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Revert "toolhead: Use dict for step generation flush times. (#6303)"

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This reverts commit 6749985302.

A defect was found in the above commit (the input shaper code calls
note_step_generateion_scan_time() for many steppers, so the
input_shaper class can't be used as the index).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-10-21 15:45:47 -04:00
parent 6749985302
commit f7567a0db9
3 changed files with 17 additions and 11 deletions
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17
klippy/toolhead.py
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@ -239,8 +239,7 @@ class ToolHead:
self.drip_completion = None
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
# Map from requester to requested time
self.kin_flush_times = {self: SDS_CHECK_TIME}
self.kin_flush_times = []
self.force_flush_time = self.last_kin_move_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
@ -527,15 +526,15 @@ class ToolHead:
return self.trapq
def register_step_generator(self, handler):
self.step_generators.append(handler)
def note_step_generation_scan_time(self, requester, delay):
def note_step_generation_scan_time(self, delay, old_delay=0.):
self.flush_step_generation()
if delay == self.kin_flush_times.get(requester, None):
return
cur_delay = self.kin_flush_delay
if old_delay:
self.kin_flush_times.pop(self.kin_flush_times.index(old_delay))
if delay:
self.kin_flush_times[requester] = delay
elif requester in self.kin_flush_times:
del self.kin_flush_times[requester]
self.kin_flush_delay = max(self.kin_flush_times.values())
self.kin_flush_times.append(delay)
new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME])
self.kin_flush_delay = new_delay
def register_lookahead_callback(self, callback):
last_move = self.move_queue.get_last()
if last_move is None: