toolhead: Flush trapezoid velocity queue in batches
Load all items from the look-ahead queue into the trapezoid velocity queue, and then flush that queue by time. This prevents the host cpu from being starved on very long moves (which may require a large number of steps to be generated). It also improves the overall performance. With the batch flushing logic in place, it is no longer necessary to split homing moves up. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
1acaaa98c2
commit
7ca86f1723
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@ -92,27 +92,14 @@ class Move:
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self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
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self.cruise_t = cruise_r * self.move_d / cruise_v
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self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
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def move(self):
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# Generate step times for the move
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next_move_time = self.toolhead.get_next_move_time()
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if self.is_kinematic_move:
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self.toolhead.trapq_append(
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self.toolhead.trapq, next_move_time,
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self.accel_t, self.cruise_t, self.decel_t,
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self.start_pos[0], self.start_pos[1], self.start_pos[2],
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self.axes_d[0], self.axes_d[1], self.axes_d[2],
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self.start_v, self.cruise_v, self.accel)
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if self.axes_d[3]:
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self.toolhead.extruder.move(next_move_time, self)
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self.toolhead.update_move_time(
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self.accel_t + self.cruise_t + self.decel_t)
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LOOKAHEAD_FLUSH_TIME = 0.250
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# Class to track a list of pending move requests and to facilitate
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# "look-ahead" across moves to reduce acceleration between moves.
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class MoveQueue:
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def __init__(self):
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def __init__(self, toolhead):
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self.toolhead = toolhead
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self.extruder_lookahead = None
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self.queue = []
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self.leftover = 0
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@ -176,8 +163,7 @@ class MoveQueue:
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# Allow extruder to do its lookahead
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move_count = self.extruder_lookahead(queue, flush_count, lazy)
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# Generate step times for all moves ready to be flushed
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for move in queue[:move_count]:
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move.move()
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self.toolhead._process_moves(queue[:move_count])
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# Remove processed moves from the queue
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self.leftover = flush_count - move_count
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del queue[:move_count]
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@ -192,6 +178,7 @@ class MoveQueue:
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self.flush(lazy=True)
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STALL_TIME = 0.100
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MOVE_BATCH_TIME = 0.500
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DRIP_SEGMENT_TIME = 0.050
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DRIP_TIME = 0.150
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@ -206,7 +193,7 @@ class ToolHead:
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self.all_mcus = [
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m for n, m in self.printer.lookup_objects(module='mcu')]
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self.mcu = self.all_mcus[0]
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self.move_queue = MoveQueue()
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self.move_queue = MoveQueue(self)
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self.commanded_pos = [0., 0., 0., 0.]
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self.printer.register_event_handler("gcode:request_restart",
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self._handle_request_restart)
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@ -276,15 +263,20 @@ class ToolHead:
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self.printer.try_load_module(config, "manual_probe")
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self.printer.try_load_module(config, "tuning_tower")
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# Print time tracking
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def update_move_time(self, movetime, lazy=True):
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self.print_time = flush_to_time = self.print_time + movetime
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for mh in self.move_handlers:
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mh(flush_to_time)
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self.trapq_free_moves(self.trapq, flush_to_time)
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if lazy:
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flush_to_time -= self.move_flush_time
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for m in self.all_mcus:
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m.flush_moves(flush_to_time)
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def _update_move_time(self, next_print_time, lazy=True):
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batch_time = MOVE_BATCH_TIME
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while 1:
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flush_to_time = min(self.print_time + batch_time, next_print_time)
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self.print_time = flush_to_time
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for mh in self.move_handlers:
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mh(flush_to_time)
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self.trapq_free_moves(self.trapq, flush_to_time)
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if lazy:
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flush_to_time -= self.move_flush_time
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for m in self.all_mcus:
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m.flush_moves(flush_to_time)
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if self.print_time >= next_print_time:
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break
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def _calc_print_time(self):
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curtime = self.reactor.monotonic()
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est_print_time = self.mcu.estimated_print_time(curtime)
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@ -293,26 +285,33 @@ class ToolHead:
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self.last_print_start_time = self.print_time
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self.printer.send_event("toolhead:sync_print_time",
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curtime, est_print_time, self.print_time)
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def get_next_move_time(self):
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if not self.special_queuing_state:
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return self.print_time
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def _process_moves(self, moves):
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# Resync print_time if necessary
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if self.special_queuing_state:
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if self.special_queuing_state != "Drip":
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# Transition from "Flushed"/"Priming" state to main state
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self.special_queuing_state = ""
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self.need_check_stall = -1.
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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self._calc_print_time()
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# Queue moves into trapezoid motion queue (trapq)
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next_move_time = self.print_time
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for move in moves:
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if move.is_kinematic_move:
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self.trapq_append(
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self.trapq, next_move_time,
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move.accel_t, move.cruise_t, move.decel_t,
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move.start_pos[0], move.start_pos[1], move.start_pos[2],
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move.axes_d[0], move.axes_d[1], move.axes_d[2],
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move.start_v, move.cruise_v, move.accel)
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if move.axes_d[3]:
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self.extruder.move(next_move_time, move)
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next_move_time += move.accel_t + move.cruise_t + move.decel_t
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# Generate steps for moves
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if self.special_queuing_state == "Drip":
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# In "Drip" state - wait until ready to send next move
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while 1:
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if self.drip_completion.test():
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raise DripModeEndSignal()
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curtime = self.reactor.monotonic()
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est_print_time = self.mcu.estimated_print_time(curtime)
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wait_time = self.print_time - est_print_time - DRIP_TIME
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if wait_time <= 0. or self.mcu.is_fileoutput():
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return self.print_time
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self.drip_completion.wait(curtime + wait_time)
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# Transition from "Flushed"/"Priming" state to main state
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self.special_queuing_state = ""
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self.need_check_stall = -1.
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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self._calc_print_time()
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return self.print_time
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self._update_drip_move_time(next_move_time)
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else:
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self._update_move_time(next_move_time)
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def _full_flush(self):
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# Transition from "Flushed"/"Priming"/main state to "Flushed" state
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self.move_queue.flush()
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@ -321,7 +320,7 @@ class ToolHead:
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self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
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self.move_queue.set_flush_time(self.buffer_time_high)
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self.idle_flush_print_time = 0.
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self.update_move_time(0., lazy=False)
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self._update_move_time(self.print_time, lazy=False)
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def _flush_lookahead(self):
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if self.special_queuing_state:
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return self._full_flush()
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@ -394,8 +393,8 @@ class ToolHead:
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if self.print_time > self.need_check_stall:
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self._check_stall()
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def dwell(self, delay):
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self.get_last_move_time()
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self.update_move_time(delay)
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next_print_time = self.get_last_move_time() + max(0., delay)
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self._update_move_time(next_print_time)
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self._check_stall()
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def motor_off(self):
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self.dwell(STALL_TIME)
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@ -423,41 +422,39 @@ class ToolHead:
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self.commanded_pos[3] = extrude_pos
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def get_extruder(self):
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return self.extruder
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# Homing "drip move" handling
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def _update_drip_move_time(self, next_print_time):
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while self.print_time < next_print_time:
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if self.drip_completion.test():
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raise DripModeEndSignal()
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curtime = self.reactor.monotonic()
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est_print_time = self.mcu.estimated_print_time(curtime)
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wait_time = self.print_time - est_print_time - DRIP_TIME
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if wait_time > 0. and not self.mcu.is_fileoutput():
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# Pause before sending more steps
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self.drip_completion.wait(curtime + wait_time)
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continue
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npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
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self._update_move_time(npt)
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def drip_move(self, newpos, speed):
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# Validate move
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move = Move(self, self.commanded_pos, newpos, speed)
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if move.axes_d[3]:
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raise homing.CommandError("Invalid drip move")
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if not move.move_d or not move.is_kinematic_move:
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return
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self.kin.check_move(move)
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speed = math.sqrt(move.max_cruise_v2)
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move_accel = move.accel
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# Transition to "Flushed" state and then to "Drip" state
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self._full_flush()
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self.special_queuing_state = "Drip"
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self.need_check_stall = self.reactor.NEVER
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self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
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self.drip_completion = self.reactor.completion()
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# Split move into many tiny moves and queue them
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num_moves = max(1, int(math.ceil(move.min_move_t / DRIP_SEGMENT_TIME)))
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inv_num_moves = 1. / float(num_moves)
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submove_d = [d * inv_num_moves for d in move.axes_d]
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prev_pos = move.start_pos
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self._calc_print_time()
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# Submit move
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try:
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self.move(newpos, speed)
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except homing.CommandError as e:
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self._full_flush()
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raise
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# Transmit move in "drip" mode
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try:
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for i in range(num_moves-1):
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next_pos = [p + d for p, d in zip(prev_pos, submove_d)]
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smove = Move(self, prev_pos, next_pos, speed)
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smove.limit_speed(speed, move_accel)
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self.move_queue.add_move(smove)
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prev_pos = next_pos
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smove = Move(self, prev_pos, move.end_pos, speed)
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smove.limit_speed(speed, move_accel)
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self.move_queue.add_move(smove)
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self.move_queue.flush()
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except DripModeEndSignal as e:
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self.move_queue.reset()
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self.trapq_free_moves(self.trapq, self.reactor.NEVER)
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# Return to "Flushed" state
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self._full_flush()
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def signal_drip_mode_end(self):
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