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probe: Add a new LookupZSteppers helper class

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Split code to lookup the Z stepper from HomingViaProbeHelper to new
LookupZSteppers class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-04 12:56:54 -04:00
parent f3a1c914a4
commit 3fb1191cad
1 changed files with 14 additions and 7 deletions
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21
klippy/extras/probe.py
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@ -180,6 +180,19 @@ def lookup_minimum_z(config):
pconfig = config.getsection('printer')
return pconfig.getfloat('minimum_z_position', 0., note_valid=False)
# Helper to lookup all the Z axis steppers
class LookupZSteppers:
def __init__(self, config, add_stepper_cb):
self.printer = config.get_printer()
self.add_stepper_cb = add_stepper_cb
self.printer.register_event_handler('klippy:mcu_identify',
self._handle_mcu_identify)
def _handle_mcu_identify(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers():
if stepper.is_active_axis('z'):
self.add_stepper_cb(stepper)
# Homing via probe:z_virtual_endstop
class HomingViaProbeHelper:
def __init__(self, config, mcu_probe, param_helper):
@ -189,11 +202,10 @@ class HomingViaProbeHelper:
self.multi_probe_pending = False
self.z_min_position = lookup_minimum_z(config)
self.results = []
LookupZSteppers(config, self.mcu_probe.add_stepper)
# Register z_virtual_endstop pin
self.printer.lookup_object('pins').register_chip('probe', self)
# Register event handlers
self.printer.register_event_handler('klippy:mcu_identify',
self._handle_mcu_identify)
self.printer.register_event_handler("homing:homing_move_begin",
self._handle_homing_move_begin)
self.printer.register_event_handler("homing:homing_move_end",
@ -204,11 +216,6 @@ class HomingViaProbeHelper:
self._handle_home_rails_end)
self.printer.register_event_handler("gcode:command_error",
self._handle_command_error)
def _handle_mcu_identify(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers():
if stepper.is_active_axis('z'):
self.mcu_probe.add_stepper(stepper)
def _handle_homing_move_begin(self, hmove):
if self.mcu_probe in hmove.get_mcu_endstops():
self.mcu_probe.probe_prepare(hmove)