force_move: Implement CLEAR for SET_KINEMATIC_POSITION (#6262)

`CLEAR` clears the homing status (resets the axis limits) without turning off
the motors. This is particularly useful when implementing safe Z homing in
`[homing_override]` on printers with multiple independent Z steppers (where
`FORCE_MOVE` can't be used).

Signed-off-by: Dennis Marttinen <[email protected]>

docs/Code_Overview.md

@@ -359,10 +359,10 @@ Useful steps:
    be efficient as it is typically only called during homing and
    probing operations.
 5. Other methods. Implement the `check_move()`, `get_status()`,
-   `get_steppers()`, `home()`, and `set_position()` methods. These
-   functions are typically used to provide kinematic specific checks.
-   However, at the start of development one can use boiler-plate code
-   here.
+   `get_steppers()`, `home()`, `clear_homing_state()`, and `set_position()`
+   methods. These functions are typically used to provide kinematic
+   specific checks. However, at the start of development one can use
+   boiler-plate code here.
 6. Implement test cases. Create a g-code file with a series of moves
    that can test important cases for the given kinematics. Follow the
    [debugging documentation](Debugging.md) to convert this g-code file

docs/G-Codes.md

@@ -585,15 +585,18 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.
 
 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
-the low-level kinematic code to believe the toolhead is at the given
-cartesian position. This is a diagnostic and debugging command; use
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
-axis is not specified then it will default to the position that the
-head was last commanded to. Setting an incorrect or invalid position
-may lead to internal software errors. This command may invalidate
-future boundary checks; issue a G28 afterwards to reset the
-kinematics.
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
+[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
+toolhead is at the given cartesian position. This is a diagnostic and
+debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
+transformations. If an axis is not specified then it will default to the
+position that the head was last commanded to. Setting an incorrect or
+invalid position may lead to internal software errors. Use the CLEAR
+parameter to forget the homing state for the given axes. Note that CLEAR
+will not override the previous functionality; if an axis is not specified
+to CLEAR it will have its kinematic position set as per above. This
+command may invalidate future boundary checks; issue a G28 afterwards to
+reset the kinematics.
 
 ### [gcode]
 

klippy/extras/force_move.py

@@ -131,8 +131,13 @@ def cmd_SET_KINEMATIC_POSITION(self, gcmd):
         x = gcmd.get_float('X', curpos[0])
         y = gcmd.get_float('Y', curpos[1])
         z = gcmd.get_float('Z', curpos[2])
-        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
+        clear = gcmd.get('CLEAR', '').upper()
+        axes = ['X', 'Y', 'Z']
+        clear_axes = [axes.index(a) for a in axes if a in clear]
+        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f clear=%s",
+                     x, y, z, ','.join((axes[i] for i in clear_axes)))
         toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
+        toolhead.get_kinematics().clear_homing_state(clear_axes)
 
 def load_config(config):
     return ForceMove(config)

klippy/extras/safe_z_home.py

@@ -40,8 +40,7 @@ def cmd_G28(self, gcmd):
                 toolhead.set_position(pos, homing_axes=[2])
                 toolhead.manual_move([None, None, self.z_hop],
                                      self.z_hop_speed)
-                if hasattr(toolhead.get_kinematics(), "note_z_not_homed"):
-                    toolhead.get_kinematics().note_z_not_homed()
+                toolhead.get_kinematics().clear_homing_state((2,))
             elif pos[2] < self.z_hop:
                 # If the Z axis is homed, and below z_hop, lift it to z_hop
                 toolhead.manual_move([None, None, self.z_hop],

klippy/kinematics/cartesian.py

@@ -73,9 +73,10 @@ def set_position(self, newpos, homing_axes):
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limits[2] = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.limits[i] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         # Determine movement
         position_min, position_max = rail.get_range()
@@ -97,7 +98,7 @@ def home(self, homing_state):
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
     def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
+        self.clear_homing_state((0, 1, 2))
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/corexy.py

@@ -43,9 +43,10 @@ def set_position(self, newpos, homing_axes):
             rail.set_position(newpos)
             if i in homing_axes:
                 self.limits[i] = rail.get_range()
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limits[2] = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.limits[i] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -63,7 +64,7 @@ def home(self, homing_state):
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
     def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
+        self.clear_homing_state((0, 1, 2))
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/corexz.py

@@ -43,9 +43,10 @@ def set_position(self, newpos, homing_axes):
             rail.set_position(newpos)
             if i in homing_axes:
                 self.limits[i] = rail.get_range()
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limits[2] = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.limits[i] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -63,7 +64,7 @@ def home(self, homing_state):
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
     def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
+        self.clear_homing_state((0, 1, 2))
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/delta.py

@@ -105,15 +105,19 @@ def set_position(self, newpos, homing_axes):
         self.limit_xy2 = -1.
         if tuple(homing_axes) == (0, 1, 2):
             self.need_home = False
+    def clear_homing_state(self, axes):
+        # Clearing homing state for each axis individually is not implemented
+        if 0 in axes or 1 in axes or 2 in axes:
+            self.limit_xy2 = -1
+            self.need_home = True
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
         forcepos = list(self.home_position)
         forcepos[2] = -1.5 * math.sqrt(max(self.arm2)-self.max_xy2)
         homing_state.home_rails(self.rails, forcepos, self.home_position)
     def _motor_off(self, print_time):
-        self.limit_xy2 = -1.
-        self.need_home = True
+        self.clear_homing_state((0, 1, 2))
     def check_move(self, move):
         end_pos = move.end_pos
         end_xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/deltesian.py

@@ -117,6 +117,10 @@ def set_position(self, newpos, homing_axes):
             rail.set_position(newpos)
         for n in homing_axes:
             self.homed_axis[n] = True
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.homed_axis[i] = False
     def home(self, homing_state):
         homing_axes = homing_state.get_axes()
         home_xz = 0 in homing_axes or 2 in homing_axes

klippy/kinematics/hybrid_corexy.py

@@ -75,9 +75,10 @@ def set_position(self, newpos, homing_axes):
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limits[2] = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.limits[i] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -97,7 +98,7 @@ def home(self, homing_state):
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
     def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
+        self.clear_homing_state((0, 1, 2))
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/hybrid_corexz.py

@@ -75,9 +75,10 @@ def set_position(self, newpos, homing_axes):
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limits[2] = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        for i, _ in enumerate(self.limits):
+            if i in axes:
+                self.limits[i] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -97,7 +98,7 @@ def home(self, homing_state):
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
     def _motor_off(self, print_time):
-        self.limits = [(1.0, -1.0)] * 3
+        self.clear_homing_state((0, 1, 2))
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in (0, 1, 2):

klippy/kinematics/none.py

@@ -13,6 +13,8 @@ def calc_position(self, stepper_positions):
         return [0, 0, 0]
     def set_position(self, newpos, homing_axes):
         pass
+    def clear_homing_state(self, axes):
+        pass
     def home(self, homing_state):
         pass
     def check_move(self, move):

klippy/kinematics/polar.py

@@ -51,9 +51,12 @@ def set_position(self, newpos, homing_axes):
             self.limit_z = self.rails[1].get_range()
         if 0 in homing_axes and 1 in homing_axes:
             self.limit_xy2 = self.rails[0].get_range()[1]**2
-    def note_z_not_homed(self):
-        # Helper for Safe Z Home
-        self.limit_z = (1.0, -1.0)
+    def clear_homing_state(self, axes):
+        if 0 in axes or 1 in axes:
+            # X and Y cannot be cleared separately
+            self.limit_xy2 = -1.
+        if 2 in axes:
+            self.limit_z = (1.0, -1.0)
     def _home_axis(self, homing_state, axis, rail):
         # Determine movement
         position_min, position_max = rail.get_range()
@@ -86,8 +89,7 @@ def home(self, homing_state):
         if home_z:
             self._home_axis(homing_state, 2, self.rails[1])
     def _motor_off(self, print_time):
-        self.limit_z = (1.0, -1.0)
-        self.limit_xy2 = -1.
+        self.clear_homing_state((0, 1, 2))
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/rotary_delta.py

@@ -88,6 +88,11 @@ def set_position(self, newpos, homing_axes):
         self.limit_xy2 = -1.
         if tuple(homing_axes) == (0, 1, 2):
             self.need_home = False
+    def clear_homing_state(self, axes):
+        # Clearing homing state for each axis individually is not implemented
+        if 0 in axes or 1 in axes or 2 in axes:
+            self.limit_xy2 = -1
+            self.need_home = True
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
@@ -97,8 +102,7 @@ def home(self, homing_state):
         forcepos[2] = -1.
         homing_state.home_rails(self.rails, forcepos, self.home_position)
     def _motor_off(self, print_time):
-        self.limit_xy2 = -1.
-        self.need_home = True
+        self.clear_homing_state((0, 1, 2))
     def check_move(self, move):
         end_pos = move.end_pos
         end_xy2 = end_pos[0]**2 + end_pos[1]**2

klippy/kinematics/winch.py

@@ -36,6 +36,9 @@ def calc_position(self, stepper_positions):
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)
+    def clear_homing_state(self, axes):
+        # XXX - homing not implemented
+        pass
     def home(self, homing_state):
         # XXX - homing not implemented
         homing_state.set_axes([0, 1, 2])

klippy/stepper.py

@@ -403,7 +403,7 @@ def add_extra_stepper(self, config):
             changed_invert = pin_params['invert'] != endstop['invert']
             changed_pullup = pin_params['pullup'] != endstop['pullup']
             if changed_invert or changed_pullup:
-                raise error("Pinter rail %s shared endstop pin %s "
+                raise error("Printer rail %s shared endstop pin %s "
                             "must specify the same pullup/invert settings" % (
                                 self.get_name(), pin_name))
         mcu_endstop.add_stepper(stepper)