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toolhead: Simplify LookAheadQueue.flush() code

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Replace "delayed" storage with a full pass through the queue.  This
simplifies the lookahead processing logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-09-25 14:32:05 -04:00
parent ff8c8eab55
commit 41901ec382
1 changed files with 22 additions and 23 deletions
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45
klippy/toolhead.py
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@@ -138,46 +138,45 @@ class LookAheadQueue:
# Traverse queue from last to first move and determine maximum
# junction speed assuming the robot comes to a complete stop
# after the last move.
delayed = []
junction_info = [None] * flush_count
next_start_v2 = next_mcr_start_v2 = peak_cruise_v2 = 0.
pending_cv2_assign = 0
for i in range(flush_count-1, -1, -1):
move = queue[i]
reachable_start_v2 = next_start_v2 + move.delta_v2
start_v2 = min(move.max_start_v2, reachable_start_v2)
cruise_v2 = None
pending_cv2_assign += 1
reach_mcr_start_v2 = next_mcr_start_v2 + move.mcr_delta_v2
mcr_start_v2 = min(move.max_mcr_start_v2, reach_mcr_start_v2)
if mcr_start_v2 < reach_mcr_start_v2:
# It's possible for this move to accelerate
if (mcr_start_v2 + move.mcr_delta_v2 > next_mcr_start_v2
or delayed):
# This move can decelerate or this is a full accel
# move after a full decel move
or pending_cv2_assign > 1):
# This move can both accel and decel, or this is a
# full accel move followed by a full decel move
if update_flush_count and peak_cruise_v2:
flush_count = i
update_flush_count = False
peak_cruise_v2 = min(move.max_cruise_v2, (
mcr_start_v2 + reach_mcr_start_v2) * .5)
if delayed:
# Propagate peak_cruise_v2 to any delayed moves
if not update_flush_count and i < flush_count:
mc_v2 = peak_cruise_v2
for m, ms_v2, me_v2 in reversed(delayed):
mc_v2 = min(mc_v2, ms_v2)
m.set_junction(min(ms_v2, mc_v2), mc_v2
, min(me_v2, mc_v2))
del delayed[:]
if not update_flush_count and i < flush_count:
cruise_v2 = min((start_v2 + reachable_start_v2) * .5
, move.max_cruise_v2, peak_cruise_v2)
move.set_junction(min(start_v2, cruise_v2), cruise_v2
, min(next_start_v2, cruise_v2))
else:
# Delay calculating this move until peak_cruise_v2 is known
delayed.append((move, start_v2, next_start_v2))
peak_cruise_v2 = (mcr_start_v2 + reach_mcr_start_v2) * .5
cruise_v2 = min((start_v2 + reachable_start_v2) * .5
, move.max_cruise_v2, peak_cruise_v2)
pending_cv2_assign = 0
junction_info[i] = (move, start_v2, cruise_v2, next_start_v2)
next_start_v2 = start_v2
next_mcr_start_v2 = mcr_start_v2
if update_flush_count or not flush_count:
return []
# Traverse queue in forward direction to propagate cruise_v2
prev_cruise_v2 = 0.
for i in range(flush_count):
move, start_v2, cruise_v2, next_start_v2 = junction_info[i]
if cruise_v2 is None:
# This move can't accelerate - propagate cruise_v2 from previous
cruise_v2 = min(prev_cruise_v2, start_v2)
move.set_junction(min(start_v2, cruise_v2), cruise_v2
, min(next_start_v2, cruise_v2))
prev_cruise_v2 = cruise_v2
# Remove processed moves from the queue
res = queue[:flush_count]
del queue[:flush_count]