kinematics: Generic Cartesian kinematics implementation (#6815)

* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

4 files changed, 14 insertions, 5 deletions

diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index 2c7468bc..689ec4fa 100644
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -52,7 +52,7 @@ class PhaseCalc:
 class EndstopPhase:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.name = config.get_name().split()[1]
+        self.name = " ".join(config.get_name().split()[1:])
         # Obtain step_distance and microsteps from stepper config section
         sconfig = config.getsection(self.name)
         rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
@@ -118,7 +118,7 @@ class EndstopPhase:
         return delta * self.step_dist
     def handle_home_rails_end(self, homing_state, rails):
         for rail in rails:
-            stepper = rail.get_steppers()[0]
+            stepper = rail.get_endstops()[0][0].get_steppers()[0]
             if stepper.get_name() == self.name:
                 trig_mcu_pos = homing_state.get_trigger_position(self.name)
                 align = self.align_endstop(rail)
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index add209ec..723648c1 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -45,7 +45,7 @@ class StepperPosition:
 class HomingMove:
     def __init__(self, printer, endstops, toolhead=None):
         self.printer = printer
-        self.endstops = endstops
+        self.endstops = [es for es in endstops if es[0].get_steppers()]
         if toolhead is None:
             toolhead = printer.lookup_object('toolhead')
         self.toolhead = toolhead
@@ -71,7 +71,9 @@ class HomingMove:
             sname = stepper.get_name()
             kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
         thpos = self.toolhead.get_position()
-        return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
+        cpos = kin.calc_position(kin_spos)
+        return [cp if cp is not None else tp
+                for cp, tp in zip(cpos, thpos[:3])] + thpos[3:]
     def homing_move(self, movepos, speed, probe_pos=False,
                     triggered=True, check_triggered=True):
         # Notify start of homing/probing move
@@ -233,6 +235,10 @@ class Homing:
                         for s in kin.get_steppers()}
             newpos = kin.calc_position(kin_spos)
             for axis in force_axes:
+                if newpos[axis] is None:
+                    raise self.printer.command_error(
+                            "Cannot determine position of toolhead on "
+                            "axis %s after homing" % "xyz"[axis])
                 homepos[axis] = newpos[axis]
             self.toolhead.set_position(homepos)
 
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index 1465590d..c15ce235 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -11,7 +11,7 @@ class ManualStepper:
         self.printer = config.get_printer()
         if config.get('endstop_pin', None) is not None:
             self.can_home = True
-            self.rail = stepper.PrinterRail(
+            self.rail = stepper.LookupRail(
                 config, need_position_minmax=False, default_position_endstop=0.)
             self.steppers = self.rail.get_steppers()
         else:
diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py
index c919b983..64d5f855 100644
--- a/klippy/extras/probe.py
+++ b/klippy/extras/probe.py
@@ -177,6 +177,9 @@ def lookup_minimum_z(config):
     if config.has_section('stepper_z'):
         zconfig = config.getsection('stepper_z')
         return zconfig.getfloat('position_min', 0., note_valid=False)
+    elif config.has_section('carriage z'):
+        zconfig = config.getsection('carriage z')
+        return zconfig.getfloat('position_min', 0., note_valid=False)
     pconfig = config.getsection('printer')
     return pconfig.getfloat('minimum_z_position', 0., note_valid=False)