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motion_queuing: Remove flush_steppersync()

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Move code from flush_steppersync() to existing flush_motion_queues()
and clean_motion_queues() functions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-05 14:27:45 -04:00
parent 7b25d1c06f
commit 1d569a6631
2 changed files with 13 additions and 13 deletions
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24
klippy/extras/motion_queuing.py
View File

@ -46,26 +46,28 @@ class PrinterMotionQueuing:
def register_flush_callback(self, callback): def register_flush_callback(self, callback):
self.flush_callbacks.append(callback) self.flush_callbacks.append(callback)
def flush_motion_queues(self, must_flush_time, max_step_gen_time): def flush_motion_queues(self, must_flush_time, max_step_gen_time):
# Invoke flush callbacks (if any)
for cb in self.flush_callbacks: for cb in self.flush_callbacks:
cb(must_flush_time) cb(must_flush_time)
# Generate itersolve steps
for stepper in self.steppers: for stepper in self.steppers:
stepper.generate_steps(max_step_gen_time) stepper.generate_steps(max_step_gen_time)
def clean_motion_queues(self, trapq_free_time, clear_history_time): # Flush steps from stepcompress and steppersync
for trapq in self.trapqs:
self.trapq_finalize_moves(trapq, trapq_free_time,
clear_history_time)
def flush_steppersync(self, print_time, clear_history_time):
for mcu, ss in self.steppersyncs: for mcu, ss in self.steppersyncs:
clock = mcu.print_time_to_clock(print_time) clock = max(0, mcu.print_time_to_clock(must_flush_time))
if clock < 0:
continue
ret = self.steppersync_flush(ss, clock) ret = self.steppersync_flush(ss, clock)
if ret: if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress" raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),)) % (mcu.get_name(),))
clear_history_clock = \ def clean_motion_queues(self, trapq_free_time, clear_history_time):
max(0, mcu.print_time_to_clock(clear_history_time)) # Move processed trapq moves to history list, and expire old history
self.steppersync_history_expire(ss, clear_history_clock) for trapq in self.trapqs:
self.trapq_finalize_moves(trapq, trapq_free_time,
clear_history_time)
# Clean up old history entries in stepcompress objects
for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(clear_history_time))
self.steppersync_history_expire(ss, clock)
def wipe_trapq(self, trapq): def wipe_trapq(self, trapq):
# Expire any remaining movement in the trapq (force to history list) # Expire any remaining movement in the trapq (force to history list)
NEVER = 9999999999999999. NEVER = 9999999999999999.

2
klippy/toolhead.py
View File

@ -284,8 +284,6 @@ class ToolHead:
clear_history_time = flush_time - MOVE_HISTORY_EXPIRE clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
free_time = sg_flush_time - self.kin_flush_delay free_time = sg_flush_time - self.kin_flush_delay
self.motion_queuing.clean_motion_queues(free_time, clear_history_time) self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
# Flush stepcompress and mcu steppersync
self.motion_queuing.flush_steppersync(flush_time, clear_history_time)
self.last_flush_time = flush_time self.last_flush_time = flush_time
def _advance_move_time(self, next_print_time): def _advance_move_time(self, next_print_time):
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME