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motion_queuing: Move clear_history_time from toolhead to motion_queuing

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Implement the 30 second clear_history_time offset checking directly in
the motion_queuing module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-05 14:39:04 -04:00
parent 6d59279438
commit b5e573957c
2 changed files with 16 additions and 8 deletions
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15
klippy/extras/motion_queuing.py
View File

@ -6,6 +6,8 @@
import logging
import chelper
MOVE_HISTORY_EXPIRE = 30.
class PrinterMotionQueuing:
def __init__(self, config):
self.printer = config.get_printer()
@ -18,6 +20,9 @@ class PrinterMotionQueuing:
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.steppersync_flush = ffi_lib.steppersync_flush
self.steppersync_history_expire = ffi_lib.steppersync_history_expire
self.clear_history_time = 0.
is_debug = self.printer.get_start_args().get('debugoutput') is not None
self.is_debugoutput = is_debug
def allocate_trapq(self):
ffi_main, ffi_lib = chelper.get_ffi()
trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@ -59,7 +64,10 @@ class PrinterMotionQueuing:
if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),))
def clean_motion_queues(self, trapq_free_time, clear_history_time):
def clean_motion_queues(self, trapq_free_time):
clear_history_time = self.clear_history_time
if self.is_debugoutput:
clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE
# Move processed trapq moves to history list, and expire old history
for trapq in self.trapqs:
self.trapq_finalize_moves(trapq, trapq_free_time,
@ -75,6 +83,11 @@ class PrinterMotionQueuing:
def lookup_trapq_append(self):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.trapq_append
def stats(self, eventtime):
mcu = self.printer.lookup_object('mcu')
est_print_time = mcu.estimated_print_time(eventtime)
self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
return False, ""
def load_config(config):
return PrinterMotionQueuing(config)

9
klippy/toolhead.py
View File

@ -200,7 +200,6 @@ MIN_KIN_TIME = 0.100
MOVE_BATCH_TIME = 0.500
STEPCOMPRESS_FLUSH_TIME = 0.050
SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
MOVE_HISTORY_EXPIRE = 30.
DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.100
@ -241,7 +240,7 @@ class ToolHead:
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.do_kick_flush_timer = True
self.last_flush_time = self.min_restart_time = 0.
self.need_flush_time = self.step_gen_time = self.clear_history_time = 0.
self.need_flush_time = self.step_gen_time = 0.
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = []
@ -279,11 +278,8 @@ class ToolHead:
self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time)
self.min_restart_time = max(self.min_restart_time, sg_flush_time)
# Free trapq entries that are no longer needed
clear_history_time = self.clear_history_time
if not self.can_pause:
clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
free_time = sg_flush_time - self.kin_flush_delay
self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
self.motion_queuing.clean_motion_queues(free_time)
self.last_flush_time = flush_time
def _advance_move_time(self, next_print_time):
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
@ -561,7 +557,6 @@ class ToolHead:
for m in self.all_mcus:
m.check_active(max_queue_time, eventtime)
est_print_time = self.mcu.estimated_print_time(eventtime)
self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
buffer_time = self.print_time - est_print_time
is_active = buffer_time > -60. or not self.special_queuing_state
if self.special_queuing_state == "Drip":