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motion_queuing: Track all trapqs and globally flush all trapqs

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Add an allocate_trapq() helper function to facilitate the creation of
a low-level C trapq object.  Track all trapq objects and clear history
on them globally when the main motion queues are flushed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-04 22:41:15 -04:00
parent 9399e738bc
commit 5cbe7d83e8
5 changed files with 36 additions and 38 deletions
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11
klippy/extras/manual_stepper.py
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@@ -25,10 +25,9 @@ class ManualStepper:
self.pos_min = config.getfloat('position_min', None)
self.pos_max = config.getfloat('position_max', None)
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
self.rail.setup_itersolve('cartesian_stepper_alloc', b'x')
self.rail.set_trapq(self.trapq)
# Registered with toolhead as an axtra axis
@@ -76,8 +75,6 @@ class ManualStepper:
self.sync_print_time()
self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
speed, accel)
self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
self.next_cmd_time + 99999.9)
toolhead = self.printer.lookup_object('toolhead')
toolhead.note_mcu_movequeue_activity(self.next_cmd_time)
if sync:
@@ -208,7 +205,7 @@ class ManualStepper:
toolhead.drip_update_time(maxtime, drip_completion)
# Clear trapq of any remaining parts of movement
reactor = self.printer.get_reactor()
self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0)
self.motion_queuing.wipe_trapq(self.trapq)
self.rail.set_position([newpos[0], 0., 0.])
self.sync_print_time()
def get_kinematics(self):