toolhead: Rename _full_flush() to flush_step_generation() and use globally

Update code that modifies the low-level kinematics handlers to first
call toolhead.flush_step_generation().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

7 files changed, 21 insertions, 10 deletions

diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index f45b966c..f372b1ab 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -144,6 +144,8 @@ class BLTouchEndstopWrapper:
         self.send_cmd(None)
         self.sync_print_time()
         self.mcu_endstop.home_prepare()
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.flush_step_generation()
         self.start_mcu_pos = [(s, s.get_mcu_position())
                               for s in self.mcu_endstop.get_steppers()]
     def home_finalize(self):
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index 187ba91b..12707f4c 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -71,10 +71,11 @@ class ForceMove:
             toolhead.dwell(STALL_TIME)
     def manual_move(self, stepper, dist, speed, accel=0.):
         toolhead = self.printer.lookup_object('toolhead')
-        print_time = toolhead.get_last_move_time()
+        toolhead.flush_step_generation()
         prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
         stepper.set_position((0., 0., 0.))
         axis_r, accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
+        print_time = toolhead.get_last_move_time()
         self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
                           0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
         print_time += accel_t + cruise_t + accel_t
diff --git a/klippy/extras/manual_probe.py b/klippy/extras/manual_probe.py
index c3fcadb9..0dfba2ff 100644
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@@ -82,7 +82,7 @@ class ManualProbeHelper:
         toolhead_pos = self.toolhead.get_position()
         if toolhead_pos == self.last_toolhead_pos:
             return self.last_kinematics_pos
-        self.toolhead.get_last_move_time()
+        self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
         for s in kin.get_steppers():
             s.set_tag_position(s.get_commanded_position())
diff --git a/klippy/extras/z_tilt.py b/klippy/extras/z_tilt.py
index 6bccfe37..e6680a75 100644
--- a/klippy/extras/z_tilt.py
+++ b/klippy/extras/z_tilt.py
@@ -35,6 +35,7 @@ class ZAdjustHelper:
         msg = "Making the following Z adjustments:\n%s" % ("\n".join(stepstrs),)
         gcode.respond_info(msg)
         # Disable Z stepper movements
+        toolhead.flush_step_generation()
         for s in self.z_steppers:
             s.set_trapq(None)
         # Move each z stepper (sorted from lowest to highest) until they match
@@ -45,6 +46,7 @@ class ZAdjustHelper:
         for i in range(len(positions)-1):
             stepper_offset, stepper = positions[i]
             next_stepper_offset, next_stepper = positions[i+1]
+            toolhead.flush_step_generation()
             stepper.set_trapq(toolhead.get_trapq())
             curpos[2] = z_low + next_stepper_offset
             try:
@@ -52,11 +54,13 @@ class ZAdjustHelper:
                 toolhead.set_position(curpos)
             except:
                 logging.exception("ZAdjustHelper adjust_steppers")
+                toolhead.flush_step_generation()
                 for s in self.z_steppers:
                     s.set_trapq(toolhead.get_trapq())
                 raise
         # Z should now be level - do final cleanup
         last_stepper_offset, last_stepper = positions[-1]
+        toolhead.flush_step_generation()
         last_stepper.set_trapq(toolhead.get_trapq())
         curpos[2] += first_stepper_offset
         toolhead.set_position(curpos)
diff --git a/klippy/homing.py b/klippy/homing.py
index 48dadaf5..11b6e152 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -41,13 +41,14 @@ class Homing:
         for mcu_endstop, name in endstops:
             mcu_endstop.home_prepare()
         # Note start location
-        print_time = self.toolhead.get_last_move_time()
+        self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
         for s in kin.get_steppers():
             s.set_tag_position(s.get_commanded_position())
         start_mcu_pos = [(s, name, s.get_mcu_position())
                          for es, name in endstops for s in es.get_steppers()]
         # Start endstop checking
+        print_time = self.toolhead.get_last_move_time()
         self.endstops_pending = len(endstops)
         for mcu_endstop, name in endstops:
             min_step_dist = min([s.get_step_dist()
@@ -71,6 +72,7 @@ class Homing:
                 if error is None:
                     error = "Failed to home %s: %s" % (name, str(e))
         # Determine stepper halt positions
+        self.toolhead.flush_step_generation()
         end_mcu_pos = [(s, name, spos, s.get_mcu_position())
                        for s, name, spos in start_mcu_pos]
         if probe_pos:
@@ -123,6 +125,7 @@ class Homing:
             self.homing_move(movepos, endstops, hi.second_homing_speed,
                              verify_movement=self.verify_retract)
         # Signal home operation complete
+        self.toolhead.flush_step_generation()
         kin = self.toolhead.get_kinematics()
         for s in kin.get_steppers():
             s.set_tag_position(s.get_commanded_position())
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 7eded6e9..ee65d4ba 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -123,7 +123,7 @@ class CartKinematics:
     # Dual carriage support
     def _activate_carriage(self, carriage):
         toolhead = self.printer.lookup_object('toolhead')
-        toolhead.get_last_move_time()
+        toolhead.flush_step_generation()
         dc_rail = self.dual_carriage_rails[carriage]
         dc_axis = self.dual_carriage_axis
         self.rails[dc_axis].set_trapq(None)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 2d302a7b..140f1f6b 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -320,7 +320,7 @@ class ToolHead:
             self._update_drip_move_time(next_move_time)
         else:
             self._update_move_time(next_move_time)
-    def _full_flush(self):
+    def flush_step_generation(self):
         # Transition from "Flushed"/"Priming"/main state to "Flushed" state
         self.move_queue.flush()
         self.special_queuing_state = "Flushed"
@@ -331,7 +331,7 @@ class ToolHead:
         self._update_move_time(self.print_time, lazy=False)
     def _flush_lookahead(self):
         if self.special_queuing_state:
-            return self._full_flush()
+            return self.flush_step_generation()
         self.move_queue.flush()
     def get_last_move_time(self):
         self._flush_lookahead()
@@ -374,7 +374,7 @@ class ToolHead:
                 # Running normally - reschedule check
                 return eventtime + buffer_time - self.buffer_time_low
             # Under ran low buffer mark - flush lookahead queue
-            self._full_flush()
+            self.flush_step_generation()
             if print_time != self.print_time:
                 self.idle_flush_print_time = self.print_time
         except:
@@ -385,7 +385,8 @@ class ToolHead:
     def get_position(self):
         return list(self.commanded_pos)
     def set_position(self, newpos, homing_axes=()):
-        self._flush_lookahead()
+        self.flush_step_generation()
+        self.trapq_free_moves(self.trapq, self.reactor.NEVER)
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos, homing_axes)
     def move(self, newpos, speed):
@@ -445,7 +446,7 @@ class ToolHead:
         try:
             self.move(newpos, speed)
         except homing.CommandError as e:
-            self._full_flush()
+            self.flush_step_generation()
             raise
         # Transmit move in "drip" mode
         try:
@@ -454,7 +455,7 @@ class ToolHead:
             self.move_queue.reset()
             self.trapq_free_moves(self.trapq, self.reactor.NEVER)
         # Exit "Drip" state
-        self._full_flush()
+        self.flush_step_generation()
     def signal_drip_mode_end(self):
         self.drip_completion.complete(True)
     # Misc commands