stepper_enable: Move enable tracking from stepper.py to stepper_enable.py

Move the enable line tracking out of the main stepper.py code.  This
simplifies the main kinematic code.

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

1 files changed, 18 insertions, 10 deletions

diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index da65a5a4..cf597405 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -13,11 +13,13 @@ class ManualStepper:
         self.printer = config.get_printer()
         if config.get('endstop_pin', None) is not None:
             self.can_home = True
-            self.stepper = stepper.PrinterRail(
+            self.rail = stepper.PrinterRail(
                 config, need_position_minmax=False, default_position_endstop=0.)
+            self.steppers = self.rail.get_steppers()
         else:
             self.can_home = False
-            self.stepper = stepper.PrinterStepper(config)
+            self.rail = stepper.PrinterStepper(config)
+            self.steppers = [self.rail]
         self.velocity = config.getfloat('velocity', 5., above=0.)
         self.accel = config.getfloat('accel', 0., minval=0.)
         self.next_cmd_time = 0.
@@ -26,9 +28,9 @@ class ManualStepper:
         self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
         self.trapq_append = ffi_lib.trapq_append
         self.trapq_free_moves = ffi_lib.trapq_free_moves
-        self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
-        self.stepper.set_trapq(self.trapq)
-        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        self.rail.setup_itersolve('cartesian_stepper_alloc', 'x')
+        self.rail.set_trapq(self.trapq)
+        self.rail.set_max_jerk(9999999.9, 9999999.9)
         # Register commands
         stepper_name = config.get_name().split()[1]
         self.gcode = self.printer.lookup_object('gcode')
@@ -44,13 +46,19 @@ class ManualStepper:
             self.next_cmd_time = print_time
     def do_enable(self, enable):
         self.sync_print_time()
-        self.stepper.motor_enable(self.next_cmd_time, enable)
+        stepper_enable = self.printer.lookup_object('stepper_enable')
+        if enable:
+            for s in self.steppers:
+                stepper_enable.motor_enable(s.get_name(), self.next_cmd_time)
+        else:
+            for s in self.steppers:
+                stepper_enable.motor_disable(s.get_name(), self.next_cmd_time)
         self.sync_print_time()
     def do_set_position(self, setpos):
-        self.stepper.set_position([setpos, 0., 0.])
+        self.rail.set_position([setpos, 0., 0.])
     def do_move(self, movepos, speed, accel):
         self.sync_print_time()
-        cp = self.stepper.get_commanded_position()
+        cp = self.rail.get_commanded_position()
         dist = movepos - cp
         axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
             dist, speed, accel)
@@ -59,14 +67,14 @@ class ManualStepper:
                           cp, 0., 0., axis_r, 0., 0.,
                           0., cruise_v, accel)
         self.next_cmd_time += accel_t + cruise_t + accel_t
-        self.stepper.generate_steps(self.next_cmd_time)
+        self.rail.generate_steps(self.next_cmd_time)
         self.trapq_free_moves(self.trapq, self.next_cmd_time)
         self.sync_print_time()
     def do_homing_move(self, movepos, speed, accel, triggered):
         if not self.can_home:
             raise self.gcode.error("No endstop for this manual stepper")
         # Notify endstops of upcoming home
-        endstops = self.stepper.get_endstops()
+        endstops = self.rail.get_endstops()
         for mcu_endstop, name in endstops:
             mcu_endstop.home_prepare()
         # Start endstop checking