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motion_queuing: Track kin_flush_delay locally

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Track the kin_flush_delay in both toolhead.py and motion_queuing.py .

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-11 20:01:33 -04:00
parent 5056e1031c
commit a5218619b7
2 changed files with 14 additions and 6 deletions
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15
klippy/extras/motion_queuing.py
View File

@ -7,22 +7,29 @@ import logging
import chelper import chelper
MOVE_HISTORY_EXPIRE = 30. MOVE_HISTORY_EXPIRE = 30.
SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
class PrinterMotionQueuing: class PrinterMotionQueuing:
def __init__(self, config): def __init__(self, config):
self.printer = config.get_printer() self.printer = config.get_printer()
# Low level C allocations
self.trapqs = [] self.trapqs = []
self.stepcompress = [] self.stepcompress = []
self.steppersyncs = [] self.steppersyncs = []
self.flush_callbacks = [] # Low-level C flushing calls
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.steppersync_generate_steps = ffi_lib.steppersync_generate_steps self.steppersync_generate_steps = ffi_lib.steppersync_generate_steps
self.steppersync_flush = ffi_lib.steppersync_flush self.steppersync_flush = ffi_lib.steppersync_flush
self.steppersync_history_expire = ffi_lib.steppersync_history_expire self.steppersync_history_expire = ffi_lib.steppersync_history_expire
# Flush notification callbacks
self.flush_callbacks = []
# History expiration
self.clear_history_time = 0. self.clear_history_time = 0.
is_debug = self.printer.get_start_args().get('debugoutput') is not None is_debug = self.printer.get_start_args().get('debugoutput') is not None
self.is_debugoutput = is_debug self.is_debugoutput = is_debug
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
def allocate_trapq(self): def allocate_trapq(self):
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@ -53,8 +60,7 @@ class PrinterMotionQueuing:
fcbs = list(self.flush_callbacks) fcbs = list(self.flush_callbacks)
fcbs.remove(callback) fcbs.remove(callback)
self.flush_callbacks = fcbs self.flush_callbacks = fcbs
def flush_motion_queues(self, must_flush_time, max_step_gen_time, def flush_motion_queues(self, must_flush_time, max_step_gen_time):
trapq_free_time):
# Invoke flush callbacks (if any) # Invoke flush callbacks (if any)
for cb in self.flush_callbacks: for cb in self.flush_callbacks:
cb(must_flush_time, max_step_gen_time) cb(must_flush_time, max_step_gen_time)
@ -72,6 +78,7 @@ class PrinterMotionQueuing:
raise mcu.error("Internal error in MCU '%s' stepcompress" raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),)) % (mcu.get_name(),))
# Determine maximum history to keep # Determine maximum history to keep
trapq_free_time = max_step_gen_time - self.kin_flush_delay
clear_history_time = self.clear_history_time clear_history_time = self.clear_history_time
if self.is_debugoutput: if self.is_debugoutput:
clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE
@ -90,6 +97,8 @@ class PrinterMotionQueuing:
def lookup_trapq_append(self): def lookup_trapq_append(self):
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.trapq_append return ffi_lib.trapq_append
def set_step_generate_scan_time(self, delay):
self.kin_flush_delay = delay
def stats(self, eventtime): def stats(self, eventtime):
mcu = self.printer.lookup_object('mcu') mcu = self.printer.lookup_object('mcu')
est_print_time = mcu.estimated_print_time(eventtime) est_print_time = mcu.estimated_print_time(eventtime)

5
klippy/toolhead.py
View File

@ -275,9 +275,7 @@ class ToolHead:
sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME, sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
self.print_time - self.kin_flush_delay) self.print_time - self.kin_flush_delay)
sg_flush_time = max(sg_flush_want, flush_time) sg_flush_time = max(sg_flush_want, flush_time)
trapq_free_time = sg_flush_time - self.kin_flush_delay self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time)
self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time,
trapq_free_time)
self.min_restart_time = max(self.min_restart_time, sg_flush_time) self.min_restart_time = max(self.min_restart_time, sg_flush_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):
@ -596,6 +594,7 @@ class ToolHead:
self.kin_flush_times.append(delay) self.kin_flush_times.append(delay)
new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME]) new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME])
self.kin_flush_delay = new_delay self.kin_flush_delay = new_delay
self.motion_queuing.set_step_generate_scan_time(new_delay)
def register_lookahead_callback(self, callback): def register_lookahead_callback(self, callback):
last_move = self.lookahead.get_last() last_move = self.lookahead.get_last()
if last_move is None: if last_move is None: