1 files changed, 34 insertions, 0 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)