) < sample_count:
             # Probe position
-            pos = self._probe(self.speed)
+            pos = self._probe(speed)
             positions.append(pos)
             # Check samples tolerance
             z_positions = [p[2] for p in positions]
-            if max(z_positions) - min(z_positions) > self.samples_tolerance:
-                if retries >= self.samples_retries:
+            if max(z_positions) - min(z_positions) > samples_tolerance:
+                if retries >= samples_retries:
                     raise homing.CommandError(
                         "Probe samples exceed samples_tolerance")
                 self.gcode.respond_info(
@@ -116,16 +130,16 @@ class PrinterProbe:
                 retries += 1
                 positions = []
             # Retract
-            if len(positions) < self.samples:
-                liftpos = [None, None, pos[2] + self.sample_retract_dist]
-                self._move(liftpos, self.speed)
+            if len(positions) < sample_count:
+                liftpos = [None, None, pos[2] + sample_retract_dist]
+                self._move(liftpos, speed)
         # Calculate and return result
-        if self.samples_result == 'median':
+        if samples_result == 'median':
             return self._calc_median(positions)
         return self._calc_mean(positions)
     cmd_PROBE_help = "Probe Z-height at current XY position"
     def cmd_PROBE(self, params):
-        pos = self.run_probe()
+        pos = self.run_probe(params)
         self.gcode.respond_info("Result is z=%.6f" % (pos[2],))
     cmd_QUERY_PROBE_help = "Return the status of the z-probe"
     def cmd_QUERY_PROBE(self, params):
@@ -192,7 +206,7 @@ class PrinterProbe:
     def cmd_PROBE_CALIBRATE(self, params):
         manual_probe.verify_no_manual_probe(self.printer)
         # Perform initial probe
-        curpos = self.run_probe()
+        curpos = self.run_probe(params)
         # Move away from the bed
         self.probe_calibrate_z = curpos[2]
         curpos[2] += 5.
@@ -331,7 +345,7 @@ class ProbePointsHelper:
             done = self._move_next()
             if done:
                 break
-            pos = probe.run_probe()
+            pos = probe.run_probe(params)
             self.results.append(pos)
     def _manual_probe_start(self):
         done = self._move_next()