stepper: Add get_endstops() / set_position wrappers

Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.

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

klippy/cartesian.py

@@ -28,7 +28,7 @@ class CartKinematics:
             min(max_halt_velocity, self.max_z_velocity), max_accel)
     def set_position(self, newpos):
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(newpos[i])
+            self.steppers[i].set_position(newpos[i])
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():

klippy/corexy.py

@@ -32,7 +32,7 @@ class CoreXYKinematics:
     def set_position(self, newpos):
         pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(pos[i])
+            self.steppers[i].set_position(pos[i])
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():

klippy/delta.py

@@ -97,7 +97,7 @@ class DeltaKinematics:
     def set_position(self, newpos):
         pos = self._cartesian_to_actuator(newpos)
         for i in StepList:
-            self.steppers[i].mcu_stepper.set_position(pos[i])
+            self.steppers[i].set_position(pos[i])
         self.limit_xy2 = -1.
     def home(self, homing_state):
         # All axes are homed simultaneously

klippy/homing.py

@@ -38,40 +38,46 @@ class Homing:
         print_time = self.toolhead.get_last_move_time()
         endstops = []
         for s in steppers:
-            s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
+            for mcu_endstop, mcu_stepper, name in s.get_endstops():
-                                     ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
+                mcu_endstop.home_start(
-            endstops.append((s, s.mcu_stepper.get_mcu_position()))
+                    print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
+                    mcu_stepper.get_step_dist() / speed)
+                endstops.append((mcu_endstop, mcu_stepper, name,
+                                 mcu_stepper.get_mcu_position()))
         self.toolhead.move(self._fill_coord(movepos), speed)
         move_end_print_time = self.toolhead.get_last_move_time()
         self.toolhead.reset_print_time(print_time)
-        for s, last_pos in endstops:
+        for mcu_endstop, mcu_stepper, name, last_pos in endstops:
-            s.mcu_endstop.home_finalize(move_end_print_time)
+            mcu_endstop.home_finalize(move_end_print_time)
         # Wait for endstops to trigger
-        for s, last_pos in endstops:
+        for mcu_endstop, mcu_stepper, name, last_pos in endstops:
             try:
-                s.mcu_endstop.home_wait()
+                mcu_endstop.home_wait()
-            except s.mcu_endstop.error as e:
+            except mcu_endstop.error as e:
                 raise EndstopError("Failed to home stepper %s: %s" % (
-                    s.name, str(e)))
+                    name, str(e)))
-            post_home_pos = s.mcu_stepper.get_mcu_position()
+            post_home_pos = mcu_stepper.get_mcu_position()
             if second_home and self.verify_retract and last_pos == post_home_pos:
                 raise EndstopError("Endstop %s still triggered after retract" % (
-                    s.name,))
+                    name,))
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
 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())
+        return [(name.upper(), mcu_stepper.get_mcu_position())
-                for s in steppers]
+                for s in steppers
+                for mcu_endstop, mcu_stepper, name in s.get_endstops()]
     for s in steppers:
-        s.mcu_endstop.query_endstop(print_time)
+        for mcu_endstop, mcu_stepper, name in s.get_endstops():
+            mcu_endstop.query_endstop(print_time)
     out = []
     for s in steppers:
+        for mcu_endstop, mcu_stepper, name in s.get_endstops():
             try:
-            out.append((s.name, s.mcu_endstop.query_endstop_wait()))
+                out.append((name, mcu_endstop.query_endstop_wait()))
-        except s.mcu_endstop.error as e:
+            except mcu_endstop.error as e:
                 raise EndstopError(str(e))
     return out
 

klippy/mcu.py

@@ -61,6 +61,8 @@ class MCU_stepper:
         self._mcu.register_stepqueue(self._stepqueue)
     def get_oid(self):
         return self._oid
+    def get_step_dist(self):
+        return self._step_dist
     def set_position(self, pos):
         if pos >= 0.:
             steppos = int(pos * self._inv_step_dist + 0.5)

klippy/stepper.py

@@ -41,6 +41,8 @@ class PrinterStepper:
             2. * self.step_dist, max_halt_velocity, max_accel)
         min_stop_interval = second_last_step_time - last_step_time
         self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
+    def set_position(self, pos):
+        self.mcu_stepper.set_position(pos)
     def motor_enable(self, print_time, enable=0):
         if enable and self.need_motor_enable:
             self.mcu_stepper.reset_step_clock(print_time)
@@ -115,6 +117,8 @@ class PrinterHomingStepper(PrinterStepper):
                 self.homing_stepper_phases = None
             if self.mcu_endstop.get_mcu().is_fileoutput():
                 self.homing_endstop_accuracy = self.homing_stepper_phases
+    def get_endstops(self):
+        return [(self.mcu_endstop, self.mcu_stepper, self.name)]
     def get_homing_speed(self):
         # Round the configured homing speed so that it is an even
         # number of ticks per step.