diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 73 |
1 files changed, 38 insertions, 35 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 95131c80..b605a569 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -231,13 +231,14 @@ class ToolHead: # Print time tracking self.print_time = 0. self.special_queuing_state = "Flushed" - self.flush_timer = self.reactor.register_timer(self._flush_handler) self.priming_timer = None self.drip_completion = None + # Flush tracking + self.flush_timer = self.reactor.register_timer(self._flush_handler) + self.last_flush_time = self.need_flush_time = 0. # Kinematic step generation scan window time tracking self.kin_flush_delay = SDS_CHECK_TIME self.kin_flush_times = [] - self.force_flush_time = self.last_kin_move_time = 0. # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) @@ -274,28 +275,36 @@ class ToolHead: "manual_probe", "tuning_tower"] for module_name in modules: self.printer.load_object(config, module_name) - # Print time tracking - def _update_move_time(self, next_print_time): - batch_time = MOVE_BATCH_TIME - kin_flush_delay = self.kin_flush_delay - fft = self.force_flush_time + # Print time and flush tracking + def _advance_flush_time(self, flush_time): + flush_time = max(flush_time, self.last_flush_time) + # Generate steps via itersolve + sg_flush_ceil = max(flush_time, self.print_time - self.kin_flush_delay) + sg_flush_time = min(flush_time + STEPCOMPRESS_FLUSH_TIME, sg_flush_ceil) + for sg in self.step_generators: + sg(sg_flush_time) + # Free trapq entries that are no longer needed + free_time = sg_flush_time - self.kin_flush_delay + self.trapq_finalize_moves(self.trapq, free_time) + self.extruder.update_move_time(free_time) + # Flush stepcompress and mcu steppersync + for m in self.all_mcus: + m.flush_moves(flush_time) + self.last_flush_time = flush_time + def _advance_move_time(self, next_print_time): + pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME + flush_time = max(self.last_flush_time, self.print_time - pt_delay) + self.print_time = max(self.print_time, next_print_time) + want_flush_time = max(flush_time, self.print_time - pt_delay) while 1: - self.print_time = min(self.print_time + batch_time, next_print_time) - sg_flush_time = max(fft, self.print_time - kin_flush_delay) - for sg in self.step_generators: - sg(sg_flush_time) - free_time = max(fft, sg_flush_time - kin_flush_delay) - self.trapq_finalize_moves(self.trapq, free_time) - self.extruder.update_move_time(free_time) - mcu_flush_time = max(fft, sg_flush_time - STEPCOMPRESS_FLUSH_TIME) - for m in self.all_mcus: - m.flush_moves(mcu_flush_time) - if self.print_time >= next_print_time: + flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time) + self._advance_flush_time(flush_time) + if flush_time >= want_flush_time: break def _calc_print_time(self): curtime = self.reactor.monotonic() est_print_time = self.mcu.estimated_print_time(curtime) - kin_time = max(est_print_time + MIN_KIN_TIME, self.force_flush_time) + kin_time = max(est_print_time + MIN_KIN_TIME, self.last_flush_time) kin_time += self.kin_flush_delay min_print_time = max(est_print_time + BUFFER_TIME_START, kin_time) if min_print_time > self.print_time: @@ -330,8 +339,8 @@ class ToolHead: # Generate steps for moves if self.special_queuing_state: self._update_drip_move_time(next_move_time) - self._update_move_time(next_move_time) - self.last_kin_move_time = max(self.last_kin_move_time, next_move_time) + self.note_kinematic_activity(next_move_time + self.kin_flush_delay) + self._advance_move_time(next_move_time) def flush_step_generation(self): # Transition from "Flushed"/"Priming"/main state to "Flushed" state self.move_queue.flush() @@ -340,16 +349,8 @@ class ToolHead: self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) self.move_queue.set_flush_time(BUFFER_TIME_HIGH) 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 - flush_time = max(lastf, self.last_kin_move_time + self.kin_flush_delay) - if flush_time > self.print_time: - # Flush in small time chunks - self._update_move_time(flush_time) - # Flush kinematic scan windows and step buffers - self.force_flush_time = max(self.force_flush_time, flush_time) - self._update_move_time(max(self.print_time, self.force_flush_time)) + # Flush all queues + self._advance_flush_time(self.need_flush_time) def _flush_lookahead(self): if self.special_queuing_state: return self.flush_step_generation() @@ -449,7 +450,7 @@ class ToolHead: self.printer.send_event("toolhead:manual_move") def dwell(self, delay): next_print_time = self.get_last_move_time() + max(0., delay) - self._update_move_time(next_print_time) + self._advance_move_time(next_print_time) self._check_pause() def wait_moves(self): self._flush_lookahead() @@ -478,7 +479,8 @@ class ToolHead: self.drip_completion.wait(curtime + wait_time) continue npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time) - self._update_move_time(npt) + self.note_kinematic_activity(npt + self.kin_flush_delay) + self._advance_move_time(npt) def drip_move(self, newpos, speed, drip_completion): self.dwell(self.kin_flush_delay) # Transition from "Flushed"/"Priming"/main state to "Drip" state @@ -505,8 +507,9 @@ class ToolHead: self.flush_step_generation() # Misc commands def stats(self, eventtime): + max_queue_time = max(self.print_time, self.last_flush_time) for m in self.all_mcus: - m.check_active(self.print_time, eventtime) + m.check_active(max_queue_time, eventtime) buffer_time = self.print_time - self.mcu.estimated_print_time(eventtime) is_active = buffer_time > -60. or not self.special_queuing_state if self.special_queuing_state == "Drip": @@ -556,7 +559,7 @@ class ToolHead: return last_move.timing_callbacks.append(callback) def note_kinematic_activity(self, kin_time): - self.last_kin_move_time = max(self.last_kin_move_time, kin_time) + self.need_flush_time = max(self.need_flush_time, kin_time) def get_max_velocity(self): return self.max_velocity, self.max_accel def _calc_junction_deviation(self): |