homing: Create QueryEndstops class from gcode

Create the QueryEndstops in the gcode handler instead of in the
kinematic classes.  This simplifies the gcode handler as it can
directly register its response callback.

Also, store the stepper name in the stepper class.  Also, propagate
the print_time of the query request to the mcu_endstop class.

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

1 files changed, 5 insertions, 5 deletions

diff --git a/klippy/delta.py b/klippy/delta.py
index 99233cf2..8f5bd409 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -10,9 +10,9 @@ StepList = (0, 1, 2)
 
 class DeltaKinematics:
     def __init__(self, printer, config):
-        steppers = ['stepper_a', 'stepper_b', 'stepper_c']
-        self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
-                         for n in steppers]
+        self.steppers = [stepper.PrinterStepper(
+            printer, config.getsection('stepper_' + n), n)
+                         for n in ['a', 'b', 'c']]
         self.need_motor_enable = True
         radius = config.getfloat('delta_radius')
         arm_length = config.getfloat('delta_arm_length')
@@ -111,8 +111,8 @@ class DeltaKinematics:
         for i in StepList:
             self.steppers[i].motor_enable(move_time, 1)
         self.need_motor_enable = False
-    def query_endstops(self, move_time):
-        return homing.QueryEndstops(["a", "b", "c"], self.steppers)
+    def query_endstops(self, query_state):
+        query_state.set_steppers(self.steppers)
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2