homing: Pass list of endstops (not steppers) to the homing code

The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.

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

1 files changed, 23 insertions, 24 deletions

diff --git a/klippy/homing.py b/klippy/homing.py
index abaafa6a..9fde0000 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -29,58 +29,57 @@ class Homing:
         return thcoord
     def retract(self, newpos, speed):
         self.toolhead.move(self._fill_coord(newpos), speed)
-    def home(self, forcepos, movepos, steppers, speed, second_home=False):
+    def home(self, forcepos, movepos, endstops, speed, second_home=False):
         # Alter kinematics class to think printer is at forcepos
         self.toolhead.set_position(self._fill_coord(forcepos))
         # Start homing and issue move
         if not second_home:
             est_move_d = sum([abs(forcepos[i]-movepos[i])
                               for i in range(3) if movepos[i] is not None])
-            est_steps = sum(
-                [est_move_d / mcu_stepper.get_step_dist()
-                 for s in steppers
-                 for mcu_endstop, mcu_stepper, name in s.get_endstops()])
+            est_steps = sum([est_move_d / s.get_step_dist()
+                             for es, n in endstops for s in es.get_steppers()])
             self.toolhead.dwell(est_steps * HOMING_STEP_DELAY, check_stall=False)
         print_time = self.toolhead.get_last_move_time()
-        endstops = []
-        for s in steppers:
-            for mcu_endstop, mcu_stepper, name in s.get_endstops():
-                mcu_endstop.home_start(
-                    print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
-                    mcu_stepper.get_step_dist() / speed)
-                endstops.append((mcu_endstop, mcu_stepper, name,
-                                 mcu_stepper.get_mcu_position()))
+        start_mcu_pos = [(s, name, s.get_mcu_position())
+                         for es, name in endstops for s in es.get_steppers()]
+        for mcu_endstop, name in endstops:
+            min_step_dist = min([s.get_step_dist()
+                                 for s in mcu_endstop.get_steppers()])
+            mcu_endstop.home_start(
+                print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
+                min_step_dist / speed)
         self.toolhead.move(self._fill_coord(movepos), speed)
         move_end_print_time = self.toolhead.get_last_move_time()
         self.toolhead.reset_print_time(print_time)
-        for mcu_endstop, mcu_stepper, name, last_pos in endstops:
+        for mcu_endstop, name in endstops:
             mcu_endstop.home_finalize(move_end_print_time)
         # Wait for endstops to trigger
-        for mcu_endstop, mcu_stepper, name, last_pos in endstops:
+        for mcu_endstop, name in endstops:
             try:
                 mcu_endstop.home_wait()
             except mcu_endstop.error as e:
                 raise EndstopError("Failed to home stepper %s: %s" % (
                     name, str(e)))
-            post_home_pos = mcu_stepper.get_mcu_position()
-            if second_home and self.verify_retract and last_pos == post_home_pos:
-                raise EndstopError("Endstop %s still triggered after retract" % (
-                    name,))
+        # Verify retract led to some movement on second home
+        if second_home and self.verify_retract:
+            for s, name, pos in start_mcu_pos:
+                if s.get_mcu_position() == pos:
+                    raise EndstopError(
+                        "Endstop %s still triggered after retract" % (name,))
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
 def query_endstops(print_time, query_flags, steppers):
     if query_flags == "get_mcu_position":
         # Only the commanded position is requested
-        return [(name.upper(), mcu_stepper.get_mcu_position())
-                for s in steppers
-                for mcu_endstop, mcu_stepper, name in s.get_endstops()]
+        return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
+                for s in steppers]
     for s in steppers:
-        for mcu_endstop, mcu_stepper, name in s.get_endstops():
+        for mcu_endstop, name in s.get_endstops():
             mcu_endstop.query_endstop(print_time)
     out = []
     for s in steppers:
-        for mcu_endstop, mcu_stepper, name in s.get_endstops():
+        for mcu_endstop, name in s.get_endstops():
             try:
                 out.append((name, mcu_endstop.query_endstop_wait()))
             except mcu_endstop.error as e: