query_endstops: Move QUERY_ENDSTOP command to it own extras/ module

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

4 files changed, 45 insertions, 23 deletions

diff --git a/klippy/extras/query_endstops.py b/klippy/extras/query_endstops.py
new file mode 100644
index 00000000..0b139ec2
--- /dev/null
+++ b/klippy/extras/query_endstops.py
@@ -0,0 +1,34 @@
+# Utility for querying the current state of all endstops
+#
+# Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+class QueryEndstops:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.endstops = []
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_command("QUERY_ENDSTOPS", self.cmd_QUERY_ENDSTOPS,
+                               desc=self.cmd_QUERY_ENDSTOPS_help)
+        gcode.register_command("M119", self.cmd_QUERY_ENDSTOPS)
+    def register_endstop(self, mcu_endstop, name):
+        self.endstops.append((mcu_endstop, name))
+    cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
+    def cmd_QUERY_ENDSTOPS(self, params):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        # Query the endstops
+        for mcu_endstop, name in self.endstops:
+            mcu_endstop.query_endstop(print_time)
+        out = []
+        for mcu_endstop, name in self.endstops:
+            out.append((name, mcu_endstop.query_endstop_wait()))
+        # Report results
+        msg = " ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
+                        for name, t in out])
+        gcode = self.printer.lookup_object('gcode')
+        gcode.respond(msg)
+
+def load_config(config):
+    return QueryEndstops(config)
diff --git a/klippy/gcode.py b/klippy/gcode.py
index e9c20055..47a8b2d0 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -425,7 +425,7 @@ class GCodeParser:
         'G20', 'M82', 'M83', 'G90', 'G91', 'G92', 'M114', 'M220', 'M221',
         'SET_GCODE_OFFSET', 'M206',
         'M105', 'M104', 'M109', 'M140', 'M190', 'M106', 'M107',
-        'M112', 'M115', 'IGNORE', 'QUERY_ENDSTOPS', 'GET_POSITION',
+        'M112', 'M115', 'IGNORE', 'GET_POSITION',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
     # G-Code movement commands
     cmd_G1_aliases = ['G0']
@@ -596,13 +596,6 @@ class GCodeParser:
     def cmd_IGNORE(self, params):
         # Commands that are just silently accepted
         pass
-    cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
-    cmd_QUERY_ENDSTOPS_aliases = ["M119"]
-    def cmd_QUERY_ENDSTOPS(self, params):
-        # Get Endstop Status
-        res = homing.query_endstops(self.toolhead)
-        self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
-                               for name, t in res]))
     cmd_GET_POSITION_when_not_ready = True
     def cmd_GET_POSITION(self, params):
         if self.toolhead is None:
diff --git a/klippy/homing.py b/klippy/homing.py
index 0fc09cec..48144001 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -116,18 +116,6 @@ class Homing:
             self.toolhead.motor_off()
             raise
 
-def query_endstops(toolhead):
-    print_time = toolhead.get_last_move_time()
-    rails = toolhead.get_kinematics().get_rails()
-    out = []
-    for rail in rails:
-        for mcu_endstop, name in rail.get_endstops():
-            mcu_endstop.query_endstop(print_time)
-    for rail in rails:
-        for mcu_endstop, name in rail.get_endstops():
-            out.append((name, mcu_endstop.query_endstop_wait()))
-    return out
-
 class EndstopError(Exception):
     pass
 
diff --git a/klippy/stepper.py b/klippy/stepper.py
index b1d74ce0..f937029a 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -112,7 +112,8 @@ class PrinterRail:
         self.get_commanded_position = stepper.get_commanded_position
         self.is_motor_enabled = stepper.is_motor_enabled
         # Primary endstop and its position
-        ppins = config.get_printer().lookup_object('pins')
+        printer = config.get_printer()
+        ppins = printer.lookup_object('pins')
         mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
         self.endstops = [(mcu_endstop, self.name)]
         stepper.add_to_endstop(mcu_endstop)
@@ -121,6 +122,8 @@ class PrinterRail:
         else:
             self.position_endstop = config.getfloat(
                 'position_endstop', default_position_endstop)
+        query_endstops = printer.try_load_module(config, 'query_endstops')
+        query_endstops.register_endstop(mcu_endstop, self.name)
         # Axis range
         if need_position_minmax:
             self.position_min = config.getfloat('position_min', 0.)
@@ -225,9 +228,13 @@ class PrinterRail:
         mcu_endstop = self.endstops[0][0]
         endstop_pin = config.get('endstop_pin', None)
         if endstop_pin is not None:
-            ppins = config.get_printer().lookup_object('pins')
+            printer = config.get_printer()
+            ppins = printer.lookup_object('pins')
             mcu_endstop = ppins.setup_pin('endstop', endstop_pin)
-            self.endstops.append((mcu_endstop, stepper.get_name(short=True)))
+            name = stepper.get_name(short=True)
+            self.endstops.append((mcu_endstop, name))
+            query_endstops = printer.try_load_module(config, 'query_endstops')
+            query_endstops.register_endstop(mcu_endstop, name)
         stepper.add_to_endstop(mcu_endstop)
     def add_to_endstop(self, mcu_endstop):
         for stepper in self.steppers: