stepper: Remove set_tag_position() code

Have callers store the stepper positions in a dict.

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

5 files changed, 33 insertions, 31 deletions

diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py
index a2e0d361..4301c89a 100644
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@@ -233,9 +233,9 @@ class DeltaCalibrate:
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()
         kin = toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
-        kin_pos = kin.calc_tag_position()
+        kin_spos = {s.get_name(): s.get_commanded_position()
+                    for s in kin.get_steppers()}
+        kin_pos = kin.calc_position(kin_spos)
         # Convert location to a stable position
         delta_params = kin.get_calibration()
         stable_pos = tuple(delta_params.calc_stable_position(kin_pos))
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index 8e70be74..a2b2b548 100644
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -102,17 +102,16 @@ class EndstopPhase:
                     self.name, phase, self.endstop_phase))
         return delta * self.step_dist
     def handle_home_rails_end(self, homing_state, rails):
+        kin_spos = homing_state.get_stepper_trigger_positions()
+        orig_pos = kin_spos.get(self.name)
+        if orig_pos is None:
+            return
         for rail in rails:
             stepper = rail.get_steppers()[0]
-            if stepper.get_name() != self.name:
-                continue
-            orig_pos = rail.get_tag_position()
-            offset = self.get_homed_offset(stepper)
-            pos = self.align_endstop(orig_pos) + offset
-            if pos == orig_pos:
-                return False
-            rail.set_tag_position(pos)
-            return True
+            if stepper.get_name() == self.name:
+                offset = self.get_homed_offset(stepper)
+                kin_spos[self.name] = self.align_endstop(orig_pos) + offset
+                return
 
 class EndstopPhases:
     def __init__(self, config):
diff --git a/klippy/extras/gcode_move.py b/klippy/extras/gcode_move.py
index 306b4b35..77087162 100644
--- a/klippy/extras/gcode_move.py
+++ b/klippy/extras/gcode_move.py
@@ -247,12 +247,10 @@ class GCodeMove:
         steppers = kin.get_steppers()
         mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
                             for s in steppers])
-        for s in steppers:
-            s.set_tag_position(s.get_commanded_position())
-        stepper_pos = " ".join(["%s:%.6f" % (s.get_name(), s.get_tag_position())
-                                for s in steppers])
-        kin_pos = " ".join(["%s:%.6f" % (a, v)
-                            for a, v in zip("XYZ", kin.calc_tag_position())])
+        cinfo = [(s.get_name(), s.get_commanded_position()) for s in steppers]
+        stepper_pos = " ".join(["%s:%.6f" % (a, v) for a, v in cinfo])
+        kinfo = zip("XYZ", kin.calc_position(dict(cinfo)))
+        kin_pos = " ".join(["%s:%.6f" % (a, v) for a, v in kinfo])
         toolhead_pos = " ".join(["%s:%.6f" % (a, v) for a, v in zip(
             "XYZE", toolhead.get_position())])
         gcode_pos = " ".join(["%s:%.6f"  % (a, v)
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index a1167e2e..f6dead84 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -46,8 +46,8 @@ class HomingMove:
         # Note start location
         self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
+        kin_spos = {s.get_name(): s.get_commanded_position()
+                    for s in kin.get_steppers()}
         start_mcu_pos = [(s, name, s.get_mcu_position())
                          for es, name in self.endstops
                          for s in es.get_steppers()]
@@ -80,9 +80,10 @@ class HomingMove:
                             for s, name, spos in start_mcu_pos]
         if probe_pos:
             for s, name, spos, epos in self.end_mcu_pos:
-                md = (epos - spos) * s.get_step_dist()
-                s.set_tag_position(s.get_tag_position() + md)
-            movepos = list(kin.calc_tag_position())[:3] + movepos[3:]
+                sname = s.get_name()
+                if sname in kin_spos:
+                    kin_spos[sname] += (epos - spos) * s.get_step_dist()
+            movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
         self.toolhead.set_position(movepos)
         # Signal homing/probing move complete
         try:
@@ -107,10 +108,13 @@ class Homing:
         self.printer = printer
         self.toolhead = printer.lookup_object('toolhead')
         self.changed_axes = []
+        self.kin_spos = {}
     def set_axes(self, axes):
         self.changed_axes = axes
     def get_axes(self):
         return self.changed_axes
+    def get_stepper_trigger_positions(self):
+        return self.kin_spos
     def _fill_coord(self, coord):
         # Fill in any None entries in 'coord' with current toolhead position
         thcoord = list(self.toolhead.get_position())
@@ -155,12 +159,13 @@ class Homing:
         # Signal home operation complete
         self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
-        ret = self.printer.send_event("homing:home_rails_end", self, rails)
-        if any(ret):
+        kin_spos = {s.get_name(): s.get_commanded_position()
+                    for s in kin.get_steppers()}
+        self.kin_spos = dict(kin_spos)
+        self.printer.send_event("homing:home_rails_end", self, rails)
+        if kin_spos != self.kin_spos:
             # Apply any homing offsets
-            adjustpos = kin.calc_tag_position()
+            adjustpos = kin.calc_position(self.kin_spos)
             for axis in homing_axes:
                 movepos[axis] = adjustpos[axis]
             self.toolhead.set_position(movepos)
diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py
index 69ce79e9..83c9aa2f 100644
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@@ -82,9 +82,9 @@ class ManualProbeHelper:
             return self.last_kinematics_pos
         self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
-        for s in kin.get_steppers():
-            s.set_tag_position(s.get_commanded_position())
-        kin_pos = kin.calc_tag_position()
+        kin_spos = {s.get_name(): s.get_commanded_position()
+                    for s in kin.get_steppers()}
+        kin_pos = kin.calc_position(kin_spos)
         self.last_toolhead_pos = toolhead_pos
         self.last_kinematics_pos = kin_pos
         return kin_pos