itersolve: Add support for generating steps from a trapq

Support associating a stepper_kinematics with a trapq.  Support
generating steps from a time range on the given trapq.

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

1 files changed, 14 insertions, 0 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index 4617f97a..f3721b45 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -70,6 +70,7 @@ class PrinterStepper:
         mcu_stepper.setup_dir_pin(dir_pin_params)
         step_dist = config.getfloat('step_distance', above=0.)
         mcu_stepper.setup_step_distance(step_dist)
+        mcu_stepper.add_active_callback(self._stepper_active)
         self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
         # Register STEPPER_BUZZ command
         force_move = printer.try_load_module(config, 'force_move')
@@ -77,6 +78,8 @@ class PrinterStepper:
         # Wrappers
         self.step_itersolve = mcu_stepper.step_itersolve
         self.setup_itersolve = mcu_stepper.setup_itersolve
+        self.generate_steps = mcu_stepper.generate_steps
+        self.set_trapq = mcu_stepper.set_trapq
         self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics
         self.set_ignore_move = mcu_stepper.set_ignore_move
         self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
@@ -105,10 +108,15 @@ class PrinterStepper:
             2. * step_dist, max_halt_velocity, max_accel)
         min_stop_interval = second_last_step_time - last_step_time
         self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
+    def _stepper_active(self, active_time):
+        self.motor_enable(active_time, 1)
     def motor_enable(self, print_time, enable=0):
         if self.need_motor_enable != (not enable):
             self.enable.set_enable(print_time, enable)
         self.need_motor_enable = not enable
+        if not enable:
+            # Enable stepper on future stepper movement
+            self.mcu_stepper.add_active_callback(self._stepper_active)
     def is_motor_enabled(self):
         return not self.need_motor_enable
 
@@ -213,6 +221,12 @@ class PrinterRail:
     def setup_itersolve(self, alloc_func, *params):
         for stepper in self.steppers:
             stepper.setup_itersolve(alloc_func, *params)
+    def generate_steps(self, flush_time):
+        for stepper in self.steppers:
+            stepper.generate_steps(flush_time)
+    def set_trapq(self, trapq):
+        for stepper in self.steppers:
+            stepper.set_trapq(trapq)
     def set_max_jerk(self, max_halt_velocity, max_accel):
         for stepper in self.steppers:
             stepper.set_max_jerk(max_halt_velocity, max_accel)