kinematics: Add get_status() method to kinematics

Signed-off-by: Florian Heilmann <Florian.Heilmann@gmx.net>

6 files changed, 19 insertions, 0 deletions

diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 0aa00f18..a08c3770 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -124,6 +124,10 @@ class CartKinematics:
         for i, rail in enumerate(self.rails):
             if move.axes_d[i]:
                 rail.step_itersolve(move.cmove)
+    def get_status(self):
+        return {'homed_axes': "".join([a
+                    for a, (l, h) in zip("XYZ", self.limits) if l <= h])
+        }
     # 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 03580e3e..2470787e 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -111,6 +111,10 @@ class CoreXYKinematics:
             rail_y.step_itersolve(cmove)
         if axes_d[2]:
             rail_z.step_itersolve(cmove)
+    def get_status(self):
+        return {'homed_axes': "".join([a
+                    for a, (l, h) in zip("XYZ", self.limits) if l <= h])
+        }
 
 def load_kinematics(toolhead, config):
     return CoreXYKinematics(toolhead, config)
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index a84f6852..277d1147 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -150,6 +150,9 @@ class DeltaKinematics:
             self._check_motor_enable(print_time)
         for rail in self.rails:
             rail.step_itersolve(move.cmove)
+    def get_status(self):
+        return {'homed_axes': '' if self.need_home else 'XYZ'}
+
     # Helper function for DELTA_CALIBRATE script
     def get_calibrate_params(self):
         out = { 'radius': self.radius }
diff --git a/klippy/kinematics/none.py b/klippy/kinematics/none.py
index d634ed9d..56cb8310 100644
--- a/klippy/kinematics/none.py
+++ b/klippy/kinematics/none.py
@@ -21,6 +21,8 @@ class NoneKinematics:
         pass
     def move(self, print_time, move):
         pass
+    def get_status(self):
+        return {'homed_axes': ''}
 
 def load_kinematics(toolhead, config):
     return NoneKinematics(toolhead, config)
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 790ce467..230e67f6 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -130,6 +130,9 @@ class PolarKinematics:
                 stepper_bed.set_commanded_position(angle - 2. * math.pi)
         if axes_d[2]:
             self.rails[1].step_itersolve(cmove)
+    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 load_kinematics(toolhead, config):
     return PolarKinematics(toolhead, config)
diff --git a/klippy/kinematics/winch.py b/klippy/kinematics/winch.py
index 56b7658c..132d0964 100644
--- a/klippy/kinematics/winch.py
+++ b/klippy/kinematics/winch.py
@@ -57,6 +57,9 @@ class WinchKinematics:
             self._check_motor_enable(print_time)
         for s in self.steppers:
             s.step_itersolve(move.cmove)
+    def get_status(self):
+        # XXX - homed_checks and rail limits not implemented
+        return {'homed_axes': 'XYZ'}
 
 def load_kinematics(toolhead, config):
     return WinchKinematics(toolhead, config)