mcu: Integrate query_endstop_wait() into query_endstop()

There is no need to have two separate calls to query an endstop.

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

5 files changed, 6 insertions, 16 deletions

diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index c5e8e6e7..f95eff66 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -55,7 +55,6 @@ class BLTouchEndstopWrapper:
         self.get_steppers = self.mcu_endstop.get_steppers
         self.home_wait = self.mcu_endstop.home_wait
         self.query_endstop = self.mcu_endstop.query_endstop
-        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
         self.TimeoutError = self.mcu_endstop.TimeoutError
         # Register BLTOUCH_DEBUG command
         self.gcode = self.printer.lookup_object('gcode')
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 92f0528c..a6c71428 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -145,8 +145,7 @@ class PrinterProbe:
     def cmd_QUERY_PROBE(self, params):
         toolhead = self.printer.lookup_object('toolhead')
         print_time = toolhead.get_last_move_time()
-        self.mcu_probe.query_endstop(print_time)
-        res = self.mcu_probe.query_endstop_wait()
+        res = self.mcu_probe.query_endstop(print_time)
         self.gcode.respond_info(
             "probe: %s" % (["open", "TRIGGERED"][not not res],))
     cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
@@ -244,7 +243,6 @@ 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
-        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
         self.TimeoutError = self.mcu_endstop.TimeoutError
     def _build_config(self):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
diff --git a/klippy/extras/query_endstops.py b/klippy/extras/query_endstops.py
index 0b139ec2..f0e5c58e 100644
--- a/klippy/extras/query_endstops.py
+++ b/klippy/extras/query_endstops.py
@@ -1,6 +1,6 @@
 # Utility for querying the current state of all endstops
 #
-# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -16,14 +16,10 @@ class QueryEndstops:
         self.endstops.append((mcu_endstop, name))
     cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
     def cmd_QUERY_ENDSTOPS(self, params):
-        toolhead = self.printer.lookup_object('toolhead')
-        print_time = toolhead.get_last_move_time()
         # Query the endstops
-        for mcu_endstop, name in self.endstops:
-            mcu_endstop.query_endstop(print_time)
-        out = []
-        for mcu_endstop, name in self.endstops:
-            out.append((name, mcu_endstop.query_endstop_wait()))
+        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
+        out = [(name, mcu_endstop.query_endstop(print_time))
+               for mcu_endstop, name in self.endstops]
         # Report results
         msg = " ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
                         for name, t in out])
diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py
index 8afc972b..16b5c708 100644
--- a/klippy/extras/tmc.py
+++ b/klippy/extras/tmc.py
@@ -171,7 +171,6 @@ class TMCVirtualEndstop:
         self.home_start = self.mcu_endstop.home_start
         self.home_wait = self.mcu_endstop.home_wait
         self.query_endstop = self.mcu_endstop.query_endstop
-        self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
         self.TimeoutError = self.mcu_endstop.TimeoutError
     def home_prepare(self):
         self.fields.set_field("en_pwm_mode", 0)
diff --git a/klippy/mcu.py b/klippy/mcu.py
index bc5e046b..2d8a9b55 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -234,10 +234,8 @@ class MCU_endstop:
         return True
     def query_endstop(self, print_time):
         self._homing = False
-        self._min_query_time = self._mcu.monotonic()
+        self._min_query_time = eventtime = self._mcu.monotonic()
         self._next_query_print_time = print_time
-    def query_endstop_wait(self):
-        eventtime = self._mcu.monotonic()
         while self._check_busy(eventtime):
             eventtime = self._mcu.pause(eventtime + 0.1)
         return self._last_state.get('pin_value', self._invert) ^ self._invert