diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/gcode.py | 2 | ||||
| -rw-r--r-- | klippy/toolhead.py | 62 |
2 files changed, 39 insertions, 25 deletions
diff --git a/klippy/gcode.py b/klippy/gcode.py index 8b33e26a..d0c57bef 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -181,7 +181,7 @@ class GCodeParser: return eventtime = self.reactor.monotonic() while self.is_printer_ready and heater.check_busy(eventtime): - self.toolhead.reset_motor_off_time(eventtime) + print_time = self.toolhead.get_last_move_time() self.respond(self.get_temp()) eventtime = self.reactor.pause(eventtime + 1.) def set_temp(self, heater, params, wait=False): diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 1ab5b839..24f2f5d8 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -191,12 +191,14 @@ class ToolHead: self.buffer_time_high = config.getfloat('buffer_time_high', 5.000) self.buffer_time_low = config.getfloat('buffer_time_low', 0.150) self.move_flush_time = config.getfloat('move_flush_time', 0.050) - self.motor_off_delay = config.getfloat('motor_off_time', 60.000) self.print_time = 0. self.need_check_stall = -1. self.print_time_stall = 0 - self.motor_off_time = self.reactor.NEVER self.flush_timer = self.reactor.register_timer(self._flush_handler) + # Motor off tracking + self.motor_off_time = config.getfloat('motor_off_time', 60.000) + self.motor_off_timer = self.reactor.register_timer( + self._motor_off_handler) def build_config(self): # Determine the maximum velocity a cartesian axis could have # before cornering. The 8. was determined experimentally. @@ -215,27 +217,24 @@ class ToolHead: curtime = self.reactor.monotonic() self.printer.mcu.set_print_start_time(curtime) self.reactor.update_timer(self.flush_timer, self.reactor.NOW) + self._reset_motor_off() return self.print_time def get_last_move_time(self): self.move_queue.flush() return self.get_next_move_time() - def reset_motor_off_time(self, eventtime): - self.motor_off_time = eventtime + self.motor_off_delay def reset_print_time(self): self.move_queue.flush() self.printer.mcu.flush_moves(self.print_time) self.print_time = 0. self.need_check_stall = -1. - self.reset_motor_off_time(self.reactor.monotonic()) - self.reactor.update_timer(self.flush_timer, self.motor_off_time) + self._reset_motor_off() def _check_stall(self): + eventtime = self.reactor.monotonic() if not self.print_time: - # XXX - find better way to flush initial move_queue items - if self.move_queue.queue: - self.reactor.update_timer( - self.flush_timer, self.reactor.monotonic() + 0.100) + # Building initial queue - make sure to flush on idle input + self.reactor.update_timer(self.flush_timer, eventtime + 0.100) return - eventtime = self.reactor.monotonic() + # Check if there are lots of queued moves and stall if so while 1: buffer_time = self.printer.mcu.get_print_buffer_time( eventtime, self.print_time) @@ -249,35 +248,42 @@ class ToolHead: def _flush_handler(self, eventtime): try: if not self.print_time: + # Input idled before filling lookahead queue - flush it self.move_queue.flush() if not self.print_time: - if eventtime >= self.motor_off_time: - self.motor_off() - self.reset_print_time() - self.motor_off_time = self.reactor.NEVER - return self.motor_off_time + return self.reactor.NEVER print_time = self.print_time buffer_time = self.printer.mcu.get_print_buffer_time( eventtime, print_time) if buffer_time > self.buffer_time_low: + # Running normally - reschedule check return eventtime + buffer_time - self.buffer_time_low + # Under ran low buffer mark - flush lookahead queue self.move_queue.flush() if print_time != self.print_time: self.print_time_stall += 1 self.dwell(self.buffer_time_low + STALL_TIME) return self.reactor.NOW self.reset_print_time() - return self.motor_off_time except: logging.exception("Exception in flush_handler") self.force_shutdown() - def stats(self, eventtime): - buffer_time = 0. - if self.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) + return self.reactor.NEVER + # Motor off timer + def _reset_motor_off(self): + if not self.print_time: + waketime = self.reactor.monotonic() + self.motor_off_time + else: + waketime = self.reactor.NEVER + self.reactor.update_timer(self.motor_off_timer, waketime) + def _motor_off_handler(self, eventtime): + try: + self.motor_off() + self.reset_print_time() + except: + logging.exception("Exception in motor_off_handler") + self.force_shutdown() + return self.reactor.NEVER # Movement commands def get_position(self): return list(self.commanded_pos) @@ -319,6 +325,14 @@ class ToolHead: def query_endstops(self): last_move_time = self.get_last_move_time() return self.kin.query_endstops(last_move_time) + # Misc commands + def stats(self, eventtime): + buffer_time = 0. + if self.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) def force_shutdown(self): self.printer.mcu.force_shutdown() self.move_queue.reset() |