From 864c78f24a0dbfe120313ab996c6e4257f644344 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 5 Aug 2025 00:16:13 -0400
Subject: [PATCH] motion_queueing: Add flush_steppersync()

Move the mcu.flush_moves() code to motion_queuing.flush_steppersync().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/extras/motion_queuing.py | 12 ++++++++++++
 klippy/mcu.py                   | 13 -------------
 klippy/toolhead.py              |  3 +--
 3 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/klippy/extras/motion_queuing.py b/klippy/extras/motion_queuing.py
index 55a7b929..fdbb5df2 100644
--- a/klippy/extras/motion_queuing.py
+++ b/klippy/extras/motion_queuing.py
@@ -16,6 +16,7 @@ class PrinterMotionQueuing:
         self.flush_callbacks = []
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
+        self.steppersync_flush = ffi_lib.steppersync_flush
     def allocate_trapq(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -52,6 +53,17 @@ class PrinterMotionQueuing:
         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:
+            clock = mcu.print_time_to_clock(print_time)
+            if clock < 0:
+                continue
+            clear_history_clock = \
+                max(0, mcu.print_time_to_clock(clear_history_time))
+            ret = self.steppersync_flush(ss, clock, clear_history_clock)
+            if ret:
+                raise mcu.error("Internal error in MCU '%s' stepcompress"
+                                % (mcu.get_name(),))
     def wipe_trapq(self, trapq):
         # Expire any remaining movement in the trapq (force to history list)
         NEVER = 9999999999999999.
diff --git a/klippy/mcu.py b/klippy/mcu.py
index c8bc9c9b..db02e2a4 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -970,19 +970,6 @@ class MCU:
     # Move queue tracking
     def request_move_queue_slot(self):
         self._reserved_move_slots += 1
-    def flush_moves(self, print_time, clear_history_time):
-        if self._steppersync is None:
-            return
-        clock = self.print_time_to_clock(print_time)
-        if clock < 0:
-            return
-        clear_history_clock = \
-            max(0, self.print_time_to_clock(clear_history_time))
-        ret = self._ffi_lib.steppersync_flush(self._steppersync, clock,
-                                              clear_history_clock)
-        if ret:
-            raise error("Internal error in MCU '%s' stepcompress"
-                        % (self._name,))
     def check_active(self, print_time, eventtime):
         if self._steppersync is None:
             return
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index bc8c254d..6fd5f2de 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -285,8 +285,7 @@ class ToolHead:
         free_time = sg_flush_time - self.kin_flush_delay
         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)
+        self.motion_queuing.flush_steppersync(flush_time, clear_history_time)
         self.last_flush_time = flush_time
     def _advance_move_time(self, next_print_time):
         pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME