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toolhead: Implement flush "waves" in _advance_flush_time()

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Move the code that implements flushing in waves from
_advance_move_time() to _advance_flush_time().  This also separates
print_time tracking from the _advance_flush_time() implementation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-12 12:23:27 -04:00
parent b0a642a8ea
commit a64207aac3
1 changed files with 29 additions and 16 deletions
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45
klippy/toolhead.py
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@ -269,25 +269,38 @@ class ToolHead:
self.printer.register_event_handler("klippy:shutdown", self.printer.register_event_handler("klippy:shutdown",
self._handle_shutdown) self._handle_shutdown)
# Print time and flush tracking # Print time and flush tracking
def _advance_flush_time(self, flush_time): def _advance_flush_time(self, target_time=None, lazy_target=False):
flush_time = max(flush_time, self.last_flush_time) if target_time is None:
# Generate steps via itersolve # This is a full flush
sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME, target_time = self.need_step_gen_time
self.print_time - self.kin_flush_delay) want_flush_time = want_step_gen_time = target_time
step_gen_time = max(self.last_step_gen_time, sg_flush_want, flush_time) if lazy_target:
self.motion_queuing.flush_motion_queues(flush_time, step_gen_time) # Account for step gen scan windows and optimize step compression
self.last_flush_time = flush_time want_step_gen_time -= self.kin_flush_delay
self.last_step_gen_time = step_gen_time want_flush_time = want_step_gen_time - STEPCOMPRESS_FLUSH_TIME
def _advance_move_time(self, next_print_time): want_flush_time = max(want_flush_time, self.last_flush_time)
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME flush_time = self.last_flush_time
flush_time = max(self.last_flush_time, self.print_time - pt_delay) if want_flush_time > flush_time + 10. * MOVE_BATCH_TIME:
self.print_time = max(self.print_time, next_print_time) # Use closer startup time when coming out of idle state
want_flush_time = max(flush_time, self.print_time - pt_delay) curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
flush_time = max(flush_time, est_print_time)
flush_motion_queues = self.motion_queuing.flush_motion_queues
while 1: while 1:
flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time) flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time)
self._advance_flush_time(flush_time) # Generate steps via itersolve
want_sg_wave = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
want_step_gen_time)
step_gen_time = max(self.last_step_gen_time, want_sg_wave,
flush_time)
flush_motion_queues(flush_time, step_gen_time)
self.last_flush_time = flush_time
self.last_step_gen_time = step_gen_time
if flush_time >= want_flush_time: if flush_time >= want_flush_time:
break break
def _advance_move_time(self, next_print_time):
self.print_time = max(self.print_time, next_print_time)
self._advance_flush_time(self.print_time, lazy_target=True)
def _calc_print_time(self): def _calc_print_time(self):
curtime = self.reactor.monotonic() curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime) est_print_time = self.mcu.estimated_print_time(curtime)
@ -337,7 +350,7 @@ class ToolHead:
self.check_stall_time = 0. self.check_stall_time = 0.
def flush_step_generation(self): def flush_step_generation(self):
self._flush_lookahead() self._flush_lookahead()
self._advance_flush_time(self.need_step_gen_time) self._advance_flush_time()
def get_last_move_time(self): def get_last_move_time(self):
if self.special_queuing_state: if self.special_queuing_state:
self._flush_lookahead() self._flush_lookahead()