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toolhead: Add register_lookahead_callback() method 

Add a mechanism for obtaining the print_time via a callback instead of
by flushing the look-ahead queue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-01-02 19:32:10 -05:00
parent 4b6a65c1e0
commit 8158dbcc21
1 changed files with 13 additions and 0 deletions
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13
klippy/toolhead.py
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@ -17,6 +17,7 @@ class Move:
self.start_pos = tuple(start_pos) self.start_pos = tuple(start_pos)
self.end_pos = tuple(end_pos) self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel self.accel = toolhead.max_accel
self.timing_callbacks = []
velocity = min(speed, toolhead.max_velocity) velocity = min(speed, toolhead.max_velocity)
self.is_kinematic_move = True self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)] self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
@ -112,6 +113,10 @@ class MoveQueue:
self.junction_flush = LOOKAHEAD_FLUSH_TIME self.junction_flush = LOOKAHEAD_FLUSH_TIME
def set_flush_time(self, flush_time): def set_flush_time(self, flush_time):
self.junction_flush = flush_time self.junction_flush = flush_time
def get_last(self):
if self.queue:
return self.queue[-1]
return None
def flush(self, lazy=False): def flush(self, lazy=False):
self.junction_flush = LOOKAHEAD_FLUSH_TIME self.junction_flush = LOOKAHEAD_FLUSH_TIME
update_flush_count = lazy update_flush_count = lazy
@ -314,6 +319,8 @@ class ToolHead:
self.extruder.move(next_move_time, move) self.extruder.move(next_move_time, move)
next_move_time = (next_move_time + move.accel_t next_move_time = (next_move_time + move.accel_t
+ move.cruise_t + move.decel_t) + move.cruise_t + move.decel_t)
for cb in move.timing_callbacks:
cb(next_move_time)
# Generate steps for moves # Generate steps for moves
if self.special_queuing_state: if self.special_queuing_state:
self._update_drip_move_time(next_move_time) self._update_drip_move_time(next_move_time)
@ -507,6 +514,12 @@ class ToolHead:
self.kin_flush_times.append(delay) self.kin_flush_times.append(delay)
new_delay = max(self.kin_flush_times + [0.]) new_delay = max(self.kin_flush_times + [0.])
self.kin_flush_delay = new_delay self.kin_flush_delay = new_delay
def register_lookahead_callback(self, callback):
last_move = self.move_queue.get_last()
if last_move is None:
callback(self.get_last_move_time())
return
last_move.timing_callbacks.append(callback)
def note_kinematic_activity(self, kin_time): def note_kinematic_activity(self, kin_time):
self.last_kin_move_time = max(self.last_kin_move_time, kin_time) self.last_kin_move_time = max(self.last_kin_move_time, kin_time)
def get_max_velocity(self): def get_max_velocity(self):