force_move: Implement CLEAR for SET_KINEMATIC_POSITION (#6262)

`CLEAR` clears the homing status (resets the axis limits) without turning off
the motors. This is particularly useful when implementing safe Z homing in
`[homing_override]` on printers with multiple independent Z steppers (where
`FORCE_MOVE` can't be used).

Signed-off-by: Dennis Marttinen <twelho@welho.tech>

11 files changed, 53 insertions, 29 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 0c4bb925..2715d172 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -73,9 +73,10 @@ class CartKinematics:
             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 @@ class CartKinematics:
             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):
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index d3b75500..dc80d1ee 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -43,9 +43,10 @@ class CoreXYKinematics:
             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 @@ class CoreXYKinematics:
             # 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):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 72134c32..b1c46146 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -43,9 +43,10 @@ class CoreXZKinematics:
             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 @@ class CoreXZKinematics:
             # 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):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index bb81ab18..04a75547 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -105,6 +105,11 @@ class DeltaKinematics:
         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])
@@ -112,8 +117,7 @@ class DeltaKinematics:
         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
diff --git a/klippy/kinematics/deltesian.py b/klippy/kinematics/deltesian.py
index bb231370..e48949af 100644
--- a/klippy/kinematics/deltesian.py
+++ b/klippy/kinematics/deltesian.py
@@ -117,6 +117,10 @@ class DeltesianKinematics:
             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
diff --git a/klippy/kinematics/hybrid_corexy.py b/klippy/kinematics/hybrid_corexy.py
index 265a0e6d..85f20bcc 100644
--- a/klippy/kinematics/hybrid_corexy.py
+++ b/klippy/kinematics/hybrid_corexy.py
@@ -75,9 +75,10 @@ class HybridCoreXYKinematics:
             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 @@ class HybridCoreXYKinematics:
             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):
diff --git a/klippy/kinematics/hybrid_corexz.py b/klippy/kinematics/hybrid_corexz.py
index 2d89e3f7..8e5c3d92 100644
--- a/klippy/kinematics/hybrid_corexz.py
+++ b/klippy/kinematics/hybrid_corexz.py
@@ -75,9 +75,10 @@ class HybridCoreXZKinematics:
             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 @@ class HybridCoreXZKinematics:
             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):
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index ff3c57a9..fda1f073 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -13,6 +13,8 @@ class NoneKinematics:
         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):
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index deed26d0..fdd428a6 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -51,9 +51,12 @@ class PolarKinematics:
             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 @@ class PolarKinematics:
         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
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 1eb050ba..46a63b82 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -88,6 +88,11 @@ class RotaryDeltaKinematics:
         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 @@ class RotaryDeltaKinematics:
         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
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 11475d24..c69d1b6d 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -36,6 +36,9 @@ class WinchKinematics:
     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])