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5cbe7d83e8
Add an allocate_trapq() helper function to facilitate the creation of a low-level C trapq object. Track all trapq objects and clear history on them globally when the main motion queues are flushed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
40 lines
1.5 KiB
Python
40 lines
1.5 KiB
Python
# Helper code for low-level motion queuing and flushing
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#
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# Copyright (C) 2025 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import chelper
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class PrinterMotionQueuing:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.steppers = []
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self.trapqs = []
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ffi_main, ffi_lib = chelper.get_ffi()
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self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
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def allocate_trapq(self):
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ffi_main, ffi_lib = chelper.get_ffi()
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trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
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self.trapqs.append(trapq)
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return trapq
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def register_stepper(self, config, stepper):
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self.steppers.append(stepper)
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def flush_motion_queues(self, must_flush_time, max_step_gen_time):
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for stepper in self.steppers:
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stepper.generate_steps(max_step_gen_time)
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def clean_motion_queues(self, trapq_free_time, clear_history_time):
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for trapq in self.trapqs:
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self.trapq_finalize_moves(trapq, trapq_free_time,
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clear_history_time)
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def wipe_trapq(self, trapq):
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# Expire any remaining movement in the trapq (force to history list)
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NEVER = 9999999999999999.
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self.trapq_finalize_moves(trapq, NEVER, 0.)
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def lookup_trapq_append(self):
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ffi_main, ffi_lib = chelper.get_ffi()
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return ffi_lib.trapq_append
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def load_config(config):
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return PrinterMotionQueuing(config)
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