toolhead: Report which axes are homed via get_status()

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

9 files changed, 28 insertions, 24 deletions

diff --git a/docs/Command_Templates.md b/docs/Command_Templates.md
index 07026093..c95ebea4 100644
--- a/docs/Command_Templates.md
+++ b/docs/Command_Templates.md
@@ -157,6 +157,9 @@ The following are common printer attributes:
   extruder. For example, one could use
   `printer[printer.toolhead.extruder].target` to get the target
   temperature of the current extruder.
+- `printer.toolhead.homed_axes`: The current cartesian axes considered
+  to be in a "homed" state. This is a string containing one or more of
+  "x", "y", "z".
 
 The above list is subject to change - if using an attribute be sure to
 review the [Config Changes document](Config_Changes.md) when upgrading
diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py
index a392535b..a49f6b9a 100644
--- a/klippy/extras/safe_z_home.py
+++ b/klippy/extras/safe_z_home.py
@@ -30,14 +30,14 @@ class SafeZHoming:
 
     def cmd_G28(self, params):
         toolhead = self.printer.lookup_object('toolhead')
-        kinematics = toolhead.get_kinematics()
 
         # Perform Z Hop if necessary
         if self.z_hop != 0.0:
             pos = toolhead.get_position()
-            kin_status = kinematics.get_status()
+            curtime = self.printer.get_reactor().monotonic()
+            kin_status = toolhead.get_kinematics().get_status(curtime)
             # Check if Z axis is homed or has a known position
-            if 'Z' in kin_status['homed_axes']:
+            if 'z' in kin_status['homed_axes']:
                 # Check if the zhop would exceed the printer limits
                 if pos[2] + self.z_hop > self.max_z:
                     self.gcode.respond_info(
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index ee65d4ba..c44ad857 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -116,10 +116,9 @@ class CartKinematics:
         z_ratio = move.move_d / abs(move.axes_d[2])
         move.limit_speed(
             self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
-    def get_status(self):
-        return {'homed_axes': "".join([a
-                    for a, (l, h) in zip("XYZ", self.limits) if l <= h])
-        }
+    def get_status(self, eventtime):
+        axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
+        return { 'homed_axes': "".join(axes) }
     # Dual carriage support
     def _activate_carriage(self, carriage):
         toolhead = self.printer.lookup_object('toolhead')
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index aa88406d..98c66dd5 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -93,10 +93,9 @@ class CoreXYKinematics:
         z_ratio = move.move_d / abs(move.axes_d[2])
         move.limit_speed(
             self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
-    def get_status(self):
-        return {'homed_axes': "".join([a
-                    for a, (l, h) in zip("XYZ", self.limits) if l <= h])
-        }
+    def get_status(self, eventtime):
+        axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
+        return {'homed_axes': "".join(axes)}
 
 def load_kinematics(toolhead, config):
     return CoreXYKinematics(toolhead, config)
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index ee01be56..73a987d3 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -144,8 +144,8 @@ class DeltaKinematics:
             move.limit_speed(max_velocity * r, self.max_accel * r)
             limit_xy2 = -1.
         self.limit_xy2 = min(limit_xy2, self.slow_xy2)
-    def get_status(self):
-        return {'homed_axes': '' if self.need_home else 'XYZ'}
+    def get_status(self, eventtime):
+        return {'homed_axes': '' if self.need_home else 'xyz'}
 
     # Helper function for DELTA_CALIBRATE script
     def get_calibrate_params(self):
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index 6fe9884f..7df1010a 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -17,7 +17,7 @@ class NoneKinematics:
         pass
     def check_move(self, move):
         pass
-    def get_status(self):
+    def get_status(self, eventtime):
         return {'homed_axes': ''}
 
 def load_kinematics(toolhead, config):
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 3a043ab3..4201978d 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -104,9 +104,10 @@ class PolarKinematics:
             z_ratio = move.move_d / abs(move.axes_d[2])
             move.limit_speed(
                 self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
-    def get_status(self):
-        return {'homed_axes': (("XY" if self.limit_xy2 >= 0. else "") +
-                        ("Z" if self.limit_z[0] <= self.limit_z[1] else ""))}
+    def get_status(self, eventtime):
+        xy_home = "xy" if self.limit_xy2 >= 0. else ""
+        z_home = "z" if self.limit_z[0] <= self.limit_z[1] else ""
+        return {'homed_axes': xy_home + z_home}
 
 def load_kinematics(toolhead, config):
     return PolarKinematics(toolhead, config)
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 6792dbd7..37494c4e 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -45,9 +45,9 @@ class WinchKinematics:
     def check_move(self, move):
         # XXX - boundary checks and speed limits not implemented
         pass
-    def get_status(self):
+    def get_status(self, eventtime):
         # XXX - homed_checks and rail limits not implemented
-        return {'homed_axes': 'XYZ'}
+        return {'homed_axes': 'xyz'}
 
 def load_kinematics(toolhead, config):
     return WinchKinematics(toolhead, config)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 55f1bb36..51d39148 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -482,11 +482,13 @@ class ToolHead:
             status = "Printing"
         else:
             status = "Ready"
-        return { 'status': status, 'print_time': print_time,
-                 'estimated_print_time': estimated_print_time,
-                 'extruder': self.extruder.get_name(),
-                 'position': homing.Coord(*self.commanded_pos),
-                 'printing_time': print_time - last_print_start_time }
+        res = dict(self.kin.get_status(eventtime))
+        res.update({ 'status': status, 'print_time': print_time,
+                     'estimated_print_time': estimated_print_time,
+                     'extruder': self.extruder.get_name(),
+                     'position': homing.Coord(*self.commanded_pos),
+                     'printing_time': print_time - last_print_start_time })
+        return res
     def _handle_shutdown(self):
         self.can_pause = False
         self.move_queue.reset()