diff options
Diffstat (limited to 'klippy/toolhead.py')
| -rw-r--r-- | klippy/toolhead.py | 24 |
1 files changed, 18 insertions, 6 deletions
diff --git a/klippy/toolhead.py b/klippy/toolhead.py index b354f807..d383f3ca 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -1,6 +1,6 @@ # Code for coordinating events on the printer toolhead # -# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging, importlib @@ -103,6 +103,7 @@ class Move: self.start_pos[0], self.start_pos[1], self.start_pos[2], self.axes_d[0], self.axes_d[1], self.axes_d[2], self.start_v, self.cruise_v, self.accel) + self.toolhead.trapq_add_move(self.toolhead.trapq, self.cmove) self.toolhead.kin.move(next_move_time, self) if self.axes_d[3]: self.toolhead.extruder.move(next_move_time, self) @@ -249,6 +250,10 @@ class ToolHead: ffi_main, ffi_lib = chelper.get_ffi() self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) self.move_fill = ffi_lib.move_fill + self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) + self.trapq_add_move = ffi_lib.trapq_add_move + self.trapq_free_moves = ffi_lib.trapq_free_moves + self.move_handlers = [] # Create kinematics class self.extruder = kinematics.extruder.DummyExtruder() self.move_queue.set_extruder(self.extruder) @@ -276,9 +281,13 @@ class ToolHead: self.printer.try_load_module(config, "manual_probe") self.printer.try_load_module(config, "tuning_tower") # Print time tracking - def update_move_time(self, movetime): - self.print_time += movetime - flush_to_time = self.print_time - self.move_flush_time + def update_move_time(self, movetime, lazy=True): + self.print_time = flush_to_time = self.print_time + movetime + for mh in self.move_handlers: + mh(flush_to_time) + self.trapq_free_moves(self.trapq, flush_to_time) + if lazy: + flush_to_time -= self.move_flush_time for m in self.all_mcus: m.flush_moves(flush_to_time) def _calc_print_time(self): @@ -317,8 +326,7 @@ class ToolHead: self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) self.move_queue.set_flush_time(self.buffer_time_high) self.idle_flush_print_time = 0. - for m in self.all_mcus: - m.flush_moves(self.print_time) + self.update_move_time(0., lazy=False) def _flush_lookahead(self): if self.special_queuing_state: return self._full_flush() @@ -490,6 +498,10 @@ class ToolHead: self.move_queue.reset() def get_kinematics(self): return self.kin + def get_trapq(self): + return self.trapq + def register_move_handler(self, handler): + self.move_handlers.append(handler) def get_max_velocity(self): return self.max_velocity, self.max_accel def get_max_axis_halt(self): |