diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 68 |
1 files changed, 48 insertions, 20 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 4da46238..3ce846db 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -107,6 +107,8 @@ class MoveQueue: self.leftover = 0 self.next_start_v2 = 0. self.junction_flush = LOOKAHEAD_FLUSH_TIME + def set_flush_time(self, flush_time): + self.junction_flush = flush_time def flush(self, lazy=False): self.junction_flush = LOOKAHEAD_FLUSH_TIME update_flush_count = lazy @@ -193,13 +195,17 @@ class ToolHead: self.move_queue = MoveQueue(self.extruder.lookahead) self.commanded_pos = [0., 0., 0., 0.] # Print time tracking - self.buffer_time_high = config.getfloat('buffer_time_high', 5.000) - self.buffer_time_low = config.getfloat('buffer_time_low', 0.150) + self.buffer_time_high = config.getfloat('buffer_time_high', 2.000) + self.buffer_time_low = config.getfloat('buffer_time_low', 1.000) + self.buffer_time_start = config.getfloat('buffer_time_start', 0.250) self.move_flush_time = config.getfloat('move_flush_time', 0.050) self.print_time = 0. self.need_check_stall = -1. - self.print_time_stall = 0 + self.print_stall = 0 + self.synch_print_time = True + self.forced_synch = False self.flush_timer = self.reactor.register_timer(self._flush_handler) + self.move_queue.set_flush_time(self.buffer_time_high) # Motor off tracking self.motor_off_time = config.getfloat('motor_off_time', 60.000) self.motor_off_timer = self.reactor.register_timer( @@ -217,21 +223,37 @@ class ToolHead: flush_to_time = self.print_time - self.move_flush_time self.printer.mcu.flush_moves(flush_to_time) def get_next_move_time(self): - if not self.print_time: - self.print_time = self.buffer_time_low + STALL_TIME + if self.synch_print_time: curtime = self.reactor.monotonic() - self.printer.mcu.set_print_start_time(curtime) + if self.print_time: + buffer_time = self.printer.mcu.get_print_buffer_time( + curtime, self.print_time) + self.print_time += max(self.buffer_time_start - buffer_time, 0.) + if self.forced_synch: + self.print_stall += 1 + self.forced_synch = False + else: + self.printer.mcu.set_print_start_time(curtime) + self.print_time = self.buffer_time_start + self._reset_motor_off() self.reactor.update_timer(self.flush_timer, self.reactor.NOW) - self._reset_motor_off() + self.synch_print_time = False return self.print_time - def get_last_move_time(self): + def _flush_lookahead(self, must_synch=False): + synch_print_time = self.synch_print_time self.move_queue.flush() + if synch_print_time or must_synch: + self.synch_print_time = True + self.move_queue.set_flush_time(self.buffer_time_high) + self.printer.mcu.flush_moves(self.print_time) + def get_last_move_time(self): + self._flush_lookahead() return self.get_next_move_time() def reset_print_time(self): - self.move_queue.flush() - self.printer.mcu.flush_moves(self.print_time) + self._flush_lookahead(must_synch=True) self.print_time = 0. self.need_check_stall = -1. + self.forced_synch = False self._reset_motor_off() def _check_stall(self): eventtime = self.reactor.monotonic() @@ -254,7 +276,7 @@ class ToolHead: try: if not self.print_time: # Input idled before filling lookahead queue - flush it - self.move_queue.flush() + self._flush_lookahead() if not self.print_time: return self.reactor.NEVER print_time = self.print_time @@ -264,11 +286,14 @@ class ToolHead: # Running normally - reschedule check return eventtime + buffer_time - self.buffer_time_low # Under ran low buffer mark - flush lookahead queue - self.move_queue.flush() + self._flush_lookahead(must_synch=True) if print_time != self.print_time: - self.print_time_stall += 1 - self.dwell(self.buffer_time_low + STALL_TIME) + # Flushed something - retry + self.forced_synch = True return self.reactor.NOW + if buffer_time > 0.: + # Wait for buffer to fully empty + return eventtime + buffer_time self.reset_print_time() except: logging.exception("Exception in flush_handler") @@ -293,7 +318,7 @@ class ToolHead: def get_position(self): return list(self.commanded_pos) def set_position(self, newpos): - self.move_queue.flush() + self._flush_lookahead() self.commanded_pos[:] = newpos self.kin.set_position(newpos) def move(self, newpos, speed): @@ -323,7 +348,7 @@ class ToolHead: self.dwell(STALL_TIME) logging.debug('; Max time of %f' % (last_move_time,)) def wait_moves(self): - self.move_queue.flush() + self._flush_lookahead() eventtime = self.reactor.monotonic() while self.print_time: eventtime = self.reactor.pause(eventtime + 0.100) @@ -333,11 +358,14 @@ class ToolHead: # Misc commands def stats(self, eventtime): buffer_time = 0. - if self.print_time: + print_time = self.print_time + if print_time: buffer_time = self.printer.mcu.get_print_buffer_time( - eventtime, self.print_time) - return "print_time=%.3f buffer_time=%.3f print_time_stall=%d" % ( - self.print_time, buffer_time, self.print_time_stall) + eventtime, print_time) + if buffer_time < 0.: + buffer_time = 0. + return "print_time=%.3f buffer_time=%.3f print_stall=%d" % ( + print_time, buffer_time, self.print_stall) def force_shutdown(self): self.printer.mcu.force_shutdown() self.move_queue.reset() |