andreil/klipper
1
0
Fork 0
mirror of https://github.com/andreili/klipper.git synced 2025-09-14 17:31:12 +02:00
Code Issues Packages Projects Releases Wiki Activity

toolhead: Do not modify print_time in drip_update_time()

Browse Source 
Implement drip_update_time() using _advance_flush_time() instead of
_advance_move_time().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-13 14:07:03 -04:00
parent 872615cfcf
commit db5cbe56d3
2 changed files with 22 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
klippy/extras/manual_stepper.py
View File

@ -197,11 +197,12 @@ class ManualStepper:
def drip_move(self, newpos, speed, drip_completion):
# Submit move to trapq
self.sync_print_time()
maxtime = self._submit_move(self.next_cmd_time, newpos[0],
speed, self.homing_accel)
start_time = self.next_cmd_time
end_time = self._submit_move(start_time, newpos[0],
speed, self.homing_accel)
# Drip updates to motors
toolhead = self.printer.lookup_object('toolhead')
toolhead.drip_update_time(maxtime, drip_completion)
toolhead.drip_update_time(start_time, end_time, drip_completion)
# Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor()
self.motion_queuing.wipe_trapq(self.trapq)

42
klippy/toolhead.py
View File

@ -344,7 +344,7 @@ class ToolHead:
self.note_mcu_movequeue_activity(next_move_time)
self._advance_move_time(next_move_time)
def _flush_lookahead(self):
# Transit from "NeedPrime"/"Priming"/"Drip"/main state to "NeedPrime"
# Transit from "NeedPrime"/"Priming"/main state to "NeedPrime"
self._process_lookahead()
self.special_queuing_state = "NeedPrime"
self.need_check_pause = -1.
@ -511,32 +511,29 @@ class ToolHead:
def get_extra_axes(self):
return [None, None, None] + self.extra_axes
# Homing "drip move" handling
def drip_update_time(self, next_print_time, drip_completion):
# Transition from "NeedPrime"/"Priming"/main state to "Drip" state
self.special_queuing_state = "Drip"
self.need_check_pause = self.reactor.NEVER
def drip_update_time(self, start_time, end_time, drip_completion):
# Disable background flushing from timer
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
self.do_kick_flush_timer = False
self.lookahead.set_flush_time(BUFFER_TIME_HIGH)
self.check_stall_time = 0.
# Update print_time in segments until drip_completion signal
# Flush in segments until drip_completion signal
flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay
while self.print_time < next_print_time:
flush_time = start_time
while flush_time < end_time:
if drip_completion.test():
break
curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
wait_time = self.print_time - est_print_time - flush_delay
wait_time = flush_time - est_print_time - flush_delay
if wait_time > 0. and self.can_pause:
# Pause before sending more steps
drip_completion.wait(curtime + wait_time)
continue
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self.note_mcu_movequeue_activity(npt)
self._advance_move_time(npt)
# Exit "Drip" state
flush_time = min(flush_time + DRIP_SEGMENT_TIME, end_time)
self.note_mcu_movequeue_activity(flush_time)
self._advance_flush_time(flush_time, lazy_target=True)
# Restore background flushing
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.flush_step_generation()
self._advance_flush_time()
def _drip_load_trapq(self, submit_move):
# Queue move into trapezoid motion queue (trapq)
if submit_move.move_d:
@ -544,18 +541,17 @@ class ToolHead:
self.lookahead.add_move(submit_move)
moves = self.lookahead.flush()
self._calc_print_time()
next_move_time = self.print_time
start_time = end_time = self.print_time
for move in moves:
self.trapq_append(
self.trapq, next_move_time,
self.trapq, end_time,
move.accel_t, move.cruise_t, move.decel_t,
move.start_pos[0], move.start_pos[1], move.start_pos[2],
move.axes_r[0], move.axes_r[1], move.axes_r[2],
move.start_v, move.cruise_v, move.accel)
next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t)
end_time = end_time + move.accel_t + move.cruise_t + move.decel_t
self.lookahead.reset()
return next_move_time
return start_time, end_time
def drip_move(self, newpos, speed, drip_completion):
# Create and verify move is valid
newpos = newpos[:3] + self.commanded_pos[3:]
@ -566,8 +562,8 @@ class ToolHead:
self.dwell(self.kin_flush_delay)
# Transmit move in "drip" mode
self._process_lookahead()
next_move_time = self._drip_load_trapq(move)
self.drip_update_time(next_move_time, drip_completion)
start_time, end_time = self._drip_load_trapq(move)
self.drip_update_time(start_time, end_time, drip_completion)
# Move finished; cleanup any remnants on trapq
self.motion_queuing.wipe_trapq(self.trapq)
# Misc commands
@ -578,8 +574,6 @@ class ToolHead:
est_print_time = self.mcu.estimated_print_time(eventtime)
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":
buffer_time = 0.
return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
self.print_time, max(buffer_time, 0.), self.print_stall)
def check_busy(self, eventtime):