input_shaper: Fixed tracking of step_generation_scan_time

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

3 files changed, 12 insertions, 20 deletions

diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 6166363e..8183fd62 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -144,8 +144,8 @@ defs_kin_extruder = """
 """
 
 defs_kin_shaper = """
-    double input_shaper_get_step_generation_window(int n, double a[]
-        , double t[]);
+    double input_shaper_get_step_generation_window(
+        struct stepper_kinematics *sk);
     int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
         , int n, double a[], double t[]);
     int input_shaper_set_sk(struct stepper_kinematics *sk
diff --git a/klippy/chelper/kin_shaper.c b/klippy/chelper/kin_shaper.c
index 133f46a9..dd9cf619 100644
--- a/klippy/chelper/kin_shaper.c
+++ b/klippy/chelper/kin_shaper.c
@@ -210,16 +210,11 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
 }
 
 double __visible
-input_shaper_get_step_generation_window(int n, double a[], double t[])
+input_shaper_get_step_generation_window(struct stepper_kinematics *sk)
 {
-    struct shaper_pulses sp;
-    init_shaper(n, a, t, &sp);
-    if (!sp.num_pulses)
-        return 0.;
-    double window = -sp.pulses[0].t;
-    if (sp.pulses[sp.num_pulses-1].t > window)
-        window = sp.pulses[sp.num_pulses-1].t;
-    return window;
+    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
+    return is->sk.gen_steps_pre_active > is->sk.gen_steps_post_active
+         ? is->sk.gen_steps_pre_active : is->sk.gen_steps_post_active;
 }
 
 struct stepper_kinematics * __visible
diff --git a/klippy/extras/input_shaper.py b/klippy/extras/input_shaper.py
index fdfdf546..7f37d302 100644
--- a/klippy/extras/input_shaper.py
+++ b/klippy/extras/input_shaper.py
@@ -70,10 +70,6 @@ class AxisInputShaper:
             ffi_lib.input_shaper_set_shaper_params(
                     sk, self.axis.encode(), self.n, self.A, self.T)
         return success
-    def get_step_generation_window(self):
-        ffi_main, ffi_lib = chelper.get_ffi()
-        return ffi_lib.input_shaper_get_step_generation_window(self.n,
-                                                               self.A, self.T)
     def disable_shaping(self):
         if self.saved is None and self.n:
             self.saved = (self.n, self.A, self.T)
@@ -109,7 +105,6 @@ class InputShaper:
     def connect(self):
         self.toolhead = self.printer.lookup_object("toolhead")
         # Configure initial values
-        self.old_delay = 0.
         self._update_input_shaping(error=self.printer.config_error)
     def _get_input_shaper_stepper_kinematics(self, stepper):
         # Lookup stepper kinematics
@@ -131,10 +126,7 @@ class InputShaper:
         return is_sk
     def _update_input_shaping(self, error=None):
         self.toolhead.flush_step_generation()
-        new_delay = max([s.get_step_generation_window() for s in self.shapers])
-        self.toolhead.note_step_generation_scan_time(new_delay,
-                                                     old_delay=self.old_delay)
-        self.old_delay = new_delay
+        ffi_main, ffi_lib = chelper.get_ffi()
         kin = self.toolhead.get_kinematics()
         failed_shapers = []
         for s in kin.get_steppers():
@@ -143,11 +135,16 @@ class InputShaper:
             is_sk = self._get_input_shaper_stepper_kinematics(s)
             if is_sk is None:
                 continue
+            old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
             for shaper in self.shapers:
                 if shaper in failed_shapers:
                     continue
                 if not shaper.set_shaper_kinematics(is_sk):
                     failed_shapers.append(shaper)
+            new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
+            if old_delay != new_delay:
+                self.toolhead.note_step_generation_scan_time(new_delay,
+                                                             old_delay)
         if failed_shapers:
             error = error or self.printer.command_error
             raise error("Failed to configure shaper(s) %s with given parameters"