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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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14
klippy/toolhead.py
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@@ -251,7 +251,7 @@ class ToolHead:
self.trapq_append = ffi_lib.trapq_append
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
# Motion flushing
self.step_generators = []
self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
self.flush_trapqs = [self.trapq]
# Create kinematics class
gcode = self.printer.lookup_object('gcode')
@@ -280,8 +280,7 @@ class ToolHead:
sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
self.print_time - self.kin_flush_delay)
sg_flush_time = max(sg_flush_want, flush_time)
for sg in self.step_generators:
sg(sg_flush_time)
self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time)
self.min_restart_time = max(self.min_restart_time, sg_flush_time)
# Free trapq entries that are no longer needed
clear_history_time = self.clear_history_time
@@ -517,7 +516,7 @@ class ToolHead:
def get_extra_axes(self):
return [None, None, None] + self.extra_axes
# Homing "drip move" handling
def drip_update_time(self, next_print_time, drip_completion, addstepper=()):
def drip_update_time(self, next_print_time, drip_completion):
# Transition from "NeedPrime"/"Priming"/main state to "Drip" state
self.special_queuing_state = "Drip"
self.need_check_pause = self.reactor.NEVER
@@ -539,8 +538,6 @@ class ToolHead:
continue
npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
self.note_mcu_movequeue_activity(npt + self.kin_flush_delay)
for stepper in addstepper:
stepper.generate_steps(npt)
self._advance_move_time(npt)
# Exit "Drip" state
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
@@ -617,11 +614,6 @@ class ToolHead:
return self.kin
def get_trapq(self):
return self.trapq
def register_step_generator(self, handler):
self.step_generators.append(handler)
def unregister_step_generator(self, handler):
if handler in self.step_generators:
self.step_generators.remove(handler)
def note_step_generation_scan_time(self, delay, old_delay=0.):
self.flush_step_generation()
if old_delay: