Simplify kinematic set_position() and clear_homing_state() calls

klippy/extras/force_move.py

@@ -131,12 +131,11 @@ 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])
-        clear = gcmd.get('CLEAR', '').upper()
-        axes = ['X', 'Y', 'Z']
-        clear_axes = [axes.index(a) for a in axes if a in clear]
+        clear = gcmd.get('CLEAR', '').lower()
+        clear_axes = "".join([a for a in "xyz" 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.set_position([x, y, z, curpos[3]], homing_axes="xyz")
         toolhead.get_kinematics().clear_homing_state(clear_axes)
 
 def load_config(config):

klippy/extras/homing.py

@@ -187,7 +187,8 @@ def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
         self.printer.send_event("homing:home_rails_begin", self, rails)
         # Alter kinematics class to think printer is at forcepos
-        homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
+        force_axes = [axis for axis in range(3) if forcepos[axis] is not None]
+        homing_axes = "".join(["xyz"[i] for i in force_axes])
         startpos = self._fill_coord(forcepos)
         homepos = self._fill_coord(movepos)
         self.toolhead.set_position(startpos, homing_axes=homing_axes)
@@ -231,7 +232,7 @@ def home_rails(self, rails, forcepos, movepos):
                                        + self.adjust_pos.get(s.get_name(), 0.))
                         for s in kin.get_steppers()}
             newpos = kin.calc_position(kin_spos)
-            for axis in homing_axes:
+            for axis in force_axes:
                 homepos[axis] = newpos[axis]
             self.toolhead.set_position(homepos)
 

klippy/extras/homing_override.py

@@ -46,11 +46,11 @@ def cmd_G28(self, gcmd):
         # Calculate forced position (if configured)
         toolhead = self.printer.lookup_object('toolhead')
         pos = toolhead.get_position()
-        homing_axes = []
+        homing_axes = ""
         for axis, loc in enumerate(self.start_pos):
             if loc is not None:
                 pos[axis] = loc
-                homing_axes.append(axis)
+                homing_axes += "xyz"[axis]
         toolhead.set_position(pos, homing_axes=homing_axes)
         # Perform homing
         context = self.template.create_template_context()

klippy/extras/manual_stepper.py

@@ -109,7 +109,7 @@ def flush_step_generation(self):
         self.sync_print_time()
     def get_position(self):
         return [self.rail.get_commanded_position(), 0., 0., 0.]
-    def set_position(self, newpos, homing_axes=()):
+    def set_position(self, newpos, homing_axes=""):
         self.do_set_position(newpos[0])
     def get_last_move_time(self):
         self.sync_print_time()

klippy/extras/safe_z_home.py

@@ -37,10 +37,10 @@ def cmd_G28(self, gcmd):
             if 'z' not in kin_status['homed_axes']:
                 # Always perform the z_hop if the Z axis is not homed
                 pos[2] = 0
-                toolhead.set_position(pos, homing_axes=[2])
+                toolhead.set_position(pos, homing_axes="z")
                 toolhead.manual_move([None, None, self.z_hop],
                                      self.z_hop_speed)
-                toolhead.get_kinematics().clear_homing_state((2,))
+                toolhead.get_kinematics().clear_homing_state("z")
             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/extras/stepper_enable.py

@@ -94,6 +94,7 @@ def motor_off(self):
         print_time = toolhead.get_last_move_time()
         for el in self.enable_lines.values():
             el.motor_disable(print_time)
+        toolhead.get_kinematics().clear_homing_state("xyz")
         self.printer.send_event("stepper_enable:motor_off", print_time)
         toolhead.dwell(DISABLE_STALL_TIME)
     def motor_debug_enable(self, stepper, enable):

klippy/kinematics/cartesian.py

@@ -40,8 +40,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                            self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
@@ -67,16 +65,17 @@ def update_limits(self, i, range):
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, axes):
-        for i, _ in enumerate(self.limits):
-            if i in axes:
-                self.limits[i] = (1.0, -1.0)
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         # Determine movement
         position_min, position_max = rail.get_range()
@@ -97,8 +96,6 @@ def home(self, homing_state):
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        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

@@ -21,8 +21,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -41,12 +39,12 @@ def calc_position(self, stepper_positions):
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
-    def clear_homing_state(self, axes):
-        for i, _ in enumerate(self.limits):
-            if i in axes:
-                self.limits[i] = (1.0, -1.0)
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -63,8 +61,6 @@ def home(self, homing_state):
                 forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
-    def _motor_off(self, print_time):
-        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

@@ -21,8 +21,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -41,12 +39,12 @@ def calc_position(self, stepper_positions):
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-            if i in homing_axes:
+            if "xyz"[i] in homing_axes:
                 self.limits[i] = rail.get_range()
-    def clear_homing_state(self, axes):
-        for i, _ in enumerate(self.limits):
-            if i in axes:
-                self.limits[i] = (1.0, -1.0)
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -63,8 +61,6 @@ def home(self, homing_state):
                 forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
             # Perform homing
             homing_state.home_rails([rail], forcepos, homepos)
-    def _motor_off(self, print_time):
-        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

@@ -23,8 +23,6 @@ def __init__(self, toolhead, config):
             stepper_configs[2], need_position_minmax = False,
             default_position_endstop=a_endstop)
         self.rails = [rail_a, rail_b, rail_c]
-        config.get_printer().register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup max velocity
         self.max_velocity, self.max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -90,7 +88,7 @@ def ratio_to_xy(ratio):
                         math.sqrt(self.very_slow_xy2)))
         self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
         self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, spos):
@@ -103,11 +101,11 @@ def set_position(self, newpos, homing_axes):
         for rail in self.rails:
             rail.set_position(newpos)
         self.limit_xy2 = -1.
-        if tuple(homing_axes) == (0, 1, 2):
+        if homing_axes == "xyz":
             self.need_home = False
-    def clear_homing_state(self, axes):
+    def clear_homing_state(self, clear_axes):
         # Clearing homing state for each axis individually is not implemented
-        if 0 in axes or 1 in axes or 2 in axes:
+        if clear_axes:
             self.limit_xy2 = -1
             self.need_home = True
     def home(self, homing_state):
@@ -116,8 +114,6 @@ def home(self, homing_state):
         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.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

@@ -41,8 +41,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        config.get_printer().register_event_handler(
-            "stepper_enable:motor_off", self._motor_off)
         self.limits = [(1.0, -1.0)] * 3
         # X axis limits
         min_angle = config.getfloat('min_angle', MIN_ANGLE,
@@ -89,7 +87,7 @@ def __init__(self, toolhead, config):
         self.axes_min = toolhead.Coord(*[l[0] for l in self.limits], e=0.)
         self.axes_max = toolhead.Coord(*[l[1] for l in self.limits], e=0.)
         self.homed_axis = [False] * 3
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return [s for rail in self.rails for s in rail.get_steppers()]
     def _actuator_to_cartesian(self, sp):
@@ -115,12 +113,13 @@ def calc_position(self, stepper_positions):
     def set_position(self, newpos, homing_axes):
         for rail in self.rails:
             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
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
+            self.homed_axis[axis] = True
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.homed_axis[axis] = False
     def home(self, homing_state):
         homing_axes = homing_state.get_axes()
         home_xz = 0 in homing_axes or 2 in homing_axes
@@ -146,8 +145,6 @@ def home(self, homing_state):
             else:
                 forcepos[1] += 1.5 * (position_max - hi.position_endstop)
             homing_state.home_rails([self.rails[2]], forcepos, homepos)
-    def _motor_off(self, print_time):
-        self.homed_axis = [False] * 3
     def check_move(self, move):
         limits = list(map(list, self.limits))
         spos, epos = move.start_pos, move.end_pos

klippy/kinematics/hybrid_corexy.py

@@ -42,8 +42,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -69,16 +67,17 @@ def update_limits(self, i, range):
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, axes):
-        for i, _ in enumerate(self.limits):
-            if i in axes:
-                self.limits[i] = (1.0, -1.0)
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -97,8 +96,6 @@ def home(self, homing_state):
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        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

@@ -42,8 +42,6 @@ def __init__(self, toolhead, config):
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
             toolhead.register_step_generator(s.generate_steps)
-        self.printer.register_event_handler("stepper_enable:motor_off",
-                                                    self._motor_off)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(
@@ -69,16 +67,17 @@ def update_limits(self, i, range):
     def set_position(self, newpos, homing_axes):
         for i, rail in enumerate(self.rails):
             rail.set_position(newpos)
-        for axis in homing_axes:
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
             if self.dc_module and axis == self.dc_module.axis:
                 rail = self.dc_module.get_primary_rail().get_rail()
             else:
                 rail = self.rails[axis]
             self.limits[axis] = rail.get_range()
-    def clear_homing_state(self, axes):
-        for i, _ in enumerate(self.limits):
-            if i in axes:
-                self.limits[i] = (1.0, -1.0)
+    def clear_homing_state(self, clear_axes):
+        for axis, axis_name in enumerate("xyz"):
+            if axis_name in clear_axes:
+                self.limits[axis] = (1.0, -1.0)
     def home_axis(self, homing_state, axis, rail):
         position_min, position_max = rail.get_range()
         hi = rail.get_homing_info()
@@ -97,8 +96,6 @@ def home(self, homing_state):
                 self.dc_module.home(homing_state)
             else:
                 self.home_axis(homing_state, axis, self.rails[axis])
-    def _motor_off(self, print_time):
-        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

@@ -13,7 +13,7 @@ def calc_position(self, stepper_positions):
         return [0, 0, 0]
     def set_position(self, newpos, homing_axes):
         pass
-    def clear_homing_state(self, axes):
+    def clear_homing_state(self, clear_axes):
         pass
     def home(self, homing_state):
         pass