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motion_queuing: It is no longer necessary to loop in _advance_flush_time()
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Now that the host code does not flush far into the future, it is no
longer necessary to flush in waves.  Integrate _advance_flush_time()
into _flush_motion_queues().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-09-06 23:52:12 -04:00
parent 42d149b40f
commit 950aa103e4
1 changed files with 12 additions and 29 deletions
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41
klippy/extras/motion_queuing.py
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@ -14,7 +14,6 @@ BGFLUSH_EXTRA_TIME = 0.250
MOVE_HISTORY_EXPIRE = 30.
MIN_KIN_TIME = 0.100
MOVE_BATCH_TIME = 0.500
STEPCOMPRESS_FLUSH_TIME = 0.050
SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
@ -94,22 +93,28 @@ class PrinterMotionQueuing:
fcbs = list(self.flush_callbacks)
fcbs.remove(callback)
self.flush_callbacks = fcbs
def _flush_motion_queues(self, must_flush_time, max_step_gen_time):
def _advance_flush_time(self, want_flush_time, want_step_gen_time=0.):
flush_time = max(want_flush_time, self.last_flush_time,
want_step_gen_time - STEPCOMPRESS_FLUSH_TIME)
step_gen_time = max(want_step_gen_time, self.last_step_gen_time,
flush_time)
# Invoke flush callbacks (if any)
for cb in self.flush_callbacks:
cb(must_flush_time, max_step_gen_time)
cb(flush_time, step_gen_time)
# Generate stepper movement and transmit
for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(must_flush_time))
self.steppersync_start_gen_steps(ss, max_step_gen_time, clock)
clock = max(0, mcu.print_time_to_clock(flush_time))
self.steppersync_start_gen_steps(ss, step_gen_time, clock)
for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(must_flush_time))
clock = max(0, mcu.print_time_to_clock(flush_time))
ret = self.steppersync_finalize_gen_steps(ss, clock)
if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),))
self.last_flush_time = flush_time
self.last_step_gen_time = step_gen_time
# Determine maximum history to keep
trapq_free_time = max_step_gen_time - self.kin_flush_delay
trapq_free_time = step_gen_time - self.kin_flush_delay
clear_history_time = self.clear_history_time
if not self.can_pause:
clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE
@ -158,28 +163,6 @@ class PrinterMotionQueuing:
# Flush tracking
def _handle_shutdown(self):
self.can_pause = False
def _advance_flush_time(self, want_flush_time, want_step_gen_time=0.):
want_flush_time = max(want_flush_time, self.last_flush_time,
want_step_gen_time - STEPCOMPRESS_FLUSH_TIME)
want_step_gen_time = max(want_step_gen_time, want_flush_time)
flush_time = self.last_flush_time
if want_flush_time > flush_time + 10. * MOVE_BATCH_TIME:
# Use closer startup time when coming out of idle state
curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
flush_time = max(flush_time, est_print_time)
while 1:
flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time)
# Generate steps via itersolve
want_sg_wave = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
want_step_gen_time)
step_gen_time = max(self.last_step_gen_time, want_sg_wave,
flush_time)
self._flush_motion_queues(flush_time, step_gen_time)
self.last_flush_time = flush_time
self.last_step_gen_time = step_gen_time
if flush_time >= want_flush_time:
break
def _await_flush_time(self, want_flush_time):
while 1:
if self.last_flush_time >= want_flush_time or not self.can_pause: