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stepcompress: Store a reference to 'struct stepper_kinematics'

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Support storing a reference to 'struct stepper_kinematics' in 'struct
stepcompress' and support globally generating steps via the
steppersync mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-05 17:51:59 -04:00
parent dd4cc8eb4c
commit 2919f37343
8 changed files with 67 additions and 29 deletions
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14
klippy/extras/motion_queuing.py
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@@ -11,13 +11,13 @@ MOVE_HISTORY_EXPIRE = 30.
class PrinterMotionQueuing:
def __init__(self, config):
self.printer = config.get_printer()
self.steppers = []
self.trapqs = []
self.stepcompress = []
self.steppersyncs = []
self.flush_callbacks = []
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.steppersync_generate_steps = ffi_lib.steppersync_generate_steps
self.steppersync_flush = ffi_lib.steppersync_flush
self.steppersync_history_expire = ffi_lib.steppersync_history_expire
self.clear_history_time = 0.
@@ -46,8 +46,6 @@ class PrinterMotionQueuing:
ffi_lib.steppersync_free)
self.steppersyncs.append((mcu, ss))
return ss
def register_stepper(self, config, stepper):
self.steppers.append(stepper)
def register_flush_callback(self, callback):
self.flush_callbacks.append(callback)
def unregister_flush_callback(self, callback):
@@ -59,12 +57,14 @@ class PrinterMotionQueuing:
# Invoke flush callbacks (if any)
for cb in self.flush_callbacks:
cb(must_flush_time, max_step_gen_time)
# Generate itersolve steps
for stepper in self.steppers:
stepper.generate_steps(max_step_gen_time)
# Flush steps from stepcompress and steppersync
for mcu, ss in self.steppersyncs:
clock = max(0, mcu.print_time_to_clock(must_flush_time))
# Generate steps
ret = self.steppersync_generate_steps(ss, max_step_gen_time, clock)
if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress"
% (mcu.get_name(),))
# Flush steps from steppersync
ret = self.steppersync_flush(ss, clock)
if ret:
raise mcu.error("Internal error in MCU '%s' stepcompress"