homing: Directly interact with the kinematic class on query_endstops()

Move the query_endstop logic out of toolhead.py and into homing.py.

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

1 files changed, 7 insertions, 5 deletions

diff --git a/klippy/homing.py b/klippy/homing.py
index 8ee78530..9f56a6e9 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -87,11 +87,9 @@ class Homing:
             self.toolhead.motor_off()
             raise
 
-def query_endstops(print_time, query_flags, steppers):
-    if query_flags == "get_mcu_position":
-        # Only the commanded position is requested
-        return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
-                for s in steppers]
+def query_endstops(toolhead):
+    print_time = toolhead.get_last_move_time()
+    steppers = toolhead.get_kinematics().get_steppers()
     out = []
     for s in steppers:
         for mcu_endstop, name in s.get_endstops():
@@ -101,6 +99,10 @@ def query_endstops(print_time, query_flags, steppers):
             out.append((name, mcu_endstop.query_endstop_wait()))
     return out
 
+def query_position(toolhead):
+    steppers = toolhead.get_kinematics().get_steppers()
+    return [(s.name.upper(), s.mcu_stepper.get_mcu_position()) for s in steppers]
+
 class EndstopError(Exception):
     pass