force_move: implement CLEAR for SET_KINEMATIC_POSITION

`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 <[email protected]>
Klipper3d · Aug 18, 2024 · 259afc0 · 259afc0
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diff --git a/docs/G-Codes.md b/docs/G-Codes.md
@@ -553,15 +553,16 @@ state; issue a G28 afterwards to reset the kinematics. This command is
 intended for low-level diagnostics and debugging.
 
 #### SET_KINEMATIC_POSITION
-`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
-the low-level kinematic code to believe the toolhead is at the given
-cartesian position. This is a diagnostic and debugging command; use
-SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
-axis is not specified then it will default to the position that the
-head was last commanded to. Setting an incorrect or invalid position
-may lead to internal software errors. This command may invalidate
-future boundary checks; issue a G28 afterwards to reset the
-kinematics.
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]
+[CLEAR=<[X][Y][Z]>]`: Force the low-level kinematic code to believe the
+toolhead is at the given cartesian position. This is a diagnostic and
+debugging command; use SET_GCODE_OFFSET and/or G92 for regular axis
+transformations. If an axis is not specified then it will default to the
+position that the head was last commanded to. Setting an incorrect or
+invalid position may lead to internal software errors. Use the CLEAR
+parameter to forget the homing state for the given axes. This command
+may invalidate future boundary checks; issue a G28 afterwards to reset
+the kinematics.
 
 ### [gcode]
 

diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
@@ -131,8 +131,16 @@ def cmd_SET_KINEMATIC_POSITION(self, gcmd):
         x = gcmd.get_float('X', curpos[0])
         y = gcmd.get_float('Y', curpos[1])
         z = gcmd.get_float('Z', curpos[2])
-        logging.info("SET_KINEMATIC_POSITION pos=%.3f,%.3f,%.3f", x, y, z)
-        toolhead.set_position([x, y, z, curpos[3]], homing_axes=(0, 1, 2))
+        clear = gcmd.get('CLEAR', '').upper()
+        axes = ['X', 'Y', 'Z']
+        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),
+            clear_axes=clear_axes
+        )
 
 def load_config(config):
     return ForceMove(config)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
@@ -453,13 +453,14 @@ def _flush_handler(self, eventtime):
     # 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=(), clear_axes=()):
         self.flush_step_generation()
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trapq_set_position(self.trapq, self.print_time,
                                    newpos[0], newpos[1], newpos[2])
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos, homing_axes)
+        self.kin.clear_homing_state(clear_axes)
         self.printer.send_event("toolhead:set_position")
     def move(self, newpos, speed):
         move = Move(self, self.commanded_pos, newpos, speed)