Encapsulate probe as singleton class

Marlin/src/MarlinCore.cpp

@@ -977,7 +977,7 @@ void setup() {
   #endif
 
   #if HAS_Z_SERVO_PROBE
-    servo_probe_init();
+    probe.servo_probe_init();
   #endif
 
   #if HAS_PHOTOGRAPH

Marlin/src/core/utility.cpp

@@ -83,42 +83,42 @@ void safe_delay(millis_t ms) {
     #if HAS_BED_PROBE
 
       #if !HAS_PROBE_XY_OFFSET
-        SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
+        SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe.offset.z, " (");
       #else
-        SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
-        if (probe_offset.x > 0)
+        SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR, probe.offset.z);
+        if (probe.offset_xy.x > 0)
           SERIAL_ECHOPGM(" (Right");
-        else if (probe_offset.x < 0)
+        else if (probe.offset_xy.x < 0)
           SERIAL_ECHOPGM(" (Left");
-        else if (probe_offset.y != 0)
+        else if (probe.offset_xy.y != 0)
           SERIAL_ECHOPGM(" (Middle");
         else
           SERIAL_ECHOPGM(" (Aligned With");
 
-        if (probe_offset.y > 0) {
+        if (probe.offset_xy.y > 0) {
           #if IS_SCARA
             SERIAL_ECHOPGM("-Distal");
           #else
             SERIAL_ECHOPGM("-Back");
           #endif
         }
-        else if (probe_offset.y < 0) {
+        else if (probe.offset_xy.y < 0) {
           #if IS_SCARA
             SERIAL_ECHOPGM("-Proximal");
           #else
             SERIAL_ECHOPGM("-Front");
           #endif
         }
-        else if (probe_offset.x != 0)
+        else if (probe.offset_xy.x != 0)
           SERIAL_ECHOPGM("-Center");
 
         SERIAL_ECHOPGM(" & ");
 
       #endif
 
-      if (probe_offset.z < 0)
+      if (probe.offset.z < 0)
         SERIAL_ECHOPGM("Below");
-      else if (probe_offset.z > 0)
+      else if (probe.offset.z > 0)
         SERIAL_ECHOPGM("Above");
       else
         SERIAL_ECHOPGM("Same Z as");

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -173,10 +173,10 @@
       serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
     }
 
-    // Add XY probe offset from extruder because probe_at_point() subtracts them when
+    // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
     // moving to the XY position to be measured. This ensures better agreement between
     // the current Z position after G28 and the mesh values.
-    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);
+    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
 
     if (!lcd) SERIAL_EOL();
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -450,7 +450,7 @@
               SERIAL_ECHO(g29_pos.y);
               SERIAL_ECHOLNPGM(").\n");
             }
-            const xy_pos_t near = g29_pos + probe_offset_xy;
+            const xy_pos_t near = g29_pos + probe.offset_xy;
             probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
 
             report_current_position();
@@ -480,8 +480,8 @@
                 #if IS_KINEMATIC
                   X_HOME_POS, Y_HOME_POS
                 #else
-                  probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
-                  probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
+                  probe.offset_xy.x > 0 ? X_BED_SIZE : 0,
+                  probe.offset_xy.y < 0 ? Y_BED_SIZE : 0
                 #endif
               );
             }
@@ -742,7 +742,7 @@
      * This attempts to fill in locations closest to the nozzle's start location first.
      */
     void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
-      DEPLOY_PROBE(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
+      probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
 
       #if HAS_LCD_MENU
         ui.capture();
@@ -768,7 +768,7 @@
             ui.wait_for_release();
             ui.quick_feedback();
             ui.release();
-            STOW_PROBE(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+            probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
             return restore_ubl_active_state_and_leave();
           }
         #endif
@@ -778,7 +778,7 @@
           : find_closest_mesh_point_of_type(INVALID, near, true);
 
         if (best.pos.x >= 0) {    // mesh point found and is reachable by probe
-          const float measured_z = probe_at_point(
+          const float measured_z = probe.probe_at_point(
                         best.meshpos(),
                         stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
                       );
@@ -794,20 +794,20 @@
       #if HAS_LCD_MENU
         ui.release();
       #endif
-      STOW_PROBE(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+      probe.stow(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
       #if HAS_LCD_MENU
         ui.capture();
       #endif
 
       #ifdef Z_AFTER_PROBING
-        move_z_after_probing();
+        probe.move_z_after_probing();
       #endif
 
       restore_ubl_active_state_and_leave();
 
       do_blocking_move_to_xy(
-        constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
-        constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
+        constrain(near.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X),
+        constrain(near.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
       );
     }
 
@@ -907,7 +907,7 @@
       ui.return_to_status();
 
       mesh_index_pair location;
-      xy_int8_t &lpos = location.pos;
+      const xy_int8_t &lpos = location.pos;
       do {
         location = find_closest_mesh_point_of_type(INVALID, pos);
         // It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
@@ -1006,7 +1006,7 @@
       #endif
 
       MeshFlags done_flags{0};
-      xy_int8_t &lpos = location.pos;
+      const xy_int8_t &lpos = location.pos;
       do {
         location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
 
@@ -1294,7 +1294,7 @@
     closest.distance = -99999.9f;
 
     // Get the reference position, either nozzle or probe
-    const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;
+    const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
 
     float best_so_far = 99999.99f;
 
@@ -1393,13 +1393,13 @@
     #include "../../../libs/vector_3.h"
 
     void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y(),
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y(),
                   dx = (x_max - x_min) / (g29_grid_size - 1),
                   dy = (y_max - y_min) / (g29_grid_size - 1);
 
       xy_float_t points[3];
-      get_three_probe_points(points);
+      probe.get_three_points(points);
 
       float measured_z;
       bool abort_flag = false;
@@ -1417,7 +1417,7 @@
           ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
         #endif
 
-        measured_z = probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
+        measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
         if (isnan(measured_z))
           abort_flag = true;
         else {
@@ -1438,7 +1438,7 @@
             ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
           #endif
 
-          measured_z = probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
+          measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z2 = measured_z;
           #endif
@@ -1460,7 +1460,7 @@
             ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
           #endif
 
-          measured_z = probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
+          measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z3 = measured_z;
           #endif
@@ -1476,9 +1476,9 @@
           }
         }
 
-        STOW_PROBE();
+        probe.stow();
         #ifdef Z_AFTER_PROBING
-          move_z_after_probing();
+          probe.move_z_after_probing();
         #endif
 
         if (abort_flag) {
@@ -1504,7 +1504,7 @@
                 ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points);
               #endif
 
-              measured_z = probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
+              measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
 
               abort_flag = isnan(measured_z);
 
@@ -1523,7 +1523,7 @@
                 }
               #endif
 
-              measured_z -= get_z_correction(rpos) /* + probe_offset.z */ ;
+              measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ;
 
               if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F("   final >>>---> ", measured_z, 7);
 
@@ -1540,9 +1540,9 @@
           zig_zag ^= true;
         }
       }
-      STOW_PROBE();
+      probe.stow();
       #ifdef Z_AFTER_PROBING
-        move_z_after_probing();
+        probe.move_z_after_probing();
       #endif
 
       if (abort_flag || finish_incremental_LSF(&lsf_results)) {
@@ -1728,7 +1728,7 @@
       adjust_mesh_to_mean(g29_c_flag, g29_constant);
 
       #if HAS_BED_PROBE
-        SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset.z, 7);
+        SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7);
       #endif
 
       SERIAL_ECHOLNPAIR("MESH_MIN_X  " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);

Marlin/src/gcode/bedlevel/G42.cpp

@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../MarlinCore.h" // for IsRunning()
 #include "../../module/motion.h"
-#include "../../module/probe.h" // for probe_offset
+#include "../../module/probe.h" // for probe.offset
 #include "../../feature/bedlevel/bedlevel.h"
 
 /**
@@ -53,8 +53,8 @@ void GcodeSuite::G42() {
 
     #if HAS_PROBE_XY_OFFSET
       if (parser.boolval('P')) {
-        if (hasI) destination.x -= probe_offset_xy.x;
-        if (hasJ) destination.y -= probe_offset_xy.y;
+        if (hasI) destination.x -= probe.offset_xy.x;
+        if (hasJ) destination.y -= probe.offset_xy.y;
       }
     #endif
 

Marlin/src/gcode/bedlevel/M420.cpp

@@ -64,8 +64,8 @@ void GcodeSuite::M420() {
 
   #if ENABLED(MARLIN_DEV_MODE)
     if (parser.intval('S') == 2) {
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y();
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
         bilinear_start.set(x_min, y_min);
         bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_POINTS_X - 1),

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -269,7 +269,7 @@ G29_TYPE GcodeSuite::G29() {
     #endif
 
     vector_3 points[3];
-    get_three_probe_points(points);
+    probe.get_three_points(points);
 
   #endif // AUTO_BED_LEVELING_3POINT
 
@@ -392,8 +392,8 @@ G29_TYPE GcodeSuite::G29() {
 
       xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
 
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y();
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
 
       if (parser.seen('H')) {
         const int16_t size = (int16_t)parser.value_linear_units();
@@ -452,7 +452,7 @@ G29_TYPE GcodeSuite::G29() {
 
     #if HAS_BED_PROBE
       // Deploy the probe. Probe will raise if needed.
-      if (DEPLOY_PROBE()) {
+      if (probe.deploy()) {
         set_bed_leveling_enabled(abl_should_enable);
         G29_RETURN(false);
       }
@@ -712,7 +712,7 @@ G29_TYPE GcodeSuite::G29() {
             ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
           #endif
 
-          measured_z = faux ? 0.001f * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+          measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
 
           if (isnan(measured_z)) {
             set_bed_leveling_enabled(abl_should_enable);
@@ -764,7 +764,7 @@ G29_TYPE GcodeSuite::G29() {
 
         // Retain the last probe position
         probePos = points[i];
-        measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+        measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
         if (isnan(measured_z)) {
           set_bed_leveling_enabled(abl_should_enable);
           break;
@@ -788,7 +788,7 @@ G29_TYPE GcodeSuite::G29() {
     #endif
 
     // Stow the probe. No raise for FIX_MOUNTED_PROBE.
-    if (STOW_PROBE()) {
+    if (probe.stow()) {
       set_bed_leveling_enabled(abl_should_enable);
       measured_z = NAN;
     }
@@ -923,8 +923,8 @@ G29_TYPE GcodeSuite::G29() {
         planner.force_unapply_leveling(converted); // use conversion machinery
 
         // Use the last measured distance to the bed, if possible
-        if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
-          && NEAR(current_position.y, probePos.y - probe_offset_xy.y)
+        if ( NEAR(current_position.x, probePos.x - probe.offset_xy.x)
+          && NEAR(current_position.y, probePos.y - probe.offset_xy.y)
         ) {
           const float simple_z = current_position.z - measured_z;
           if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, "  Matrix Z", converted.z, "  Discrepancy ", simple_z - converted.z);
@@ -964,7 +964,7 @@ G29_TYPE GcodeSuite::G29() {
     sync_plan_position();
 
   #if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
-    move_z_after_probing();
+    probe.move_z_after_probing();
   #endif
 
   #ifdef Z_PROBE_END_SCRIPT

Marlin/src/gcode/calibrate/G28.cpp

@@ -133,7 +133,7 @@
     destination.set(safe_homing_xy, current_position.z);
 
     #if HOMING_Z_WITH_PROBE
-      destination -= probe_offset_xy;
+      destination -= probe.offset_xy;
     #endif
 
     if (position_is_reachable(destination)) {
@@ -416,7 +416,7 @@ void GcodeSuite::G28(const bool always_home_all) {
         #endif
 
         #if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
-          move_z_after_probing();
+          probe.move_z_after_probing();
         #endif
 
       } // doZ