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motion_queuing: Generate steps from timer instead of from lookahead

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Don't tie the step generation logic to the toolhead lookahead logic.
Instead, use regular timers to generate steps with a goal of staying
500-750ms ahead of the micro-controllers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-09-02 13:45:29 -04:00
parent b60804bb66
commit 7ea5f5d25e
2 changed files with 85 additions and 52 deletions
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26
klippy/toolhead.py
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@@ -190,7 +190,6 @@ class LookAheadQueue:
# Check if enough moves have been queued to reach the target flush time.
return self.junction_flush <= 0.
BUFFER_TIME_LOW = 1.0
BUFFER_TIME_HIGH = 2.0
BUFFER_TIME_START = 0.250
@@ -226,8 +225,8 @@ class ToolHead:
self.priming_timer = None
# Setup for generating moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.motion_queuing.setup_lookahead_flush_callback(
self._check_flush_lookahead)
self.motion_queuing.register_flush_callback(self._handle_step_flush,
can_add_trapq=True)
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
# Create kinematics class
@@ -253,8 +252,6 @@ class ToolHead:
# Print time tracking
def _advance_move_time(self, next_print_time):
self.print_time = max(self.print_time, next_print_time)
self.motion_queuing.advance_flush_time(self.print_time,
lazy_target=True)
def _calc_print_time(self):
curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime)
@@ -292,8 +289,8 @@ class ToolHead:
for cb in move.timing_callbacks:
cb(next_move_time)
# Generate steps for moves
self.motion_queuing.note_mcu_movequeue_activity(next_move_time)
self._advance_move_time(next_move_time)
self.motion_queuing.note_mcu_movequeue_activity(next_move_time)
def _flush_lookahead(self, is_runout=False):
# Transit from "NeedPrime"/"Priming"/main state to "NeedPrime"
prev_print_time = self.print_time
@@ -330,7 +327,7 @@ class ToolHead:
if self.priming_timer is None:
self.priming_timer = self.reactor.register_timer(
self._priming_handler)
wtime = eventtime + max(0.100, buffer_time - BUFFER_TIME_LOW)
wtime = eventtime + max(0.100, buffer_time - BUFFER_TIME_HIGH)
self.reactor.update_timer(self.priming_timer, wtime)
# Check if there are lots of queued moves and pause if so
while 1:
@@ -356,18 +353,13 @@ class ToolHead:
logging.exception("Exception in priming_handler")
self.printer.invoke_shutdown("Exception in priming_handler")
return self.reactor.NEVER
def _check_flush_lookahead(self, eventtime):
def _handle_step_flush(self, flush_time, step_gen_time):
if self.special_queuing_state:
return None
return
# In "main" state - flush lookahead if buffer runs low
est_print_time = self.mcu.estimated_print_time(eventtime)
buffer_time = self.print_time - est_print_time
if buffer_time > BUFFER_TIME_LOW:
# Running normally - reschedule check
return eventtime + buffer_time - BUFFER_TIME_LOW
# Under ran low buffer mark - flush lookahead queue
self._flush_lookahead(is_runout=True)
return None
kin_flush_delay = self.motion_queuing.get_kin_flush_delay()
if step_gen_time >= self.print_time - kin_flush_delay:
self._flush_lookahead(is_runout=True)
# Movement commands
def get_position(self):
return list(self.commanded_pos)