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toolhead: Remove unneeded forward pass in MoveQueue.flush() 

Simplify the code now that the extruder lookahead is separate from the
main lookahead code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-01-31 13:42:52 -05:00
parent e14d86d8b8
commit 074495a13a
1 changed files with 10 additions and 10 deletions
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20
klippy/toolhead.py
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@ -87,41 +87,41 @@ class MoveQueue:
def __init__(self, extruder_lookahead):
self.extruder_lookahead = extruder_lookahead
self.queue = []
self.leftover = 0
self.junction_flush = 0.
def reset(self):
del self.queue[:]
self.leftover = 0
def flush(self, lazy=False):
update_flush_count = lazy
queue = self.queue
flush_count = len(queue)
move_info = [None] * flush_count
# Traverse queue from last to first move and determine maximum
# junction speed assuming the robot comes to a complete stop
# after the last move.
next_end_v2 = 0.
for i in range(flush_count-1, -1, -1):
for i in range(flush_count-1, self.leftover-1, -1):
move = queue[i]
reachable_start_v2 = next_end_v2 + move.delta_v2
start_v2 = min(move.max_start_v2, reachable_start_v2)
cruise_v2 = min((start_v2 + reachable_start_v2) * .5
, move.max_cruise_v2)
move_info[i] = (move, start_v2, cruise_v2, next_end_v2)
if update_flush_count and reachable_start_v2 > start_v2:
if not update_flush_count:
move.set_junction(start_v2, cruise_v2, next_end_v2)
elif reachable_start_v2 > start_v2:
flush_count = i
update_flush_count = False
next_end_v2 = start_v2
if update_flush_count:
flush_count = 0
# Traverse queue in forward direction propagating final values
for move, start_v2, cruise_v2, end_v2 in move_info[:flush_count]:
move.set_junction(start_v2, cruise_v2, end_v2)
# Allow extruder to do its lookahead
flush_count = self.extruder_lookahead(queue, flush_count, lazy)
move_count = self.extruder_lookahead(queue, flush_count, lazy)
# Generate step times for all moves ready to be flushed
for move in queue[:flush_count]:
for move in queue[:move_count]:
move.move()
# Remove processed moves from the queue
del queue[:flush_count]
self.leftover = flush_count - move_count
del queue[:move_count]
if queue:
self.junction_flush = 2. * queue[-1].max_cruise_v2
def add_move(self, move):