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motion_queuing: Add new module to help with motion queues and flushing

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Create a new module to assist with host management of motion queues.
Register all MCU_stepper objects with this module and use the module
for step generation.

All steppers will now automatically generate steps whenever
toolhead._advance_flush_time() is invoked.  It is no longer necessary
for callers to individually call stepper.generate_steps().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-04 21:57:45 -04:00
parent 126275d1f4
commit 9399e738bc
17 changed files with 29 additions and 37 deletions
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5
klippy/extras/manual_stepper.py
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@@ -76,7 +76,6 @@ class ManualStepper:
self.sync_print_time()
self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
speed, accel)
self.rail.generate_steps(self.next_cmd_time)
self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
self.next_cmd_time + 99999.9)
toolhead = self.printer.lookup_object('toolhead')
@@ -138,7 +137,6 @@ class ManualStepper:
raise gcmd.error("Must unregister axis first")
# Unregister
toolhead.remove_extra_axis(self)
toolhead.unregister_step_generator(self.rail.generate_steps)
self.axis_gcode_id = None
return
if (len(gcode_axis) != 1 or not gcode_axis.isupper()
@@ -155,7 +153,6 @@ class ManualStepper:
self.gaxis_limit_velocity = limit_velocity
self.gaxis_limit_accel = limit_accel
toolhead.add_extra_axis(self, self.get_position()[0])
toolhead.register_step_generator(self.rail.generate_steps)
def process_move(self, print_time, move, ea_index):
axis_r = move.axes_r[ea_index]
start_pos = move.start_pos[ea_index]
@@ -208,7 +205,7 @@ class ManualStepper:
speed, self.homing_accel)
# Drip updates to motors
toolhead = self.printer.lookup_object('toolhead')
toolhead.drip_update_time(maxtime, drip_completion, self.steppers)
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)