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

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>

klippy/kinematics/cartesian.py

@@ -36,7 +36,6 @@ class CartKinematics:
                         'safe_distance', None, minval=0.))
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,

klippy/kinematics/corexy.py

@@ -20,7 +20,6 @@ class CoreXYKinematics:
         self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(

klippy/kinematics/corexz.py

@@ -20,7 +20,6 @@ class CoreXZKinematics:
         self.rails[2].setup_itersolve('corexz_stepper_alloc', b'-')
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(

klippy/kinematics/delta.py

@@ -52,7 +52,6 @@ class DeltaKinematics:
             r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         self.need_home = True
         self.limit_xy2 = -1.

klippy/kinematics/deltesian.py

@@ -40,7 +40,6 @@ class DeltesianKinematics:
         self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'y')
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         self.limits = [(1.0, -1.0)] * 3
         # X axis limits
         min_angle = config.getfloat('min_angle', MIN_ANGLE,

klippy/kinematics/extruder.py

@@ -39,8 +39,6 @@ class ExtruderStepper:
                                    self.name, self.cmd_SYNC_EXTRUDER_MOTION,
                                    desc=self.cmd_SYNC_EXTRUDER_MOTION_help)
     def _handle_connect(self):
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.register_step_generator(self.stepper.generate_steps)
         self._set_pressure_advance(self.config_pa, self.config_smooth_time)
     def get_status(self, eventtime):
         return {'pressure_advance': self.pressure_advance,

klippy/kinematics/generic_cartesian.py

@@ -108,7 +108,6 @@ class GenericCartesianKinematics:
         self._load_kinematics(config)
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         self.dc_module = None
         if self.dc_carriages:
             pcs = [dc.get_dual_carriage() for dc in self.dc_carriages]

klippy/kinematics/hybrid_corexy.py

@@ -39,7 +39,6 @@ class HybridCoreXYKinematics:
                         'safe_distance', None, minval=0.))
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(

klippy/kinematics/hybrid_corexz.py

@@ -39,7 +39,6 @@ class HybridCoreXZKinematics:
                         'safe_distance', None, minval=0.))
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(

klippy/kinematics/polar.py

@@ -21,7 +21,6 @@ class PolarKinematics:
                                           for s in r.get_steppers() ]
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         max_velocity, max_accel = toolhead.get_max_velocity()
         self.max_z_velocity = config.getfloat(

klippy/kinematics/rotary_delta.py

@@ -52,7 +52,6 @@ class RotaryDeltaKinematics:
                               math.radians(a), ua, la)
         for s in self.get_steppers():
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         self.need_home = True
         self.limit_xy2 = -1.

klippy/kinematics/winch.py

@@ -21,7 +21,6 @@ class WinchKinematics:
             self.anchors.append(a)
             s.setup_itersolve('winch_stepper_alloc', *a)
             s.set_trapq(toolhead.get_trapq())
-            toolhead.register_step_generator(s.generate_steps)
         # Setup boundary checks
         acoords = list(zip(*self.anchors))
         self.axes_min = toolhead.Coord(*[min(a) for a in acoords], e=0.)