mcu: Remove set_ignore_move()

Update callers of set_ignore_move() to use the trapq system to set a
stepper to ignore moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/force_move.py

@@ -56,10 +56,8 @@ class ForceMove:
         if not was_enable:
             stepper.motor_enable(print_time, 1)
             toolhead.dwell(STALL_TIME)
-        was_ignore = stepper.set_ignore_move(False)
+        return was_enable
-        return was_enable, was_ignore
+    def restore_enable(self, stepper, was_enable):
-    def restore_enable(self, stepper, was_enable, was_ignore):
-        stepper.set_ignore_move(was_ignore)
         if not was_enable:
             toolhead = self.printer.lookup_object('toolhead')
             toolhead.dwell(STALL_TIME)
@@ -89,14 +87,14 @@ class ForceMove:
     def cmd_STEPPER_BUZZ(self, params):
         stepper = self._lookup_stepper(params)
         logging.info("Stepper buzz %s", stepper.get_name())
-        was_enable, was_ignore = self.force_enable(stepper)
+        was_enable = self.force_enable(stepper)
         toolhead = self.printer.lookup_object('toolhead')
         for i in range(10):
             self.manual_move(stepper, 1., BUZZ_VELOCITY)
             toolhead.dwell(.050)
             self.manual_move(stepper, -1., BUZZ_VELOCITY)
             toolhead.dwell(.450)
-        self.restore_enable(stepper, was_enable, was_ignore)
+        self.restore_enable(stepper, was_enable)
     cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
     def cmd_FORCE_MOVE(self, params):
         stepper = self._lookup_stepper(params)
@@ -105,9 +103,8 @@ class ForceMove:
         accel = self.gcode.get_float('ACCEL', params, 0., minval=0.)
         logging.info("FORCE_MOVE %s distance=%.3f velocity=%.3f accel=%.3f",
                      stepper.get_name(), distance, speed, accel)
-        was_enable, was_ignore = self.force_enable(stepper)
+        self.force_enable(stepper)
         self.manual_move(stepper, distance, speed, accel)
-        self.restore_enable(stepper, True, was_ignore)
     cmd_SET_KINEMATIC_POSITION_help = "Force a low-level kinematic position"
     def cmd_SET_KINEMATIC_POSITION(self, params):
         toolhead = self.printer.lookup_object('toolhead')

klippy/extras/z_tilt.py

@@ -36,7 +36,7 @@ class ZAdjustHelper:
         gcode.respond_info(msg)
         # Disable Z stepper movements
         for s in self.z_steppers:
-            s.set_ignore_move(True)
+            s.set_trapq(None)
         # Move each z stepper (sorted from lowest to highest) until they match
         positions = [(-a, s) for a, s in zip(adjustments, self.z_steppers)]
         positions.sort()
@@ -45,7 +45,7 @@ class ZAdjustHelper:
         for i in range(len(positions)-1):
             stepper_offset, stepper = positions[i]
             next_stepper_offset, next_stepper = positions[i+1]
-            stepper.set_ignore_move(False)
+            stepper.set_trapq(toolhead.get_trapq())
             curpos[2] = z_low + next_stepper_offset
             try:
                 toolhead.move(curpos, speed)
@@ -53,11 +53,11 @@ class ZAdjustHelper:
             except:
                 logging.exception("ZAdjustHelper adjust_steppers")
                 for s in self.z_steppers:
-                    s.set_ignore_move(False)
+                    s.set_trapq(toolhead.get_trapq())
                 raise
         # Z should now be level - do final cleanup
         last_stepper_offset, last_stepper = positions[-1]
-        last_stepper.set_ignore_move(False)
+        last_stepper.set_trapq(toolhead.get_trapq())
         curpos[2] += first_stepper_offset
         toolhead.set_position(curpos)
         gcode.reset_last_position()

klippy/mcu.py

@@ -26,10 +26,11 @@ class MCU_stepper:
         self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
                                       self._ffi_lib.stepcompress_free)
         self._mcu.register_stepqueue(self._stepqueue)
-        self._stepper_kinematics = self._itersolve_gen_steps = None
+        self._stepper_kinematics = None
-        self._itersolve_generate_steps = self._itersolve_check_active = None
+        self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps
+        self._itersolve_generate_steps = self._ffi_lib.itersolve_generate_steps
+        self._itersolve_check_active = self._ffi_lib.itersolve_check_active
         self._trapq = ffi_main.NULL
-        self.set_ignore_move(False)
     def get_mcu(self):
         return self._mcu
     def setup_dir_pin(self, pin_params):
@@ -97,18 +98,6 @@ class MCU_stepper:
             self._ffi_lib.itersolve_set_stepcompress(
                 sk, self._stepqueue, self._step_dist)
         return old_sk
-    def set_ignore_move(self, ignore_move):
-        fl = self._ffi_lib
-        was_ignore = self._itersolve_gen_steps is not fl.itersolve_gen_steps
-        if ignore_move:
-            self._itersolve_gen_steps = (lambda *args: 0)
-            self._itersolve_generate_steps = (lambda *args: 0)
-            self._itersolve_check_active = (lambda *args: 0.)
-        else:
-            self._itersolve_gen_steps = fl.itersolve_gen_steps
-            self._itersolve_generate_steps = fl.itersolve_generate_steps
-            self._itersolve_check_active = fl.itersolve_check_active
-        return was_ignore
     def note_homing_end(self, did_trigger=False):
         ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
         if ret:

klippy/stepper.py

@@ -81,7 +81,6 @@ class PrinterStepper:
         self.generate_steps = mcu_stepper.generate_steps
         self.set_trapq = mcu_stepper.set_trapq
         self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics
-        self.set_ignore_move = mcu_stepper.set_ignore_move
         self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
         self.set_position = mcu_stepper.set_position
         self.get_commanded_position = mcu_stepper.get_commanded_position