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>

7 files changed, 12 insertions, 24 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index b2176d5b..f8c50bb9 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -17,6 +17,8 @@ class CartKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
+        self.printer.register_event_handler("stepper_enable:motor_off",
+                                            self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -84,12 +86,8 @@ class CartKinematics:
                 self._activate_carriage(altc)
             else:
                 self._home_axis(homing_state, axis, self.rails[axis])
-    def motor_off(self, print_time):
+    def _motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
-        for rail in self.rails:
-            rail.motor_enable(print_time, 0)
-        for rail in self.dual_carriage_rails:
-            rail.motor_enable(print_time, 0)
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):
@@ -131,7 +129,6 @@ class CartKinematics:
         toolhead.set_position(self.calc_position() + [extruder_pos])
         if self.limits[dc_axis][0] <= self.limits[dc_axis][1]:
             self.limits[dc_axis] = dc_rail.get_range()
-        self.need_motor_enable = True
     cmd_SET_DUAL_CARRIAGE_help = "Set which carriage is active"
     def cmd_SET_DUAL_CARRIAGE(self, params):
         gcode = self.printer.lookup_object('gcode')
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 9f9df91b..2c041a79 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -20,6 +20,8 @@ class CoreXYKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -63,10 +65,8 @@ class CoreXYKinematics:
                 forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
-    def motor_off(self, print_time):
+    def _motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
-        for rail in self.rails:
-            rail.motor_enable(print_time, 0)
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 3bd01e8f..af3aa092 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -23,6 +23,8 @@ class DeltaKinematics:
             stepper_configs[2], need_position_minmax = False,
             default_position_endstop=a_endstop)
         self.rails = [rail_a, rail_b, rail_c]
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
         # Setup stepper max halt velocity
         self.max_velocity, self.max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -105,10 +107,8 @@ class DeltaKinematics:
         forcepos = list(self.home_position)
         forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
         homing_state.home_rails(self.rails, forcepos, self.home_position)
-    def motor_off(self, print_time):
+    def _motor_off(self, print_time):
         self.limit_xy2 = -1.
-        for rail in self.rails:
-            rail.motor_enable(print_time, 0)
         self.need_home = True
     def check_move(self, move):
         end_pos = move.end_pos
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 8b8476ed..2e7ae177 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -87,8 +87,6 @@ class PrinterExtruder:
         return self.deactivate_gcode.render()
     def stats(self, eventtime):
         return self.heater.stats(eventtime)
-    def motor_off(self, print_time):
-        self.stepper.motor_enable(print_time, 0)
     def check_move(self, move):
         move.extrude_r = move.axes_r[3]
         move.extrude_max_corner_v = 0.
@@ -231,8 +229,6 @@ class PrinterExtruder:
 class DummyExtruder:
     def set_active(self, print_time, is_active):
         return 0.
-    def motor_off(self, move_time):
-        pass
     def check_move(self, move):
         raise homing.EndstopMoveError(
             move.end_pos, "Extrude when no extruder present")
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index b6f9d1ab..2250f884 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -15,8 +15,6 @@ class NoneKinematics:
         pass
     def home(self, homing_state):
         pass
-    def motor_off(self, print_time):
-        pass
     def check_move(self, move):
         pass
     def get_status(self):
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 927e8401..ca2e55c7 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -21,6 +21,8 @@ class PolarKinematics:
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
+        config.get_printer().register_event_handler("stepper_enable:motor_off",
+                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -82,11 +84,9 @@ class PolarKinematics:
             self._home_axis(homing_state, 0, self.rails[0])
         if home_z:
             self._home_axis(homing_state, 2, self.rails[1])
-    def motor_off(self, print_time):
+    def _motor_off(self, print_time):
         self.limit_z = [(1.0, -1.0)]
         self.limit_xy2 = -1.
-        for s in self.steppers:
-            s.motor_enable(print_time, 0)
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index c48648c9..32d388ad 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -42,9 +42,6 @@ class WinchKinematics:
         # XXX - homing not implemented
         homing_state.set_axes([0, 1, 2])
         homing_state.set_homed_position([0., 0., 0.])
-    def motor_off(self, print_time):
-        for s in self.steppers:
-            s.motor_enable(print_time, 0)
     def check_move(self, move):
         # XXX - boundary checks and speed limits not implemented
         pass