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toolhead: Keep stepcompress move history relative to current time (#6439)

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Expire history relative to current time rather than last move in history queue

Signed-off-by: Francois Chagnon <fc@francoischagnon.net>
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Francois Chagnon 2023-12-30 11:34:21 -05:00 • committed by GitHub
parent b502558052
commit d7f6348ae6
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 54 additions and 27 deletions
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11
klippy/toolhead.py
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@ -195,6 +195,7 @@ 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
MOVE_HISTORY_EXPIRE = 30.
DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.100
@ -289,13 +290,15 @@ class ToolHead:
for sg in self.step_generators:
sg(sg_flush_time)
self.last_sg_flush_time = sg_flush_time
clear_history_time = self.mcu.estimated_print_time(
self.reactor.monotonic() - MOVE_HISTORY_EXPIRE)
# 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)
self.trapq_finalize_moves(self.trapq, free_time, clear_history_time)
self.extruder.update_move_time(free_time, clear_history_time)
# Flush stepcompress and mcu steppersync
for m in self.all_mcus:
m.flush_moves(flush_time)
m.flush_moves(flush_time, clear_history_time)
self.last_flush_time = flush_time
def _advance_move_time(self, next_print_time):
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
@ -522,7 +525,7 @@ class ToolHead:
self.move_queue.flush()
except DripModeEndSignal as e:
self.move_queue.reset()
self.trapq_finalize_moves(self.trapq, self.reactor.NEVER)
self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0)
# Exit "Drip" state
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.flush_step_generation()