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motion_queuing: Track all trapqs and globally flush all trapqs

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Add an allocate_trapq() helper function to facilitate the creation of
a low-level C trapq object.  Track all trapq objects and clear history
on them globally when the main motion queues are flushed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-04 22:41:15 -04:00
parent 9399e738bc
commit 5cbe7d83e8
5 changed files with 36 additions and 38 deletions
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9
klippy/extras/force_move.py
View File

@ -33,10 +33,10 @@ class ForceMove:
self.printer = config.get_printer()
self.steppers = {}
# Setup iterative solver
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(b'x'), ffi_lib.free)
# Register commands
@ -90,8 +90,7 @@ class ForceMove:
toolhead.flush_step_generation()
stepper.set_trapq(prev_trapq)
stepper.set_stepper_kinematics(prev_sk)
self.trapq_finalize_moves(self.trapq, print_time + 99999.9,
print_time + 99999.9)
self.motion_queuing.wipe_trapq(self.trapq)
def _lookup_stepper(self, gcmd):
name = gcmd.get('STEPPER')
if name not in self.steppers:

11
klippy/extras/manual_stepper.py
View File

@ -25,10 +25,9 @@ class ManualStepper:
self.pos_min = config.getfloat('position_min', None)
self.pos_max = config.getfloat('position_max', None)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
self.rail.setup_itersolve('cartesian_stepper_alloc', b'x')
self.rail.set_trapq(self.trapq)
# Registered with toolhead as an axtra axis
@ -76,8 +75,6 @@ class ManualStepper:
self.sync_print_time()
self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
speed, accel)
self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
self.next_cmd_time + 99999.9)
toolhead = self.printer.lookup_object('toolhead')
toolhead.note_mcu_movequeue_activity(self.next_cmd_time)
if sync:
@ -208,7 +205,7 @@ class ManualStepper:
toolhead.drip_update_time(maxtime, drip_completion)
# Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor()
self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0)
self.motion_queuing.wipe_trapq(self.trapq)
self.rail.set_position([newpos[0], 0., 0.])
self.sync_print_time()
def get_kinematics(self):

20
klippy/extras/motion_queuing.py
View File

@ -4,16 +4,36 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import chelper
class PrinterMotionQueuing:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = []
self.trapqs = []
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
def allocate_trapq(self):
ffi_main, ffi_lib = chelper.get_ffi()
trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapqs.append(trapq)
return trapq
def register_stepper(self, config, stepper):
self.steppers.append(stepper)
def flush_motion_queues(self, must_flush_time, max_step_gen_time):
for stepper in self.steppers:
stepper.generate_steps(max_step_gen_time)
def clean_motion_queues(self, trapq_free_time, clear_history_time):
for trapq in self.trapqs:
self.trapq_finalize_moves(trapq, trapq_free_time,
clear_history_time)
def wipe_trapq(self, trapq):
# Expire any remaining movement in the trapq (force to history list)
NEVER = 9999999999999999.
self.trapq_finalize_moves(trapq, NEVER, 0.)
def lookup_trapq_append(self):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.trapq_append
def load_config(config):
return PrinterMotionQueuing(config)

7
klippy/kinematics/extruder.py
View File

@ -163,10 +163,9 @@ class PrinterExtruder:
self.instant_corner_v = config.getfloat(
'instantaneous_corner_velocity', 1., minval=0.)
# Setup extruder trapq (trapezoidal motion queue)
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
# Setup extruder stepper
self.extruder_stepper = None
if (config.get('step_pin', None) is not None

27
klippy/toolhead.py
View File

@ -245,14 +245,10 @@ class ToolHead:
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = []
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
# Motion flushing
# Setup for generating moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.flush_trapqs = [self.trapq]
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
# Create kinematics class
gcode = self.printer.lookup_object('gcode')
self.Coord = gcode.Coord
@ -287,8 +283,7 @@ class ToolHead:
if not self.can_pause:
clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
free_time = sg_flush_time - self.kin_flush_delay
for trapq in self.flush_trapqs:
self.trapq_finalize_moves(trapq, free_time, clear_history_time)
self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
# Flush stepcompress and mcu steppersync
for m in self.all_mcus:
m.flush_moves(flush_time, clear_history_time)
@ -484,32 +479,20 @@ class ToolHead:
eventtime = self.reactor.pause(eventtime + 0.100)
def set_extruder(self, extruder, extrude_pos):
# XXX - should use add_extra_axis
prev_ea_trapq = self.extra_axes[0].get_trapq()
if prev_ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(prev_ea_trapq)
self.extra_axes[0] = extruder
self.commanded_pos[3] = extrude_pos
ea_trapq = extruder.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
def get_extruder(self):
return self.extra_axes[0]
def add_extra_axis(self, ea, axis_pos):
self._flush_lookahead()
self.extra_axes.append(ea)
self.commanded_pos.append(axis_pos)
ea_trapq = ea.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
self.printer.send_event("toolhead:update_extra_axes")
def remove_extra_axis(self, ea):
self._flush_lookahead()
if ea not in self.extra_axes:
return
ea_index = self.extra_axes.index(ea) + 3
ea_trapq = ea.get_trapq()
if ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(ea_trapq)
self.commanded_pos.pop(ea_index)
self.extra_axes.pop(ea_index - 3)
self.printer.send_event("toolhead:update_extra_axes")
@ -574,7 +557,7 @@ class ToolHead:
next_move_time = self._drip_load_trapq(move)
self.drip_update_time(next_move_time, drip_completion)
# Move finished; cleanup any remnants on trapq
self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0)
self.motion_queuing.wipe_trapq(self.trapq)
# Misc commands
def stats(self, eventtime):
max_queue_time = max(self.print_time, self.last_flush_time)