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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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27
klippy/toolhead.py
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@@ -245,14 +245,10 @@ class ToolHead:
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = []
# 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
# Motion flushing
# Setup for generating moves
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.flush_trapqs = [self.trapq]
self.trapq = self.motion_queuing.allocate_trapq()
self.trapq_append = self.motion_queuing.lookup_trapq_append()
# Create kinematics class
gcode = self.printer.lookup_object('gcode')
self.Coord = gcode.Coord
@@ -287,8 +283,7 @@ class ToolHead:
if not self.can_pause:
clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
free_time = sg_flush_time - self.kin_flush_delay
for trapq in self.flush_trapqs:
self.trapq_finalize_moves(trapq, free_time, clear_history_time)
self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
# Flush stepcompress and mcu steppersync
for m in self.all_mcus:
m.flush_moves(flush_time, clear_history_time)
@@ -484,32 +479,20 @@ class ToolHead:
eventtime = self.reactor.pause(eventtime + 0.100)
def set_extruder(self, extruder, extrude_pos):
# XXX - should use add_extra_axis
prev_ea_trapq = self.extra_axes[0].get_trapq()
if prev_ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(prev_ea_trapq)
self.extra_axes[0] = extruder
self.commanded_pos[3] = extrude_pos
ea_trapq = extruder.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
def get_extruder(self):
return self.extra_axes[0]
def add_extra_axis(self, ea, axis_pos):
self._flush_lookahead()
self.extra_axes.append(ea)
self.commanded_pos.append(axis_pos)
ea_trapq = ea.get_trapq()
if ea_trapq is not None:
self.flush_trapqs.append(ea_trapq)
self.printer.send_event("toolhead:update_extra_axes")
def remove_extra_axis(self, ea):
self._flush_lookahead()
if ea not in self.extra_axes:
return
ea_index = self.extra_axes.index(ea) + 3
ea_trapq = ea.get_trapq()
if ea_trapq in self.flush_trapqs:
self.flush_trapqs.remove(ea_trapq)
self.commanded_pos.pop(ea_index)
self.extra_axes.pop(ea_index - 3)
self.printer.send_event("toolhead:update_extra_axes")
@@ -574,7 +557,7 @@ class ToolHead:
next_move_time = self._drip_load_trapq(move)
self.drip_update_time(next_move_time, drip_completion)
# Move finished; cleanup any remnants on trapq
self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0)
self.motion_queuing.wipe_trapq(self.trapq)
# Misc commands
def stats(self, eventtime):
max_queue_time = max(self.print_time, self.last_flush_time)