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motion_queuing: Remove clean_motion_queues()

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Merge the clean_motion_queues() code into the existing
flush_motion_queues() code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-06 13:27:24 -04:00
parent 2919f37343
commit d6d8587289
2 changed files with 7 additions and 6 deletions
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6
klippy/extras/motion_queuing.py
View File

@ -53,10 +53,12 @@ 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)
# Generate stepper movement and transmit
for mcu, ss in self.steppersyncs: for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(must_flush_time)) clock = max(0, mcu.print_time_to_clock(must_flush_time))
# Generate steps # Generate steps
@ -69,7 +71,7 @@ class PrinterMotionQueuing:
if ret: if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress" raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),)) % (mcu.get_name(),))
def clean_motion_queues(self, trapq_free_time): # Determine maximum history to keep
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

7
klippy/toolhead.py
View File

@ -275,11 +275,10 @@ 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)
self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time) trapq_free_time = sg_flush_time - self.kin_flush_delay
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)
# Free trapq entries that are no longer needed
free_time = sg_flush_time - self.kin_flush_delay
self.motion_queuing.clean_motion_queues(free_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):
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME