diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 66 |
1 files changed, 60 insertions, 6 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 33eb0ad7..48754b61 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -194,6 +194,11 @@ class MoveQueue: STALL_TIME = 0.100 +DRIP_SEGMENT_TIME = 0.050 +DRIP_TIME = 0.150 +class DripModeEndSignal(Exception): + pass + # Main code to track events (and their timing) on the printer toolhead class ToolHead: def __init__(self, config): @@ -238,6 +243,7 @@ class ToolHead: self.last_print_start_time = 0. self.idle_flush_print_time = 0. self.print_stall = 0 + self.drip_completion = None # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) @@ -282,12 +288,24 @@ class ToolHead: self.printer.send_event("toolhead:sync_print_time", curtime, est_print_time, self.print_time) def get_next_move_time(self): - if self.special_queuing_state: - # Transition from "Flushed"/"Priming" state to main state - self.special_queuing_state = "" - self.need_check_stall = -1. - self.reactor.update_timer(self.flush_timer, self.reactor.NOW) - self._calc_print_time() + if not self.special_queuing_state: + return self.print_time + if self.special_queuing_state == "Drip": + # In "Drip" state - wait until ready to send next move + while 1: + if self.drip_completion.test(): + raise DripModeEndSignal() + curtime = self.reactor.monotonic() + est_print_time = self.mcu.estimated_print_time(curtime) + wait_time = self.print_time - est_print_time - DRIP_TIME + if wait_time <= 0. or self.mcu.is_fileoutput(): + return self.print_time + self.drip_completion.wait(curtime + wait_time) + # Transition from "Flushed"/"Priming" state to main state + self.special_queuing_state = "" + self.need_check_stall = -1. + self.reactor.update_timer(self.flush_timer, self.reactor.NOW) + self._calc_print_time() return self.print_time def _full_flush(self): # Transition from "Flushed"/"Priming"/main state to "Flushed" state @@ -405,6 +423,42 @@ class ToolHead: self.commanded_pos[3] = extrude_pos def get_extruder(self): return self.extruder + def drip_move(self, newpos, speed): + # Validate move + move = Move(self, self.commanded_pos, newpos, speed) + if move.axes_d[3]: + raise homing.CommandError("Invalid drip move") + if not move.move_d or not move.is_kinematic_move: + return + self.kin.check_move(move) + speed = math.sqrt(move.max_cruise_v2) + # Transition to "Flushed" state and then to "Drip" state + self._full_flush() + self.special_queuing_state = "Drip" + self.need_check_stall = self.reactor.NEVER + self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) + self.move_queue.set_flush_time(self.reactor.NEVER) + self.drip_completion = self.reactor.completion() + # Split move into many tiny moves and queue them + num_moves = max(1, int(math.ceil(move.min_move_t / DRIP_SEGMENT_TIME))) + inv_num_moves = 1. / float(num_moves) + submove_d = [d * inv_num_moves for d in move.axes_d] + prev_pos = move.start_pos + for i in range(num_moves-1): + next_pos = [p + d for p, d in zip(prev_pos, submove_d)] + self.move_queue.add_move(Move(self, prev_pos, next_pos, speed)) + prev_pos = next_pos + self.move_queue.add_move(Move(self, prev_pos, move.end_pos, speed)) + # Transmit moves + self._calc_print_time() + try: + self.move_queue.flush() + except DripModeEndSignal as e: + self.move_queue.reset() + # Return to "Flushed" state + self._full_flush() + def signal_drip_mode_end(self): + self.drip_completion.complete(True) # Misc commands def stats(self, eventtime): for m in self.all_mcus: |