diff options
| -rw-r--r-- | klippy/toolhead.py | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 51d39148..85e4be53 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -17,6 +17,7 @@ class Move: self.start_pos = tuple(start_pos) self.end_pos = tuple(end_pos) self.accel = toolhead.max_accel + self.timing_callbacks = [] velocity = min(speed, toolhead.max_velocity) self.is_kinematic_move = True self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] @@ -112,6 +113,10 @@ class MoveQueue: self.junction_flush = LOOKAHEAD_FLUSH_TIME def set_flush_time(self, flush_time): self.junction_flush = flush_time + def get_last(self): + if self.queue: + return self.queue[-1] + return None def flush(self, lazy=False): self.junction_flush = LOOKAHEAD_FLUSH_TIME update_flush_count = lazy @@ -314,6 +319,8 @@ class ToolHead: self.extruder.move(next_move_time, move) next_move_time = (next_move_time + move.accel_t + move.cruise_t + move.decel_t) + for cb in move.timing_callbacks: + cb(next_move_time) # Generate steps for moves if self.special_queuing_state: self._update_drip_move_time(next_move_time) @@ -507,6 +514,12 @@ class ToolHead: self.kin_flush_times.append(delay) new_delay = max(self.kin_flush_times + [0.]) self.kin_flush_delay = new_delay + def register_lookahead_callback(self, callback): + last_move = self.move_queue.get_last() + if last_move is None: + callback(self.get_last_move_time()) + return + last_move.timing_callbacks.append(callback) def note_kinematic_activity(self, kin_time): self.last_kin_move_time = max(self.last_kin_move_time, kin_time) def get_max_velocity(self): |