motion_report: Improve "motion_report/dump_trapq" during homing

Now that trapq_extract_old() can return upcoming moves, it's possible
for homing to cause confusing results (as these moves can end early).
Avoid this by delaying query responses until after homing completes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/motion_queuing.py

@@ -54,6 +54,8 @@ 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.
+        # "Drip" timing (for homing and probing moves)
+        self.drip_start_times = []
         # Register handlers
         printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
     # C trapq tracking
@@ -245,7 +247,9 @@ class PrinterMotionQueuing:
         if self.do_kick_flush_timer:
             self.do_kick_flush_timer = False
             self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
+    # "Drip" timing (for homing and probing moves)
     def drip_update_time(self, start_time, end_time, drip_completion):
+        self.drip_start_times.append(start_time)
         self._await_flush_time(start_time)
         # Disable background flushing from timer
         self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
@@ -269,6 +273,11 @@ class PrinterMotionQueuing:
         # Restore background flushing
         self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
         self._advance_flush_time(flush_time + self.kin_flush_delay)
+        self.drip_start_times.remove(start_time)
+    def check_drip_timing(self):
+        if not self.drip_start_times:
+            return None
+        return min(self.drip_start_times)
 
 def load_config(config):
     return PrinterMotionQueuing(config)

klippy/extras/motion_report.py

@@ -71,6 +71,7 @@ class DumpTrapQ:
         self.name = name
         self.trapq = trapq
         self.last_batch_msg = (0., 0.)
+        self.motion_queuing = printer.lookup_object("motion_queuing")
         self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
                                                       self._process_batch)
         api_resp = {'header': ('time', 'duration', 'start_velocity',
@@ -121,6 +122,12 @@ class DumpTrapQ:
         d = [(m.print_time, m.move_t, m.start_v, m.accel,
               (m.start_x, m.start_y, m.start_z), (m.x_r, m.y_r, m.z_r))
              for m in data]
+        if d:
+            start_drip_time = self.motion_queuing.check_drip_timing()
+            if start_drip_time is not None:
+                # If homing, delay sending trapq entries that may change
+                while d and d[-1][0] + d[-1][1] >= start_drip_time:
+                    d.pop()
         if d and d[0] == self.last_batch_msg:
             d.pop(0)
         if not d: