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mcu: Introduce new lookup_query_command() command wrapper

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Use new mcu.lookup_query_command() for all commands that query
information from the micro-controller.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-02-19 16:46:06 -05:00
parent 332038ea01
commit 245917bf03
5 changed files with 73 additions and 56 deletions
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8
klippy/stepper.py
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@ -84,8 +84,9 @@ class MCU_stepper:
"set_next_step_dir oid=%c dir=%c")
self._reset_cmd_id = self._mcu.lookup_command_id(
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c")
self._get_position_cmd = self._mcu.lookup_query_command(
"stepper_get_position oid=%c",
"stepper_position oid=%c pos=%i", oid=self._oid)
self._ffi_lib.stepcompress_fill(
self._stepqueue, self._mcu.seconds_to_clock(max_error),
self._invert_dir, step_cmd_id, dir_cmd_id)
@ -134,8 +135,7 @@ class MCU_stepper:
raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput():
return
params = self._get_position_cmd.send_with_response(
[self._oid], response='stepper_position', response_oid=self._oid)
params = self._get_position_cmd.send([self._oid])
mcu_pos_dist = params['pos'] * self._step_dist
if self._invert_dir:
mcu_pos_dist = -mcu_pos_dist