probe: Implement ProbePointsHelper get_probed_position() locally

Now that all users of ProbePointsHelper use the same
get_probed_position() code, it is possible to implement that locally
within the ProbePointsHelper class.

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

6 files changed, 18 insertions, 30 deletions

diff --git a/klippy/extras/bed_mesh.py b/klippy/extras/bed_mesh.py
index 19039353..6ac3d098 100644
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@@ -136,7 +136,8 @@ class BedMeshCalibrate:
         self.probe_params = {}
         points = self._generate_points(config)
         self._init_probe_params(config, points)
-        self.probe_helper = probe.ProbePointsHelper(config, self, points)
+        self.probe_helper = probe.ProbePointsHelper(
+            config, self.probe_finalize, points)
         self.z_endstop_pos = None
         if config.has_section('stepper_z'):
             zconfig = config.getsection('stepper_z')
@@ -212,9 +213,6 @@ class BedMeshCalibrate:
         self.bedmesh.set_mesh(None)
         self.gcode.run_script_from_command("G28")
         self.probe_helper.start_probe()
-    def get_probed_position(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.calc_position()
     def print_probed_positions(self, print_func):
         if self.probed_z_table is not None:
             msg = "Mesh Leveling Probed Z positions:\n"
@@ -225,7 +223,7 @@ class BedMeshCalibrate:
             print_func(msg)
         else:
             print_func("bed_mesh: bed has not been probed")
-    def finalize(self, offsets, positions):
+    def probe_finalize(self, offsets, positions):
         self.probe_params['x_offset'] = offsets[0]
         self.probe_params['y_offset'] = offsets[1]
         z_offset = offsets[2]
diff --git a/klippy/extras/bed_tilt.py b/klippy/extras/bed_tilt.py
index f151219e..558047cc 100644
--- a/klippy/extras/bed_tilt.py
+++ b/klippy/extras/bed_tilt.py
@@ -42,7 +42,7 @@ class BedTiltCalibrate:
     def __init__(self, config, bedtilt):
         self.printer = config.get_printer()
         self.bedtilt = bedtilt
-        self.probe_helper = probe.ProbePointsHelper(config, self)
+        self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
         # Automatic probe:z_virtual_endstop XY detection
         self.z_position_endstop = None
         if config.has_section('stepper_z'):
@@ -57,10 +57,7 @@ class BedTiltCalibrate:
     def cmd_BED_TILT_CALIBRATE(self, params):
         self.gcode.run_script_from_command("G28")
         self.probe_helper.start_probe()
-    def get_probed_position(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.calc_position()
-    def finalize(self, offsets, positions):
+    def probe_finalize(self, offsets, positions):
         z_offset = offsets[2]
         logging.info("Calculating bed_tilt with: %s", positions)
         params = { 'x_adjust': self.bedtilt.x_adjust,
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py
index d079eac5..c97f15ab 100644
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@@ -142,7 +142,7 @@ class DeltaCalibrate:
             dist = radius * scatter[i]
             points.append((math.cos(r) * dist, math.sin(r) * dist))
         self.probe_helper = probe.ProbePointsHelper(
-            config, self, default_points=points)
+            config, self.probe_finalize, default_points=points)
         # Restore probe stable positions
         self.last_probe_positions = []
         for i in range(999):
@@ -192,10 +192,7 @@ class DeltaCalibrate:
                            "%.3f,%.3f,%.3f" % tuple(spos1))
             configfile.set(section, "distance%d_pos2" % (i,),
                            "%.3f,%.3f,%.3f" % tuple(spos2))
-    def get_probed_position(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.calc_position()
-    def finalize(self, offsets, positions):
+    def probe_finalize(self, offsets, positions):
         # Convert positions into (z_offset, stable_position) pairs
         z_offset = offsets[2]
         kin = self.printer.lookup_object('toolhead').get_kinematics()
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index 482cfb4a..2900a884 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -136,9 +136,9 @@ class ProbeVirtualEndstop:
 # Helper code that can probe a series of points and report the
 # position at each point.
 class ProbePointsHelper:
-    def __init__(self, config, callback, default_points=None):
+    def __init__(self, config, finalize_callback, default_points=None):
         self.printer = config.get_printer()
-        self.callback = callback
+        self.finalize_callback = finalize_callback
         self.probe_points = default_points
         # Read config settings
         if default_points is None or config.get('points', None) is not None:
@@ -183,6 +183,8 @@ class ProbePointsHelper:
             return self.probe.last_home_position()
         else:
             return None
+    def get_probed_position(self):
+        return self.toolhead.get_kinematics().calc_position()
     def lift_z(self, z_pos, add=False, speed=None):
         # Lift toolhead
         curpos = self.toolhead.get_position()
@@ -201,7 +203,7 @@ class ProbePointsHelper:
         for i in range(self.samples):
             self.gcode.run_script_from_command("PROBE")
             self.toolhead.wait_moves()
-            self.results.append(self.callback.get_probed_position())
+            self.results.append(self.get_probed_position())
             if i < self.samples - 1:
                 # retract
                 self.lift_z(self.sample_retract_dist, add=True)
@@ -243,7 +245,7 @@ class ProbePointsHelper:
         if self.probe is None:
             # Record current position for manual probe
             self.toolhead.wait_moves()
-            self.results.append(self.callback.get_probed_position())
+            self.results.append(self.get_probed_position())
         # Lift toolhead
         self.lift_z(self.horizontal_move_z)
         # Move to next position
@@ -257,7 +259,7 @@ class ProbePointsHelper:
         self.gcode.reset_last_position()
         self.gcode.register_command('NEXT', None)
         if success:
-            self.callback.finalize(self.probe_offsets, self.results)
+            self.finalize_callback(self.probe_offsets, self.results)
 
 def load_config(config):
     return PrinterProbe(config)
diff --git a/klippy/extras/quad_gantry_level.py b/klippy/extras/quad_gantry_level.py
index 47a82544..166ecdbf 100644
--- a/klippy/extras/quad_gantry_level.py
+++ b/klippy/extras/quad_gantry_level.py
@@ -9,7 +9,7 @@ import probe
 class QuadGantryLevel:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.probe_helper = probe.ProbePointsHelper(config, self)
+        self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
         gantry_corners = config.get('gantry_corners').split('\n')
         try:
             gantry_corners = [line.split(',', 1)
@@ -39,9 +39,6 @@ class QuadGantryLevel:
     cmd_QUAD_GANTRY_LEVEL_help = "Conform a moving, twistable gantry to the shape of a stationary bed"
     def cmd_QUAD_GANTRY_LEVEL(self, params):
         self.probe_helper.start_probe()
-    def get_probed_position(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.calc_position()
     def squash_positions(self,positions):
         # Group multi-probe data and average out the Z readings
         # Assumes samples come in sequentially
@@ -55,7 +52,7 @@ class QuadGantryLevel:
         for id,pos in enumerate(grouped_pos):
             grouped_pos[id][2] = sum(grouped_pos[id][2]) / len(grouped_pos[id][2])
         return grouped_pos
-    def finalize(self, offsets, positions):
+    def probe_finalize(self, offsets, positions):
         if len(positions) > 4:
             positions = self.squash_positions(positions)
         logging.info("quad_gantry_level Calculating gantry geometry with: %s", positions)
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index 684bf01f..f5c4614d 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -20,7 +20,7 @@ class ZTilt:
                 config.get_name()))
         if len(z_positions) < 2:
             raise config.error("z_tilt requires at least two z_positions")
-        self.probe_helper = probe.ProbePointsHelper(config, self)
+        self.probe_helper = probe.ProbePointsHelper(config, self.probe_finalize)
         self.z_steppers = []
         # Register Z_TILT_ADJUST command
         self.gcode = self.printer.lookup_object('gcode')
@@ -40,10 +40,7 @@ class ZTilt:
     cmd_Z_TILT_ADJUST_help = "Adjust the Z tilt"
     def cmd_Z_TILT_ADJUST(self, params):
         self.probe_helper.start_probe()
-    def get_probed_position(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        return kin.calc_position()
-    def finalize(self, offsets, positions):
+    def probe_finalize(self, offsets, positions):
         z_offset = offsets[2]
         logging.info("Calculating bed tilt with: %s", positions)
         params = { 'x_adjust': 0., 'y_adjust': 0., 'z_adjust': z_offset }