stepper: Don't peak into PrinterStepper members

Add additional wrapper functions so that no outside callers need to
peak into the member variables of PrinterStepper.

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

7 files changed, 26 insertions, 24 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 8bf2f609..3eea00e0 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -53,7 +53,7 @@ class CartKinematics:
             return [self.steppers[2]]
         return list(self.steppers)
     def get_position(self):
-        return [s.mcu_stepper.get_commanded_position() for s in self.steppers]
+        return [s.get_commanded_position() for s in self.steppers]
     def set_position(self, newpos, homing_axes):
         for i in StepList:
             s = self.steppers[i]
diff --git a/klippy/corexy.py b/klippy/corexy.py
index daa6e160..8a434bf8 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -14,8 +14,8 @@ class CoreXYKinematics:
             stepper.PrinterHomingStepper(config.getsection('stepper_x')),
             stepper.PrinterHomingStepper(config.getsection('stepper_y')),
             stepper.LookupMultiHomingStepper(config.getsection('stepper_z'))]
-        self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
-        self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
+        self.steppers[0].add_to_endstop(self.steppers[1].get_endstops()[0][0])
+        self.steppers[1].add_to_endstop(self.steppers[0].get_endstops()[0][0])
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
             'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
@@ -44,7 +44,7 @@ class CoreXYKinematics:
             return [self.steppers[2]]
         return list(self.steppers)
     def get_position(self):
-        pos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
+        pos = [s.get_commanded_position() for s in self.steppers]
         return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
     def set_position(self, newpos, homing_axes):
         pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
diff --git a/klippy/delta.py b/klippy/delta.py
index 04e28cf6..6903e399 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -90,7 +90,7 @@ class DeltaKinematics:
     def _actuator_to_cartesian(self, pos):
         return actuator_to_cartesian(self.towers, self.arm2, pos)
     def get_position(self):
-        spos = [s.mcu_stepper.get_commanded_position() for s in self.steppers]
+        spos = [s.get_commanded_position() for s in self.steppers]
         return self._actuator_to_cartesian(spos)
     def set_position(self, newpos, homing_axes):
         pos = self._cartesian_to_actuator(newpos)
@@ -172,9 +172,8 @@ class DeltaKinematics:
             stepper.step_itersolve(self.cmove)
     # Helper functions for DELTA_CALIBRATE script
     def get_stable_position(self):
-        return [int((ep - s.mcu_stepper.get_commanded_position())
-                    /  s.mcu_stepper.get_step_dist() + .5)
-                * s.mcu_stepper.get_step_dist()
+        return [int((ep - s.get_commanded_position()) / s.get_step_dist() + .5)
+                * s.get_step_dist()
                 for ep, s in zip(self.endstops, self.steppers)]
     def get_calibrate_params(self):
         return {
diff --git a/klippy/extras/stepper_buzz.py b/klippy/extras/stepper_buzz.py
index 1e106b2a..f6dae303 100644
--- a/klippy/extras/stepper_buzz.py
+++ b/klippy/extras/stepper_buzz.py
@@ -39,21 +39,21 @@ class StepperBuzz:
         # Move stepper
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.wait_moves()
-        pos = stepper.mcu_stepper.get_commanded_position()
+        pos = stepper.get_commanded_position()
         print_time = toolhead.get_last_move_time()
         if need_motor_enable:
             stepper.motor_enable(print_time, 1)
             print_time += .1
-        was_ignore = stepper.mcu_stepper.set_ignore_move(False)
-        prev_sk = stepper.mcu_stepper.setup_itersolve(self.stepper_kinematics)
+        was_ignore = stepper.set_ignore_move(False)
+        prev_sk = stepper.setup_itersolve(self.stepper_kinematics)
         for i in range(10):
             self.manual_move(print_time, stepper, 0., 1.)
             print_time += .3
             self.manual_move(print_time, stepper, 1., -1.)
             toolhead.reset_print_time(print_time + .7)
             print_time = toolhead.get_last_move_time()
-        stepper.mcu_stepper.setup_itersolve(prev_sk)
-        stepper.mcu_stepper.set_ignore_move(was_ignore)
+        stepper.setup_itersolve(prev_sk)
+        stepper.set_ignore_move(was_ignore)
         if need_motor_enable:
             print_time += .1
             stepper.motor_enable(print_time, 0)
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index 7b20f387..9fad2cd1 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -69,7 +69,7 @@ class ZTilt:
         except:
             logging.exception("z_tilt adjust_steppers")
             for s in self.z_steppers:
-                z.mcu_stepper.set_ignore_move(False)
+                z.set_ignore_move(False)
             raise
     def adjust_steppers(self, x_adjust, y_adjust, z_adjust, z_offset):
         toolhead = self.printer.lookup_object('toolhead')
@@ -78,7 +78,7 @@ class ZTilt:
         # Find each stepper adjustment and disable all stepper movements
         positions = []
         for s, (x, y) in zip(self.z_steppers, self.z_positions):
-            s.mcu_stepper.set_ignore_move(True)
+            s.set_ignore_move(True)
             stepper_offset = -(x*x_adjust + y*y_adjust)
             positions.append((stepper_offset, s))
         # Report on movements
@@ -94,13 +94,13 @@ class ZTilt:
         for i in range(len(positions)-1):
             stepper_offset, stepper = positions[i]
             next_stepper_offset, next_stepper = positions[i+1]
-            stepper.mcu_stepper.set_ignore_move(False)
+            stepper.set_ignore_move(False)
             curpos[2] = z_low + next_stepper_offset
             toolhead.move(curpos, speed)
             toolhead.set_position(curpos)
         # Z should now be level - do final cleanup
         last_stepper_offset, last_stepper = positions[-1]
-        last_stepper.mcu_stepper.set_ignore_move(False)
+        last_stepper.set_ignore_move(False)
         curpos[2] -= z_adjust - z_offset
         toolhead.set_position(curpos)
         self.gcode.reset_last_position()
diff --git a/klippy/gcode.py b/klippy/gcode.py
index d65789b2..68997521 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -599,11 +599,10 @@ class GCodeParser:
             return
         kin = self.toolhead.get_kinematics()
         steppers = kin.get_steppers()
-        mcu_pos = " ".join(["%s:%d" % (s.get_name(),
-                                       s.mcu_stepper.get_mcu_position())
+        mcu_pos = " ".join(["%s:%d" % (s.get_name(), s.get_mcu_position())
                             for s in steppers])
         stepper_pos = " ".join(
-            ["%s:%.6f" % (s.get_name(), s.mcu_stepper.get_commanded_position())
+            ["%s:%.6f" % (s.get_name(), s.get_commanded_position())
              for s in steppers])
         kinematic_pos = " ".join(["%s:%.6f"  % (a, v)
                                   for a, v in zip("XYZE", kin.get_position())])
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 0fb29b25..551dfde0 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -52,11 +52,16 @@ class PrinterStepper:
         # Wrappers
         self.step_itersolve = self.mcu_stepper.step_itersolve
         self.setup_itersolve = self.mcu_stepper.setup_itersolve
+        self.set_ignore_move = self.mcu_stepper.set_ignore_move
+        self.get_mcu_position = self.mcu_stepper.get_mcu_position
+        self.get_commanded_position = self.mcu_stepper.get_commanded_position
         self.get_step_dist = self.mcu_stepper.get_step_dist
     def get_name(self, short=False):
         if short and self.name.startswith('stepper_'):
             return self.name[8:]
         return self.name
+    def add_to_endstop(self, mcu_endstop):
+        mcu_endstop.add_stepper(self.mcu_stepper)
     def _dist_to_time(self, dist, start_velocity, accel):
         # Calculate the time it takes to travel a distance with constant accel
         time_offset = start_velocity / accel
@@ -87,7 +92,7 @@ class PrinterHomingStepper(PrinterStepper):
         # Endstop and its position
         ppins = config.get_printer().lookup_object('pins')
         self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
-        self.mcu_endstop.add_stepper(self.mcu_stepper)
+        self.add_to_endstop(self.mcu_endstop)
         if default_position_endstop is None:
             self.position_endstop = config.getfloat('position_endstop')
         else:
@@ -200,14 +205,13 @@ class PrinterMultiStepper(PrinterHomingStepper):
             extra = PrinterStepper(extraconfig)
             self.extras.append(extra)
             self.all_step_itersolve.append(extra.step_itersolve)
+            mcu_endstop = self.mcu_endstop
             extraendstop = extraconfig.get('endstop_pin', None)
             if extraendstop is not None:
                 ppins = config.get_printer().lookup_object('pins')
                 mcu_endstop = ppins.setup_pin('endstop', extraendstop)
-                mcu_endstop.add_stepper(extra.mcu_stepper)
                 self.endstops.append((mcu_endstop, extra.get_name(short=True)))
-            else:
-                self.mcu_endstop.add_stepper(extra.mcu_stepper)
+            extra.add_to_endstop(mcu_endstop)
         self.step_itersolve = self.step_multi_itersolve
     def step_multi_itersolve(self, cmove):
         for step_itersolve in self.all_step_itersolve: