diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 85 |
1 files changed, 48 insertions, 37 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 9852b440..f7d7ef7e 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -202,8 +202,6 @@ MOVE_HISTORY_EXPIRE = 30. DRIP_SEGMENT_TIME = 0.050 DRIP_TIME = 0.100 -class DripModeEndSignal(Exception): - pass # Main code to track events (and their timing) on the printer toolhead class ToolHead: @@ -246,7 +244,6 @@ class ToolHead: self.print_time = 0. self.special_queuing_state = "NeedPrime" self.priming_timer = None - self.drip_completion = None # Flush tracking self.flush_timer = self.reactor.register_timer(self._flush_handler) self.do_kick_flush_timer = True @@ -338,10 +335,9 @@ class ToolHead: return # Resync print_time if necessary if self.special_queuing_state: - if self.special_queuing_state != "Drip": - # Transition from "NeedPrime"/"Priming" state to main state - self.special_queuing_state = "" - self.need_check_pause = -1. + # Transition from "NeedPrime"/"Priming" state to main state + self.special_queuing_state = "" + self.need_check_pause = -1. self._calc_print_time() # Queue moves into trapezoid motion queue (trapq) next_move_time = self.print_time @@ -360,8 +356,6 @@ class ToolHead: 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) self.note_mcu_movequeue_activity(next_move_time + self.kin_flush_delay, set_step_gen_time=True) self._advance_move_time(next_move_time) @@ -509,49 +503,66 @@ class ToolHead: def get_extruder(self): return self.extruder # Homing "drip move" handling - def _update_drip_move_time(self, next_print_time): + def drip_update_time(self, next_print_time, drip_completion): + # Transition from "NeedPrime"/"Priming"/main state to "Drip" state + self.special_queuing_state = "Drip" + self.need_check_pause = self.reactor.NEVER + self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) + self.do_kick_flush_timer = False + self.lookahead.set_flush_time(BUFFER_TIME_HIGH) + self.check_stall_time = 0. + # Update print_time in segments until drip_completion signal flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay while self.print_time < next_print_time: - if self.drip_completion.test(): - raise DripModeEndSignal() + if drip_completion.test(): + break curtime = self.reactor.monotonic() est_print_time = self.mcu.estimated_print_time(curtime) wait_time = self.print_time - est_print_time - flush_delay if wait_time > 0. and self.can_pause: # Pause before sending more steps - self.drip_completion.wait(curtime + wait_time) + drip_completion.wait(curtime + wait_time) continue npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time) self.note_mcu_movequeue_activity(npt + self.kin_flush_delay, set_step_gen_time=True) self._advance_move_time(npt) - def drip_move(self, newpos, speed, drip_completion): - self.dwell(self.kin_flush_delay) - # Transition from "NeedPrime"/"Priming"/main state to "Drip" state - self._process_lookahead() - self.special_queuing_state = "Drip" - self.need_check_pause = self.reactor.NEVER - self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) - self.do_kick_flush_timer = False - self.lookahead.set_flush_time(BUFFER_TIME_HIGH) - self.check_stall_time = 0. - self.drip_completion = drip_completion - # Submit move - try: - self.move(newpos, speed) - except self.printer.command_error as e: - self.reactor.update_timer(self.flush_timer, self.reactor.NOW) - self.flush_step_generation() - raise - # Transmit move in "drip" mode - try: - self._process_lookahead() - except DripModeEndSignal as e: - self.lookahead.reset() - self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0) # Exit "Drip" state self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self.flush_step_generation() + def _drip_load_trapq(self, submit_move): + # Queue move into trapezoid motion queue (trapq) + if submit_move.move_d: + self.commanded_pos[:] = submit_move.end_pos + self.lookahead.add_move(submit_move) + moves = self.lookahead.flush() + self._calc_print_time() + next_move_time = self.print_time + for move in moves: + self.trapq_append( + self.trapq, next_move_time, + move.accel_t, move.cruise_t, move.decel_t, + move.start_pos[0], move.start_pos[1], move.start_pos[2], + move.axes_r[0], move.axes_r[1], move.axes_r[2], + move.start_v, move.cruise_v, move.accel) + next_move_time = (next_move_time + move.accel_t + + move.cruise_t + move.decel_t) + self.lookahead.reset() + return next_move_time + def drip_move(self, newpos, speed, drip_completion): + # Create and verify move is valid + newpos = newpos[:3] + self.commanded_pos[3:] + move = Move(self, self.commanded_pos, newpos, speed) + if move.move_d: + self.kin.check_move(move) + # Make sure stepper movement doesn't start before nominal start time + self.dwell(self.kin_flush_delay) + # Transmit move in "drip" mode + self._process_lookahead() + next_move_time = self._drip_load_trapq(move) + self.drip_update_time(next_move_time, drip_completion) + # Move finished; cleanup any remnants on trapq + self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0) # Misc commands def stats(self, eventtime): max_queue_time = max(self.print_time, self.last_flush_time) |