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motion_queuing: Reorganize code into sections

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Only code movement - no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-09-18 14:58:36 -04:00
parent 1c76ed1dc9
commit 13cfdf5711
1 changed files with 48 additions and 45 deletions
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93
klippy/extras/motion_queuing.py
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@@ -24,21 +24,23 @@ class PrinterMotionQueuing:
def __init__(self, config):
self.printer = printer = config.get_printer()
self.reactor = printer.get_reactor()
# Low level C allocations
# C trapq tracking
self.trapqs = []
self.stepcompress = []
self.steppersyncs = []
# Low-level C flushing calls
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
# C steppersync tracking
self.stepcompress = []
self.steppersyncs = []
self.steppersync_start_gen_steps = ffi_lib.steppersync_start_gen_steps
self.steppersync_finalize_gen_steps = \
ffi_lib.steppersync_finalize_gen_steps
self.steppersync_history_expire = ffi_lib.steppersync_history_expire
# Flush notification callbacks
self.flush_callbacks = []
# History expiration
self.clear_history_time = 0.
# Flush notification callbacks
self.flush_callbacks = []
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
# MCU tracking
self.all_mcus = [m for n, m in printer.lookup_objects(module='mcu')]
self.mcu = self.all_mcus[0]
@@ -53,15 +55,21 @@ class PrinterMotionQueuing:
self.do_kick_flush_timer = True
self.last_flush_time = self.last_step_gen_time = 0.
self.need_flush_time = self.need_step_gen_time = 0.
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
# Register handlers
printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
# C trapq tracking
def allocate_trapq(self):
ffi_main, ffi_lib = chelper.get_ffi()
trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapqs.append(trapq)
return trapq
def wipe_trapq(self, trapq):
# Expire any remaining movement in the trapq (force to history list)
self.trapq_finalize_moves(trapq, self.reactor.NEVER, 0.)
def lookup_trapq_append(self):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.trapq_append
# C steppersync tracking
def allocate_stepcompress(self, mcu, oid, name):
name = name.encode("utf-8")[:15]
ffi_main, ffi_lib = chelper.get_ffi()
@@ -83,6 +91,18 @@ class PrinterMotionQueuing:
self.steppersyncs.append((mcu, ss))
mcu_freq = float(mcu.seconds_to_clock(1.))
ffi_lib.steppersync_set_time(ss, 0., mcu_freq)
def stats(self, eventtime):
# Globally calibrate mcu clocks (and step generation clocks)
sync_time = self.last_step_gen_time
ffi_main, ffi_lib = chelper.get_ffi()
for mcu, ss in self.steppersyncs:
offset, freq = mcu.calibrate_clock(sync_time, eventtime)
ffi_lib.steppersync_set_time(ss, offset, freq)
# Calculate history expiration
est_print_time = self.mcu.estimated_print_time(eventtime)
self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
return False, ""
# Flush notification callbacks
def register_flush_callback(self, callback, can_add_trapq=False):
if can_add_trapq:
self.flush_callbacks = [callback] + self.flush_callbacks
@@ -93,6 +113,26 @@ class PrinterMotionQueuing:
fcbs = list(self.flush_callbacks)
fcbs.remove(callback)
self.flush_callbacks = fcbs
# Kinematic step generation scan window time tracking
def get_kin_flush_delay(self):
return self.kin_flush_delay
def check_step_generation_scan_windows(self):
ffi_main, ffi_lib = chelper.get_ffi()
kin_flush_delay = SDS_CHECK_TIME
for mcu, sc in self.stepcompress:
sk = ffi_lib.stepcompress_get_stepper_kinematics(sc)
if sk == ffi_main.NULL:
continue
trapq = ffi_lib.itersolve_get_trapq(sk)
if trapq == ffi_main.NULL:
continue
pre_active = ffi_lib.itersolve_get_gen_steps_pre_active(sk)
post_active = ffi_lib.itersolve_get_gen_steps_post_active(sk)
kin_flush_delay = max(kin_flush_delay, pre_active, post_active)
self.kin_flush_delay = kin_flush_delay
# Flush tracking
def _handle_shutdown(self):
self.can_pause = False
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)
@@ -126,43 +166,6 @@ class PrinterMotionQueuing:
for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(clear_history_time))
self.steppersync_history_expire(ss, clock)
def wipe_trapq(self, trapq):
# Expire any remaining movement in the trapq (force to history list)
self.trapq_finalize_moves(trapq, self.reactor.NEVER, 0.)
def lookup_trapq_append(self):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.trapq_append
def stats(self, eventtime):
# Globally calibrate mcu clocks (and step generation clocks)
sync_time = self.last_step_gen_time
ffi_main, ffi_lib = chelper.get_ffi()
for mcu, ss in self.steppersyncs:
offset, freq = mcu.calibrate_clock(sync_time, eventtime)
ffi_lib.steppersync_set_time(ss, offset, freq)
# Calculate history expiration
est_print_time = self.mcu.estimated_print_time(eventtime)
self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
return False, ""
# Kinematic step generation scan window time tracking
def get_kin_flush_delay(self):
return self.kin_flush_delay
def check_step_generation_scan_windows(self):
ffi_main, ffi_lib = chelper.get_ffi()
kin_flush_delay = SDS_CHECK_TIME
for mcu, sc in self.stepcompress:
sk = ffi_lib.stepcompress_get_stepper_kinematics(sc)
if sk == ffi_main.NULL:
continue
trapq = ffi_lib.itersolve_get_trapq(sk)
if trapq == ffi_main.NULL:
continue
pre_active = ffi_lib.itersolve_get_gen_steps_pre_active(sk)
post_active = ffi_lib.itersolve_get_gen_steps_post_active(sk)
kin_flush_delay = max(kin_flush_delay, pre_active, post_active)
self.kin_flush_delay = kin_flush_delay
# Flush tracking
def _handle_shutdown(self):
self.can_pause = False
def _await_flush_time(self, want_flush_time):
while 1:
if self.last_flush_time >= want_flush_time or not self.can_pause: