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864c78f24a
Move the mcu.flush_moves() code to motion_queuing.flush_steppersync(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
77 lines
3.1 KiB
Python
77 lines
3.1 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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self.stepcompress = []
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self.steppersyncs = []
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self.flush_callbacks = []
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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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self.steppersync_flush = ffi_lib.steppersync_flush
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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 allocate_stepcompress(self, mcu, oid):
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ffi_main, ffi_lib = chelper.get_ffi()
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sc = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
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ffi_lib.stepcompress_free)
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self.stepcompress.append((mcu, sc))
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return sc
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def allocate_steppersync(self, mcu, serialqueue, move_count):
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stepqueues = []
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for sc_mcu, sc in self.stepcompress:
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if sc_mcu is mcu:
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stepqueues.append(sc)
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ffi_main, ffi_lib = chelper.get_ffi()
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ss = ffi_main.gc(
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ffi_lib.steppersync_alloc(serialqueue, stepqueues, len(stepqueues),
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move_count),
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ffi_lib.steppersync_free)
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self.steppersyncs.append((mcu, ss))
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return ss
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def register_stepper(self, config, stepper):
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self.steppers.append(stepper)
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def register_flush_callback(self, callback):
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self.flush_callbacks.append(callback)
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def flush_motion_queues(self, must_flush_time, max_step_gen_time):
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for cb in self.flush_callbacks:
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cb(must_flush_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 flush_steppersync(self, print_time, clear_history_time):
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for mcu, ss in self.steppersyncs:
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clock = mcu.print_time_to_clock(print_time)
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if clock < 0:
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continue
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clear_history_clock = \
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max(0, mcu.print_time_to_clock(clear_history_time))
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ret = self.steppersync_flush(ss, clock, clear_history_clock)
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if ret:
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raise mcu.error("Internal error in MCU '%s' stepcompress"
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% (mcu.get_name(),))
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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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