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motion_queuing: Move clear_history_time from toolhead to motion_queuing

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Implement the 30 second clear_history_time offset checking directly in
the motion_queuing module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-05 14:39:04 -04:00
parent 6d59279438
commit b5e573957c
2 changed files with 16 additions and 8 deletions
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9
klippy/toolhead.py
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@@ -200,7 +200,6 @@ MIN_KIN_TIME = 0.100
MOVE_BATCH_TIME = 0.500
STEPCOMPRESS_FLUSH_TIME = 0.050
SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
MOVE_HISTORY_EXPIRE = 30.
DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.100
@@ -241,7 +240,7 @@ class ToolHead:
self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.do_kick_flush_timer = True
self.last_flush_time = self.min_restart_time = 0.
self.need_flush_time = self.step_gen_time = self.clear_history_time = 0.
self.need_flush_time = self.step_gen_time = 0.
# Kinematic step generation scan window time tracking
self.kin_flush_delay = SDS_CHECK_TIME
self.kin_flush_times = []
@@ -279,11 +278,8 @@ class ToolHead:
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
if not self.can_pause:
clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
free_time = sg_flush_time - self.kin_flush_delay
self.motion_queuing.clean_motion_queues(free_time, clear_history_time)
self.motion_queuing.clean_motion_queues(free_time)
self.last_flush_time = flush_time
def _advance_move_time(self, next_print_time):
pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
@@ -561,7 +557,6 @@ class ToolHead:
for m in self.all_mcus:
m.check_active(max_queue_time, eventtime)
est_print_time = self.mcu.estimated_print_time(eventtime)
self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
buffer_time = self.print_time - est_print_time
is_active = buffer_time > -60. or not self.special_queuing_state
if self.special_queuing_state == "Drip":