stepper_enable: Move motor_off() logic to stepper_enable.py

Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py.  This simplifies the
toolhead and kinematic classes.

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

1 files changed, 20 insertions, 2 deletions

diff --git a/klippy/extras/stepper_enable.py b/klippy/extras/stepper_enable.py
index 5d9e6a41..46f93f65 100644
--- a/klippy/extras/stepper_enable.py
+++ b/klippy/extras/stepper_enable.py
@@ -3,18 +3,36 @@
 # Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
+
+DISABLE_STALL_TIME = 0.100
 
 class StepperEnable:
     def __init__(self, config):
         self.printer = config.get_printer()
+        self.steppers = {}
+        self.printer.register_event_handler("gcode:request_restart",
+                                            self._handle_request_restart)
         # Register M18/M84 commands
         gcode = self.printer.lookup_object('gcode')
         gcode.register_command("M18", self.cmd_M18)
         gcode.register_command("M84", self.cmd_M18)
+    def register_stepper(self, stepper):
+        self.steppers[stepper.get_name()] = stepper
+    def motor_off(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.dwell(DISABLE_STALL_TIME)
+        print_time = toolhead.get_last_move_time()
+        for s in self.steppers.values():
+            s.motor_enable(print_time, 0)
+        self.printer.send_event("stepper_enable:motor_off", print_time)
+        toolhead.dwell(DISABLE_STALL_TIME)
+        logging.debug('; Max time of %f', print_time)
+    def _handle_request_restart(self, print_time):
+        self.motor_off()
     def cmd_M18(self, params):
         # Turn off motors
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.motor_off()
+        self.motor_off()
 
 def load_config(config):
     return StepperEnable(config)