diff options
| -rw-r--r-- | klippy/toolhead.py | 62 |
1 files changed, 32 insertions, 30 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 58fa429f..0f7da6b9 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -207,13 +207,9 @@ class ToolHead: self.all_mcus = [ m for n, m in self.printer.lookup_objects(module='mcu')] self.mcu = self.all_mcus[0] - self.can_pause = True - if self.mcu.is_fileoutput(): - self.can_pause = False self.move_queue = MoveQueue(self) + self.move_queue.set_flush_time(BUFFER_TIME_HIGH) self.commanded_pos = [0., 0., 0., 0.] - self.printer.register_event_handler("klippy:shutdown", - self._handle_shutdown) # Velocity and acceleration control self.max_velocity = config.getfloat('max_velocity', above=0.) self.max_accel = config.getfloat('max_accel', above=0.) @@ -224,14 +220,18 @@ class ToolHead: 'square_corner_velocity', 5., minval=0.) self.junction_deviation = 0. self._calc_junction_deviation() + # Input stall detection + self.check_stall_time = 0. + self.print_stall = 0 + # Input pause tracking + self.can_pause = True + if self.mcu.is_fileoutput(): + self.can_pause = False + self.need_check_pause = -1. # Print time tracking self.print_time = 0. self.special_queuing_state = "Flushed" - self.need_check_stall = -1. self.flush_timer = self.reactor.register_timer(self._flush_handler) - self.move_queue.set_flush_time(BUFFER_TIME_HIGH) - self.idle_flush_print_time = 0. - self.print_stall = 0 self.drip_completion = None # Kinematic step generation scan window time tracking self.kin_flush_delay = SDS_CHECK_TIME @@ -266,6 +266,8 @@ class ToolHead: self.cmd_SET_VELOCITY_LIMIT, desc=self.cmd_SET_VELOCITY_LIMIT_help) gcode.register_command('M204', self.cmd_M204) + self.printer.register_event_handler("klippy:shutdown", + self._handle_shutdown) # Load some default modules modules = ["gcode_move", "homing", "idle_timeout", "statistics", "manual_probe", "tuning_tower"] @@ -305,7 +307,7 @@ class ToolHead: if self.special_queuing_state != "Drip": # Transition from "Flushed"/"Priming" state to main state self.special_queuing_state = "" - self.need_check_stall = -1. + self.need_check_pause = -1. self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self._calc_print_time() # Queue moves into trapezoid motion queue (trapq) @@ -333,10 +335,10 @@ class ToolHead: # Transition from "Flushed"/"Priming"/main state to "Flushed" state self.move_queue.flush() self.special_queuing_state = "Flushed" - self.need_check_stall = -1. + self.need_check_pause = -1. self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) self.move_queue.set_flush_time(BUFFER_TIME_HIGH) - self.idle_flush_print_time = 0. + self.check_stall_time = 0. # Determine actual last "itersolve" flush time lastf = self.print_time - self.kin_flush_delay # Calculate flush time that includes kinematic scan windows @@ -356,33 +358,33 @@ class ToolHead: if self.special_queuing_state: self._calc_print_time() return self.print_time - def _check_stall(self): + def _check_pause(self): eventtime = self.reactor.monotonic() if self.special_queuing_state: - if self.idle_flush_print_time: + if self.check_stall_time: # Was in "Flushed" state and got there from idle input est_print_time = self.mcu.estimated_print_time(eventtime) - if est_print_time < self.idle_flush_print_time: + if est_print_time < self.check_stall_time: self.print_stall += 1 - self.idle_flush_print_time = 0. + self.check_stall_time = 0. # Transition from "Flushed"/"Priming" state to "Priming" state self.special_queuing_state = "Priming" - self.need_check_stall = -1. + self.need_check_pause = -1. self.reactor.update_timer(self.flush_timer, eventtime + 0.100) - # Check if there are lots of queued moves and stall if so + # Check if there are lots of queued moves and pause if so while 1: est_print_time = self.mcu.estimated_print_time(eventtime) buffer_time = self.print_time - est_print_time - stall_time = buffer_time - BUFFER_TIME_HIGH - if stall_time <= 0.: + pause_time = buffer_time - BUFFER_TIME_HIGH + if pause_time <= 0.: break if not self.can_pause: - self.need_check_stall = self.reactor.NEVER + self.need_check_pause = self.reactor.NEVER return - eventtime = self.reactor.pause(eventtime + min(1., stall_time)) + eventtime = self.reactor.pause(eventtime + min(1., pause_time)) if not self.special_queuing_state: - # In main state - defer stall checking until needed - self.need_check_stall = est_print_time + BUFFER_TIME_HIGH + 0.100 + # In main state - defer pause checking until needed + self.need_check_pause = est_print_time + BUFFER_TIME_HIGH + 0.100 def _flush_handler(self, eventtime): try: print_time = self.print_time @@ -393,7 +395,7 @@ class ToolHead: # Under ran low buffer mark - flush lookahead queue self.flush_step_generation() if print_time != self.print_time: - self.idle_flush_print_time = self.print_time + self.check_stall_time = self.print_time except: logging.exception("Exception in flush_handler") self.printer.invoke_shutdown("Exception in flush_handler") @@ -419,8 +421,8 @@ class ToolHead: self.extruder.check_move(move) self.commanded_pos[:] = move.end_pos self.move_queue.add_move(move) - if self.print_time > self.need_check_stall: - self._check_stall() + if self.print_time > self.need_check_pause: + self._check_pause() def manual_move(self, coord, speed): curpos = list(self.commanded_pos) for i in range(len(coord)): @@ -431,7 +433,7 @@ class ToolHead: def dwell(self, delay): next_print_time = self.get_last_move_time() + max(0., delay) self._update_move_time(next_print_time) - self._check_stall() + self._check_pause() def wait_moves(self): self._flush_lookahead() eventtime = self.reactor.monotonic() @@ -465,10 +467,10 @@ class ToolHead: # Transition from "Flushed"/"Priming"/main state to "Drip" state self.move_queue.flush() self.special_queuing_state = "Drip" - self.need_check_stall = self.reactor.NEVER + self.need_check_pause = self.reactor.NEVER self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) self.move_queue.set_flush_time(BUFFER_TIME_HIGH) - self.idle_flush_print_time = 0. + self.check_stall_time = 0. self.drip_completion = drip_completion # Submit move try: |