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>

6 files changed, 15 insertions, 21 deletions

diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index a295ee92..c22b24c5 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -26,6 +26,8 @@ class CartKinematics:
         self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
         self.steppers[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), max_accel)
+    def get_steppers(self):
+        return list(self.steppers)
     def set_position(self, newpos):
         for i in StepList:
             self.steppers[i].set_position(newpos[i])
@@ -62,8 +64,6 @@ class CartKinematics:
             # Set final homed position
             coord[axis] = s.position_endstop + s.get_homed_offset()
             homing_state.set_homed_position(coord)
-    def query_endstops(self, print_time, query_flags):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
diff --git a/klippy/corexy.py b/klippy/corexy.py
index cd51410b..3eac2e26 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -33,6 +33,8 @@ class CoreXYKinematics:
         self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
         self.steppers[2].set_max_jerk(
             min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
+    def get_steppers(self):
+        return list(self.steppers)
     def set_position(self, newpos):
         pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
         for i in StepList:
@@ -71,8 +73,6 @@ class CoreXYKinematics:
                 # Support endstop phase detection on Z axis
                 coord[axis] = s.position_endstop + s.get_homed_offset()
                 homing_state.set_homed_position(coord)
-    def query_endstops(self, print_time, query_flags):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
     def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
diff --git a/klippy/delta.py b/klippy/delta.py
index b0ad094e..3b3f24ef 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -58,6 +58,8 @@ class DeltaKinematics:
             % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
                math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.])
+    def get_steppers(self):
+        return list(self.steppers)
     def _cartesian_to_actuator(self, coord):
         return [math.sqrt(self.arm_length2
                           - (self.towers[i][0] - coord[0])**2
@@ -124,8 +126,6 @@ class DeltaKinematics:
                 + self.steppers[i].get_homed_offset()
                 for i in StepList]
         homing_state.set_homed_position(self._actuator_to_cartesian(spos))
-    def query_endstops(self, print_time, query_flags):
-        return homing.query_endstops(print_time, query_flags, self.steppers)
     def motor_off(self, print_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
diff --git a/klippy/gcode.py b/klippy/gcode.py
index c25608fb..ce6a59f5 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -409,7 +409,7 @@ class GCodeParser:
         if self.toolhead is None:
             self.cmd_default(params)
             return
-        raw_pos = self.toolhead.query_endstops("get_mcu_position")
+        raw_pos = homing.query_position(self.toolhead)
         self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
             self.last_position[0], self.last_position[1],
             self.last_position[2], self.last_position[3],
@@ -451,12 +451,7 @@ class GCodeParser:
     cmd_QUERY_ENDSTOPS_aliases = ["M119"]
     def cmd_QUERY_ENDSTOPS(self, params):
         # Get Endstop Status
-        if self.is_fileinput:
-            return
-        try:
-            res = self.toolhead.query_endstops()
-        except homing.EndstopError as e:
-            raise error(str(e))
+        res = homing.query_endstops(self.toolhead)
         self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
                                for name, t in res]))
     cmd_PID_TUNE_help = "Run PID Tuning"
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
 
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index e258f473..25220ab8 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -348,9 +348,6 @@ class ToolHead:
         while (not self.sync_print_time
                or self.print_time >= self.mcu.estimated_print_time(eventtime)):
             eventtime = self.reactor.pause(eventtime + 0.100)
-    def query_endstops(self, query_flags=""):
-        last_move_time = self.get_last_move_time()
-        return self.kin.query_endstops(last_move_time, query_flags)
     def set_extruder(self, extruder):
         last_move_time = self.get_last_move_time()
         self.extruder.set_active(last_move_time, False)