toolhead: Pass set_position() homing_axes parameter as a string

Use strings such as "xyz" to specify which axes are to be considered
homing during a set_position() call.  This makes the parameter a
little less cryptic.

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

16 files changed, 28 insertions, 23 deletions

diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index 598783a4..0b2187fd 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -136,7 +136,7 @@ class ForceMove:
         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.set_position([x, y, z, curpos[3]], homing_axes="xyz")
         toolhead.get_kinematics().clear_homing_state(clear_axes)
 
 def load_config(config):
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index bbad5337..add209ec 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -187,7 +187,8 @@ class Homing:
         # 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 @@ class Homing:
                                        + 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)
 
diff --git a/klippy/extras/homing_override.py b/klippy/extras/homing_override.py
index e498c8b8..0a987d59 100644
--- a/klippy/extras/homing_override.py
+++ b/klippy/extras/homing_override.py
@@ -46,11 +46,11 @@ class HomingOverride:
         # 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()
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index 40db4a50..9f21cc8d 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -109,7 +109,7 @@ class ManualStepper:
         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()
diff --git a/klippy/extras/safe_z_home.py b/klippy/extras/safe_z_home.py
index ca0756cf..3ebaa13e 100644
--- a/klippy/extras/safe_z_home.py
+++ b/klippy/extras/safe_z_home.py
@@ -37,7 +37,7 @@ class SafeZHoming:
             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,))
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 1db40f4f..0c22172b 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -65,7 +65,8 @@ class CartKinematics:
     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:
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 15169e50..891e58e0 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -39,7 +39,7 @@ class CoreXYKinematics:
     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):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 5298698d..34def72a 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -39,7 +39,7 @@ class CoreXZKinematics:
     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):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index f10586b7..beb1826f 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -88,7 +88,7 @@ class DeltaKinematics:
                         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):
@@ -101,7 +101,7 @@ class DeltaKinematics:
         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):
         # Clearing homing state for each axis individually is not implemented
diff --git a/klippy/kinematics/deltesian.py b/klippy/kinematics/deltesian.py
index d0865475..e0118b34 100644
--- a/klippy/kinematics/deltesian.py
+++ b/klippy/kinematics/deltesian.py
@@ -87,7 +87,7 @@ class DeltesianKinematics:
         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):
@@ -113,8 +113,9 @@ class DeltesianKinematics:
     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
+        for axis_name in homing_axes:
+            axis = "xyz".index(axis_name)
+            self.homed_axis[axis] = True
     def clear_homing_state(self, axes):
         for i, _ in enumerate(self.limits):
             if i in axes:
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 72b0b85b..6d72a89c 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -67,7 +67,8 @@ class HybridCoreXYKinematics:
     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:
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 041df8d7..05fe096e 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -67,7 +67,8 @@ class HybridCoreXZKinematics:
     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:
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 8369d386..548b4bac 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -45,9 +45,9 @@ class PolarKinematics:
     def set_position(self, newpos, homing_axes):
         for s in self.steppers:
             s.set_position(newpos)
-        if 2 in homing_axes:
+        if "z" in homing_axes:
             self.limit_z = self.rails[1].get_range()
-        if 0 in homing_axes and 1 in homing_axes:
+        if "x" in homing_axes and "y" in homing_axes:
             self.limit_xy2 = self.rails[0].get_range()[1]**2
     def clear_homing_state(self, axes):
         if 0 in axes or 1 in axes:
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 89f963d2..6b457ccb 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -74,7 +74,7 @@ class RotaryDeltaKinematics:
         max_xy = math.sqrt(self.max_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 calc_position(self, stepper_positions):
@@ -84,7 +84,7 @@ class RotaryDeltaKinematics:
         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):
         # Clearing homing state for each axis individually is not implemented
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index c69d1b6d..0003826b 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -26,7 +26,7 @@ class WinchKinematics:
         acoords = list(zip(*self.anchors))
         self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)
         self.axes_max = toolhead.Coord(*[max(a) for a in acoords], e=0.)
-        self.set_position([0., 0., 0.], ())
+        self.set_position([0., 0., 0.], "")
     def get_steppers(self):
         return list(self.steppers)
     def calc_position(self, stepper_positions):
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 256915da..f1a9afda 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -457,7 +457,7 @@ class ToolHead:
     # Movement commands
     def get_position(self):
         return list(self.commanded_pos)
-    def set_position(self, newpos, homing_axes=()):
+    def set_position(self, newpos, homing_axes=""):
         self.flush_step_generation()
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trapq_set_position(self.trapq, self.print_time,