motion_queueing: Add flush_steppersync()

Move the mcu.flush_moves() code to motion_queuing.flush_steppersync().

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

klippy/extras/motion_queuing.py

@@ -16,6 +16,7 @@ class PrinterMotionQueuing:
         self.flush_callbacks = []
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
+        self.steppersync_flush = ffi_lib.steppersync_flush
     def allocate_trapq(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -52,6 +53,17 @@ class PrinterMotionQueuing:
         for trapq in self.trapqs:
             self.trapq_finalize_moves(trapq, trapq_free_time,
                                       clear_history_time)
+    def flush_steppersync(self, print_time, clear_history_time):
+        for mcu, ss in self.steppersyncs:
+            clock = mcu.print_time_to_clock(print_time)
+            if clock < 0:
+                continue
+            clear_history_clock = \
+                max(0, mcu.print_time_to_clock(clear_history_time))
+            ret = self.steppersync_flush(ss, clock, clear_history_clock)
+            if ret:
+                raise mcu.error("Internal error in MCU '%s' stepcompress"
+                                % (mcu.get_name(),))
     def wipe_trapq(self, trapq):
         # Expire any remaining movement in the trapq (force to history list)
         NEVER = 9999999999999999.