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toolhead: Add kin_flush_delay in note_mcu_movequeue_activity()

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Automatically add kin_flush_delay to the requested flush time if
is_step_gen=True.  This simplifies the callers.

Also, rename self.step_gen_time to self.need_step_gen_time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-12 11:43:26 -04:00
parent 1e7c67919e
commit b0a642a8ea
1 changed files with 7 additions and 6 deletions
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13
klippy/toolhead.py
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@ -240,7 +240,7 @@ class ToolHead:
self.flush_timer = self.reactor.register_timer(self._flush_handler) self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.do_kick_flush_timer = True self.do_kick_flush_timer = True
self.last_flush_time = self.last_step_gen_time = 0. self.last_flush_time = self.last_step_gen_time = 0.
self.need_flush_time = self.step_gen_time = 0. self.need_flush_time = self.need_step_gen_time = 0.
# Kinematic step generation scan window time tracking # Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = [] self.kin_flush_times = []
@ -326,7 +326,7 @@ class ToolHead:
for cb in move.timing_callbacks: for cb in move.timing_callbacks:
cb(next_move_time) cb(next_move_time)
# Generate steps for moves # Generate steps for moves
self.note_mcu_movequeue_activity(next_move_time + self.kin_flush_delay) self.note_mcu_movequeue_activity(next_move_time)
self._advance_move_time(next_move_time) self._advance_move_time(next_move_time)
def _flush_lookahead(self): def _flush_lookahead(self):
# Transit from "NeedPrime"/"Priming"/"Drip"/main state to "NeedPrime" # Transit from "NeedPrime"/"Priming"/"Drip"/main state to "NeedPrime"
@ -337,7 +337,7 @@ 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.step_gen_time) self._advance_flush_time(self.need_step_gen_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()
@ -509,7 +509,7 @@ class ToolHead:
drip_completion.wait(curtime + wait_time) drip_completion.wait(curtime + wait_time)
continue continue
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time) npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self.note_mcu_movequeue_activity(npt + self.kin_flush_delay) self.note_mcu_movequeue_activity(npt)
self._advance_move_time(npt) self._advance_move_time(npt)
# Exit "Drip" state # Exit "Drip" state
self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
@ -601,9 +601,10 @@ class ToolHead:
return return
last_move.timing_callbacks.append(callback) last_move.timing_callbacks.append(callback)
def note_mcu_movequeue_activity(self, mq_time, is_step_gen=True): def note_mcu_movequeue_activity(self, mq_time, is_step_gen=True):
self.need_flush_time = max(self.need_flush_time, mq_time)
if is_step_gen: if is_step_gen:
self.step_gen_time = max(self.step_gen_time, mq_time) mq_time += self.kin_flush_delay
self.need_step_gen_time = max(self.need_step_gen_time, mq_time)
self.need_flush_time = max(self.need_flush_time, mq_time)
if self.do_kick_flush_timer: if self.do_kick_flush_timer:
self.do_kick_flush_timer = False self.do_kick_flush_timer = False
self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self.reactor.update_timer(self.flush_timer, self.reactor.NOW)