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trapq: Initial support for building a queue of trapezoidal velocity moves

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Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 18:50:53 -04:00
parent c06f6943a6
commit d3afe4f1d8
4 changed files with 81 additions and 6 deletions
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24
klippy/toolhead.py
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@ -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):