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motion_queueing: Add flush_steppersync()

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

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-05 00:16:13 -04:00
parent c09ca4cf5a
commit 864c78f24a
3 changed files with 13 additions and 15 deletions
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12
klippy/extras/motion_queuing.py
View File

@ -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.

13
klippy/mcu.py
View File

@ -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

3
klippy/toolhead.py
View File

@ -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