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toolhead: Support step generation in lead up to and after stepper activity 

Add support for kinematic functions that calculate step times based on
a range of the motion queue.  This requires adding additional pause
times when fully flushing the motion queue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-09-17 22:53:17 -04:00
parent 56cd39f038
commit d00023f3bb
2 changed files with 42 additions and 19 deletions
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5
klippy/kinematics/extruder.py
View File

@ -59,7 +59,6 @@ class PrinterExtruder:
self.stepper.setup_itersolve('extruder_stepper_alloc') self.stepper.setup_itersolve('extruder_stepper_alloc')
self.stepper.set_trapq(self.trapq) self.stepper.set_trapq(self.trapq)
toolhead.register_step_generator(self.stepper.generate_steps) toolhead.register_step_generator(self.stepper.generate_steps)
toolhead.register_step_generator(self._free_moves)
# Register commands # Register commands
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
if self.name == 'extruder': if self.name == 'extruder':
@ -70,7 +69,7 @@ class PrinterExtruder:
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE, self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help) desc=self.cmd_SET_PRESSURE_ADVANCE_help)
def _free_moves(self, flush_time): def update_move_time(self, flush_time):
self.trapq_free_moves(self.trapq, flush_time) self.trapq_free_moves(self.trapq, flush_time)
def get_status(self, eventtime): def get_status(self, eventtime):
return dict( return dict(
@ -230,6 +229,8 @@ class PrinterExtruder:
class DummyExtruder: class DummyExtruder:
def set_active(self, print_time, is_active): def set_active(self, print_time, is_active):
return 0. return 0.
def update_move_time(self, flush_time):
pass
def check_move(self, move): def check_move(self, move):
raise homing.EndstopMoveError( raise homing.EndstopMoveError(
move.end_pos, "Extrude when no extruder present") move.end_pos, "Extrude when no extruder present")

56
klippy/toolhead.py
View File

@ -184,10 +184,11 @@ class MoveQueue:
# Enough moves have been queued to reach the target flush time. # Enough moves have been queued to reach the target flush time.
self.flush(lazy=True) self.flush(lazy=True)
MIN_KIN_TIME = 0.100
MOVE_BATCH_TIME = 0.500 MOVE_BATCH_TIME = 0.500
DRIP_SEGMENT_TIME = 0.050 DRIP_SEGMENT_TIME = 0.050
DRIP_TIME = 0.150 DRIP_TIME = 0.100
class DripModeEndSignal(Exception): class DripModeEndSignal(Exception):
pass pass
@ -237,6 +238,10 @@ class ToolHead:
self.idle_flush_print_time = 0. self.idle_flush_print_time = 0.
self.print_stall = 0 self.print_stall = 0
self.drip_completion = None self.drip_completion = None
# Kinematic step generation scan window time tracking
self.kin_flush_delay = 0.
self.kin_flush_times = []
self.last_kin_flush_time = self.last_kin_move_time = 0.
# Setup iterative solver # Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@ -270,26 +275,31 @@ class ToolHead:
self.printer.try_load_module(config, "manual_probe") self.printer.try_load_module(config, "manual_probe")
self.printer.try_load_module(config, "tuning_tower") self.printer.try_load_module(config, "tuning_tower")
# Print time tracking # Print time tracking
def _update_move_time(self, next_print_time, lazy=True): def _update_move_time(self, next_print_time):
batch_time = MOVE_BATCH_TIME batch_time = MOVE_BATCH_TIME
kin_flush_delay = self.kin_flush_delay
lkft = self.last_kin_flush_time
while 1: while 1:
flush_to_time = min(self.print_time + batch_time, next_print_time) self.print_time = min(self.print_time + batch_time, next_print_time)
self.print_time = flush_to_time sg_flush_time = max(lkft, self.print_time - kin_flush_delay)
for sg in self.step_generators: for sg in self.step_generators:
sg(flush_to_time) sg(sg_flush_time)
self.trapq_free_moves(self.trapq, flush_to_time) free_time = max(lkft, sg_flush_time - kin_flush_delay)
if lazy: self.trapq_free_moves(self.trapq, free_time)
flush_to_time -= self.move_flush_time self.extruder.update_move_time(free_time)
mcu_flush_time = max(lkft, sg_flush_time - self.move_flush_time)
for m in self.all_mcus: for m in self.all_mcus:
m.flush_moves(flush_to_time) m.flush_moves(mcu_flush_time)
if self.print_time >= next_print_time: if self.print_time >= next_print_time:
break break
def _calc_print_time(self): def _calc_print_time(self):
curtime = self.reactor.monotonic() curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime) est_print_time = self.mcu.estimated_print_time(curtime)
if est_print_time + self.buffer_time_start > self.print_time: kin_time = max(est_print_time + MIN_KIN_TIME, self.last_kin_flush_time)
self.print_time = est_print_time + self.buffer_time_start kin_time += self.kin_flush_delay
self.last_print_start_time = self.print_time min_print_time = max(est_print_time + self.buffer_time_start, kin_time)
if min_print_time > self.print_time:
self.print_time = self.last_print_start_time = min_print_time
self.printer.send_event("toolhead:sync_print_time", self.printer.send_event("toolhead:sync_print_time",
curtime, est_print_time, self.print_time) curtime, est_print_time, self.print_time)
def _process_moves(self, moves): def _process_moves(self, moves):
@ -316,10 +326,10 @@ class ToolHead:
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)
# Generate steps for moves # Generate steps for moves
if self.special_queuing_state == "Drip": if self.special_queuing_state:
self._update_drip_move_time(next_move_time) self._update_drip_move_time(next_move_time)
else: self._update_move_time(next_move_time)
self._update_move_time(next_move_time) self.last_kin_move_time = next_move_time
def flush_step_generation(self): def flush_step_generation(self):
# Transition from "Flushed"/"Priming"/main state to "Flushed" state # Transition from "Flushed"/"Priming"/main state to "Flushed" state
self.move_queue.flush() self.move_queue.flush()
@ -328,7 +338,9 @@ class ToolHead:
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER) self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
self.move_queue.set_flush_time(self.buffer_time_high) self.move_queue.set_flush_time(self.buffer_time_high)
self.idle_flush_print_time = 0. self.idle_flush_print_time = 0.
self._update_move_time(self.print_time, lazy=False) flush_time = self.last_kin_move_time + self.kin_flush_delay
self.last_kin_flush_time = max(self.last_kin_flush_time, flush_time)
self._update_move_time(max(self.print_time, self.last_kin_flush_time))
def _flush_lookahead(self): def _flush_lookahead(self):
if self.special_queuing_state: if self.special_queuing_state:
return self.flush_step_generation() return self.flush_step_generation()
@ -421,12 +433,13 @@ class ToolHead:
return self.extruder return self.extruder
# Homing "drip move" handling # Homing "drip move" handling
def _update_drip_move_time(self, next_print_time): def _update_drip_move_time(self, next_print_time):
flush_delay = DRIP_TIME + self.move_flush_time + self.kin_flush_delay
while self.print_time < next_print_time: while self.print_time < next_print_time:
if self.drip_completion.test(): if self.drip_completion.test():
raise DripModeEndSignal() raise DripModeEndSignal()
curtime = self.reactor.monotonic() curtime = self.reactor.monotonic()
est_print_time = self.mcu.estimated_print_time(curtime) est_print_time = self.mcu.estimated_print_time(curtime)
wait_time = self.print_time - est_print_time - DRIP_TIME wait_time = self.print_time - est_print_time - flush_delay
if wait_time > 0. and self.can_pause: if wait_time > 0. and self.can_pause:
# Pause before sending more steps # Pause before sending more steps
self.drip_completion.wait(curtime + wait_time) self.drip_completion.wait(curtime + wait_time)
@ -494,6 +507,15 @@ class ToolHead:
return self.trapq return self.trapq
def register_step_generator(self, handler): def register_step_generator(self, handler):
self.step_generators.append(handler) self.step_generators.append(handler)
def note_step_generation_scan_time(self, delay, old_delay=0.):
self.flush_step_generation()
cur_delay = self.kin_flush_delay
if old_delay:
self.kin_flush_times.pop(self.kin_flush_times.index(old_delay))
if delay:
self.kin_flush_times.append(delay)
new_delay = max(self.kin_flush_times + [0.])
self.kin_flush_delay = new_delay
def get_max_velocity(self): def get_max_velocity(self):
return self.max_velocity, self.max_accel return self.max_velocity, self.max_accel
def get_max_axis_halt(self): def get_max_axis_halt(self):