kinematics: implement clear_homing_state

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

klippy/extras/safe_z_home.py

@@ -40,8 +40,8 @@ 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()
+                if hasattr(toolhead.get_kinematics(), "clear_homing_state"):
+                    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])