diff options
| -rw-r--r-- | klippy/gcode.py | 27 | ||||
| -rw-r--r-- | klippy/mcu.py | 2 | ||||
| -rw-r--r-- | klippy/toolhead.py | 29 |
3 files changed, 23 insertions, 35 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 5dee80cf..0c306147 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -22,7 +22,6 @@ class GCodeParser: self.input_commands = [""] self.bytes_read = 0 self.input_log = collections.deque([], 50) - self.busy_state = None # Command handling self.gcode_handlers = {} self.is_printer_ready = False @@ -114,12 +113,6 @@ class GCodeParser: logging.exception("Exception in command handler") self.toolhead.force_shutdown() self.respond_error('Internal error on command:"%s"' % (cmd,)) - # Check if machine can process next command or must stall input - if self.busy_state is not None: - self.busy_handler(eventtime) - if self.is_printer_ready and self.toolhead.check_busy(eventtime): - self.set_busy(self.toolhead) - self.busy_handler(eventtime) self.ack() del self.input_commands[:i+1] def process_data(self, eventtime): @@ -160,26 +153,6 @@ class GCodeParser: for line in lines[:-1]: self.respond('// %s' % (line.strip(),)) self.respond('!! %s' % (lines[-1].strip(),)) - # Busy handling - def set_busy(self, busy_handler): - self.busy_state = busy_handler - def busy_handler(self, eventtime): - while 1: - try: - busy = self.busy_state.check_busy(eventtime) - except homing.EndstopError, e: - self.respond_error(str(e)) - busy = False - except: - logging.exception("Exception in busy handler") - self.toolhead.force_shutdown() - self.respond_error('Internal error in busy handler') - busy = False - if not busy: - break - self.toolhead.reset_motor_off_time(eventtime) - eventtime = self.reactor.pause(eventtime + self.RETRY_TIME) - self.busy_state = None # Temperature wrappers def get_temp(self): if not self.is_printer_ready: diff --git a/klippy/mcu.py b/klippy/mcu.py index ba441474..b49c29cc 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -506,6 +506,8 @@ class MCU: est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq self._print_start_time = est_mcu_time def get_print_buffer_time(self, eventtime, print_time): + if self.is_shutdown: + return 0. mcu_time = print_time + self._print_start_time est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq return mcu_time - est_mcu_time diff --git a/klippy/toolhead.py b/klippy/toolhead.py index eedda4b5..4036b805 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -173,9 +173,10 @@ class ToolHead: self.move_flush_time = config.getfloat('move_flush_time', 0.050) self.motor_off_delay = config.getfloat('motor_off_time', 60.000) self.print_time = 0. + self.need_check_stall = -1. self.print_time_stall = 0 self.motor_off_time = self.reactor.NEVER - self.flush_timer = self.reactor.register_timer(self.flush_handler) + self.flush_timer = self.reactor.register_timer(self._flush_handler) def build_config(self): self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX self.kin.build_config() @@ -200,18 +201,27 @@ class ToolHead: self.move_queue.flush() self.printer.mcu.flush_moves(self.print_time) self.print_time = 0. + self.need_check_stall = -1. self.reset_motor_off_time(time.time()) self.reactor.update_timer(self.flush_timer, self.motor_off_time) - def check_busy(self, eventtime): + def _check_stall(self): if not self.print_time: # XXX - find better way to flush initial move_queue items if self.move_queue.queue: - self.reactor.update_timer(self.flush_timer, eventtime + 0.100) - return False - buffer_time = self.printer.mcu.get_print_buffer_time( - eventtime, self.print_time) - return buffer_time > self.buffer_time_high - def flush_handler(self, eventtime): + self.reactor.update_timer(self.flush_timer, time.time() + 0.100) + return + eventtime = time.time() + while 1: + buffer_time = self.printer.mcu.get_print_buffer_time( + eventtime, self.print_time) + stall_time = buffer_time - self.buffer_time_high + if stall_time <= 0.: + break + eventtime = self.reactor.pause(eventtime + stall_time) + if not self.print_time: + return + self.need_check_stall = self.print_time - stall_time + 0.100 + def _flush_handler(self, eventtime): try: if not self.print_time: self.move_queue.flush() @@ -260,11 +270,14 @@ class ToolHead: self.extruder.check_move(move) self.commanded_pos[:] = newpos self.move_queue.add_move(move) + if self.print_time > self.need_check_stall: + self._check_stall() def home(self, homing_state): self.kin.home(homing_state) def dwell(self, delay): self.get_last_move_time() self.update_move_time(delay) + self._check_stall() def motor_off(self): self.dwell(STALL_TIME) last_move_time = self.get_last_move_time() |