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gcode: Rework toolhead stalling to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-12-09 09:41:46 -05:00
parent 89f5452ddb
commit edd7dfe1c8
3 changed files with 23 additions and 35 deletions
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29
klippy/toolhead.py
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@@ -173,9 +173,10 @@ class ToolHead:
self.move_flush_time = config.getfloat('move_flush_time', 0.050)
self.motor_off_delay = config.getfloat('motor_off_time', 60.000)
self.print_time = 0.
self.need_check_stall = -1.
self.print_time_stall = 0
self.motor_off_time = self.reactor.NEVER
self.flush_timer = self.reactor.register_timer(self.flush_handler)
self.flush_timer = self.reactor.register_timer(self._flush_handler)
def build_config(self):
self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX
self.kin.build_config()
@@ -200,18 +201,27 @@ class ToolHead:
self.move_queue.flush()
self.printer.mcu.flush_moves(self.print_time)
self.print_time = 0.
self.need_check_stall = -1.
self.reset_motor_off_time(time.time())
self.reactor.update_timer(self.flush_timer, self.motor_off_time)
def check_busy(self, eventtime):
def _check_stall(self):
if not self.print_time:
# XXX - find better way to flush initial move_queue items
if self.move_queue.queue:
self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
return False
buffer_time = self.printer.mcu.get_print_buffer_time(
eventtime, self.print_time)
return buffer_time > self.buffer_time_high
def flush_handler(self, eventtime):
self.reactor.update_timer(self.flush_timer, time.time() + 0.100)
return
eventtime = time.time()
while 1:
buffer_time = self.printer.mcu.get_print_buffer_time(
eventtime, self.print_time)
stall_time = buffer_time - self.buffer_time_high
if stall_time <= 0.:
break
eventtime = self.reactor.pause(eventtime + stall_time)
if not self.print_time:
return
self.need_check_stall = self.print_time - stall_time + 0.100
def _flush_handler(self, eventtime):
try:
if not self.print_time:
self.move_queue.flush()
@@ -260,11 +270,14 @@ class ToolHead:
self.extruder.check_move(move)
self.commanded_pos[:] = newpos
self.move_queue.add_move(move)
if self.print_time > self.need_check_stall:
self._check_stall()
def home(self, homing_state):
self.kin.home(homing_state)
def dwell(self, delay):
self.get_last_move_time()
self.update_move_time(delay)
self._check_stall()
def motor_off(self):
self.dwell(STALL_TIME)
last_move_time = self.get_last_move_time()