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toolhead: Avoid toolhead.move() and toolhead._process_moves() in drip_move()

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Implement move checking and trapq loading directly from drip_move().
This simplifies the interactions between these components.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-12 16:48:36 -04:00
parent 6202a0f3bc
commit 765de72f9e
1 changed files with 53 additions and 42 deletions
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95
klippy/toolhead.py
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@ -202,8 +202,6 @@ MOVE_HISTORY_EXPIRE = 30.
DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.100
class DripModeEndSignal(Exception):
pass
# Main code to track events (and their timing) on the printer toolhead
class ToolHead:
@ -246,7 +244,6 @@ class ToolHead:
self.print_time = 0.
self.special_queuing_state = "NeedPrime"
self.priming_timer = None
self.drip_completion = None
# Flush tracking
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.do_kick_flush_timer = True
@ -338,10 +335,9 @@ class ToolHead:
return
# Resync print_time if necessary
if self.special_queuing_state:
if self.special_queuing_state != "Drip":
# Transition from "NeedPrime"/"Priming" state to main state
self.special_queuing_state = ""
self.need_check_pause = -1.
# Transition from "NeedPrime"/"Priming" state to main state
self.special_queuing_state = ""
self.need_check_pause = -1.
self._calc_print_time()
# Queue moves into trapezoid motion queue (trapq)
next_move_time = self.print_time
@ -360,8 +356,6 @@ class ToolHead:
for cb in move.timing_callbacks:
cb(next_move_time)
# Generate steps for moves
if self.special_queuing_state:
self._update_drip_move_time(next_move_time)
self.note_mcu_movequeue_activity(next_move_time + self.kin_flush_delay,
set_step_gen_time=True)
self._advance_move_time(next_move_time)
@ -509,49 +503,66 @@ class ToolHead:
def get_extruder(self):
return self.extruder
# Homing "drip move" handling
def _update_drip_move_time(self, next_print_time):
flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay
while self.print_time < next_print_time:
if self.drip_completion.test():
raise DripModeEndSignal()
curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
wait_time = self.print_time - est_print_time - flush_delay
if wait_time > 0. and self.can_pause:
# Pause before sending more steps
self.drip_completion.wait(curtime + wait_time)
continue
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self.note_mcu_movequeue_activity(npt + self.kin_flush_delay,
set_step_gen_time=True)
self._advance_move_time(npt)
def drip_move(self, newpos, speed, drip_completion):
self.dwell(self.kin_flush_delay)
def drip_update_time(self, next_print_time, drip_completion):
# Transition from "NeedPrime"/"Priming"/main state to "Drip" state
self._process_lookahead()
self.special_queuing_state = "Drip"
self.need_check_pause = self.reactor.NEVER
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
self.do_kick_flush_timer = False
self.lookahead.set_flush_time(BUFFER_TIME_HIGH)
self.check_stall_time = 0.
self.drip_completion = drip_completion
# Submit move
try:
self.move(newpos, speed)
except self.printer.command_error as e:
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.flush_step_generation()
raise
# Transmit move in "drip" mode
try:
self._process_lookahead()
except DripModeEndSignal as e:
self.lookahead.reset()
self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0)
# Update print_time in segments until drip_completion signal
flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay
while self.print_time < next_print_time:
if drip_completion.test():
break
curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
wait_time = self.print_time - est_print_time - flush_delay
if wait_time > 0. and self.can_pause:
# Pause before sending more steps
drip_completion.wait(curtime + wait_time)
continue
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self.note_mcu_movequeue_activity(npt + self.kin_flush_delay,
set_step_gen_time=True)
self._advance_move_time(npt)
# Exit "Drip" state
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.flush_step_generation()
def _drip_load_trapq(self, submit_move):
# Queue move into trapezoid motion queue (trapq)
if submit_move.move_d:
self.commanded_pos[:] = submit_move.end_pos
self.lookahead.add_move(submit_move)
moves = self.lookahead.flush()
self._calc_print_time()
next_move_time = self.print_time
for move in moves:
self.trapq_append(
self.trapq, next_move_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t)
self.lookahead.reset()
return next_move_time
def drip_move(self, newpos, speed, drip_completion):
# Create and verify move is valid
newpos = newpos[:3] + self.commanded_pos[3:]
move = Move(self, self.commanded_pos, newpos, speed)
if move.move_d:
self.kin.check_move(move)
# Make sure stepper movement doesn't start before nominal start time
self.dwell(self.kin_flush_delay)
# Transmit move in "drip" mode
self._process_lookahead()
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)
# Misc commands
def stats(self, eventtime):
max_queue_time = max(self.print_time, self.last_flush_time)