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toolhead: No need to build entire look-ahead queue before homing 

It's not necessary to fully build up the look-ahead queue prior to
starting a "drip move" homing operation.  Instead, allow the
look-ahead queue to flush normally.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-07-12 19:46:47 -04:00
parent e3c5638147
commit bf23302918
1 changed files with 6 additions and 12 deletions
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18
klippy/toolhead.py
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@ -244,7 +244,6 @@ class ToolHead:
self.idle_flush_print_time = 0.
self.print_stall = 0
self.drip_completion = None
self.drip_need_calc_print_time = False
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
@ -293,9 +292,6 @@ class ToolHead:
return self.print_time
if self.special_queuing_state == "Drip":
# In "Drip" state - wait until ready to send next move
if self.drip_need_calc_print_time:
self.drip_need_calc_print_time = False
self._calc_print_time()
while 1:
if self.drip_completion.test():
raise DripModeEndSignal()
@ -436,21 +432,19 @@ class ToolHead:
self.special_queuing_state = "Drip"
self.need_check_stall = self.reactor.NEVER
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
self.move_queue.set_flush_time(self.reactor.NEVER)
self.drip_completion = self.reactor.completion()
self.drip_need_calc_print_time = True
# Split move into many tiny moves and queue them
num_moves = max(1, int(math.ceil(move.min_move_t / DRIP_SEGMENT_TIME)))
inv_num_moves = 1. / float(num_moves)
submove_d = [d * inv_num_moves for d in move.axes_d]
prev_pos = move.start_pos
for i in range(num_moves-1):
next_pos = [p + d for p, d in zip(prev_pos, submove_d)]
self.move_queue.add_move(Move(self, prev_pos, next_pos, speed))
prev_pos = next_pos
self.move_queue.add_move(Move(self, prev_pos, move.end_pos, speed))
# Transmit moves
self._calc_print_time()
try:
for i in range(num_moves-1):
next_pos = [p + d for p, d in zip(prev_pos, submove_d)]
self.move_queue.add_move(Move(self, prev_pos, next_pos, speed))
prev_pos = next_pos
self.move_queue.add_move(Move(self, prev_pos, move.end_pos, speed))
self.move_queue.flush()
except DripModeEndSignal as e:
self.move_queue.reset()