How do you help a parent, but still place boundaries on them, because you realize they're taking advantage of your family's generosity?

I previously posted about my father just moving into my home. He supposedly couldn't take care of himself any longer. He was in the hospital for pneumonia & came to pick up his dog, we were caring for, and never left our home. He was abused by my brother. We kicked out my brother's girlfriend from his home in September. Dad quit paying his bills after that and the loan company wanted to do a short sale on his home. Dad is a hoarder & went on a spending spree. I had no clue of this when he came here. In hindsight, I honestly feel now that my father "put on a show" by pretending to be unconscious and having me call the ambulance twice in one week, so that I would open up my home to him. I got his affairs in order. He never paid me one dime & he suddenly quit talking to us a month ago. My previous post goes into some of his behaviors. He never helped one bit. Just would come to the dinner table but very little conversing. My husband informed him that he is going to have to get rid of his dog, as my husband has Stage 3 asthma and we had to get rid of our very loved husky this past summer. Suddenly, Dad wants to go back home. This is after living here 2 months, not contributing one dime toward food or anything. He earns twice as much income as our family at the moment, as my husband applied for SSDI last February. So we are living on only my income. I do not want my father to think every time he spends too much that he can take advantage of me. See, there were talks of him selling his home & using that money to add onto our home. Now that's the last thing I would ever want. My teens are ticked off at him not ever saying one thank you to me for all I am doing. He is very self absorbed. For instance, he drinks up all of the milk & not caring if anyone has any. He thinks I am "ridiculous" with all the cleaning I do. We live 3 hours away from my father's home. I told him if he goes back, that I cannot be there at his beck and call. I also told him we cannot come get his dog if he is hospitalized again either. I suggested senior apartments but he won't even respond to that. He says he is just scared about the "rest of his life." I am beyond frustrated. He misses his "son". Which just makes me sick, as my brother is dealing with a felonious assault charge right now in court for giving my father a concussion. My dad was never a good father to me & now I feel he is using my family. What are my options if he needs help again? Coming to our home is not an option. He has totally depressed everyone here by moping around. What are my options?