toolhead: Keep stepcompress move history relative to current time (#6439)
Expire history relative to current time rather than last move in history queue Signed-off-by: Francois Chagnon <fc@francoischagnon.net>
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b502558052
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d7f6348ae6
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@ -60,7 +60,8 @@ defs_stepcompress = """
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void steppersync_free(struct steppersync *ss);
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void steppersync_set_time(struct steppersync *ss
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, double time_offset, double mcu_freq);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock
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, uint64_t clear_history_clock);
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"""
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defs_itersolve = """
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@ -94,7 +95,8 @@ defs_trapq = """
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, double start_pos_x, double start_pos_y, double start_pos_z
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, double axes_r_x, double axes_r_y, double axes_r_z
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, double start_v, double cruise_v, double accel);
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void trapq_finalize_moves(struct trapq *tq, double print_time);
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void trapq_finalize_moves(struct trapq *tq, double print_time
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, double clear_history_time);
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void trapq_set_position(struct trapq *tq, double print_time
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, double pos_x, double pos_y, double pos_z);
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int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
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@ -54,8 +54,6 @@ struct step_move {
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int16_t add;
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};
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#define HISTORY_EXPIRE (30.0)
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struct history_steps {
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struct list_node node;
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uint64_t first_clock, last_clock;
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@ -292,6 +290,13 @@ free_history(struct stepcompress *sc, uint64_t end_clock)
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}
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}
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// Expire the stepcompress history older than the given clock
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static void
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stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
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{
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free_history(sc, end_clock);
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}
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// Free memory associated with a 'stepcompress' object
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void __visible
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stepcompress_free(struct stepcompress *sc)
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@ -322,9 +327,6 @@ calc_last_step_print_time(struct stepcompress *sc)
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{
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double lsc = sc->last_step_clock;
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sc->last_step_print_time = sc->mcu_time_offset + (lsc - .5) / sc->mcu_freq;
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if (lsc > sc->mcu_freq * HISTORY_EXPIRE)
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free_history(sc, lsc - sc->mcu_freq * HISTORY_EXPIRE);
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}
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// Set the conversion rate of 'print_time' to mcu clock
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@ -731,6 +733,18 @@ steppersync_set_time(struct steppersync *ss, double time_offset
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}
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}
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// Expire the stepcompress history before the given clock time
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static void
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steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
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{
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int i;
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for (i = 0; i < ss->sc_num; i++)
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{
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struct stepcompress *sc = ss->sc_list[i];
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stepcompress_history_expire(sc, end_clock);
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}
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}
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// Implement a binary heap algorithm to track when the next available
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// 'struct move' in the mcu will be available
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static void
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@ -758,7 +772,8 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
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// Find and transmit any scheduled steps prior to the given 'move_clock'
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int __visible
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steppersync_flush(struct steppersync *ss, uint64_t move_clock)
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steppersync_flush(struct steppersync *ss, uint64_t move_clock
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, uint64_t clear_history_clock)
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{
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// Flush each stepcompress to the specified move_clock
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int i;
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@ -806,5 +821,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
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// Transmit commands
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if (!list_empty(&msgs))
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serialqueue_send_batch(ss->sq, ss->cq, &msgs);
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steppersync_history_expire(ss, clear_history_clock);
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return 0;
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}
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@ -42,6 +42,7 @@ struct steppersync *steppersync_alloc(
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void steppersync_free(struct steppersync *ss);
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void steppersync_set_time(struct steppersync *ss, double time_offset
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, double mcu_freq);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock
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, uint64_t clear_history_clock);
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#endif // stepcompress.h
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@ -163,11 +163,10 @@ trapq_append(struct trapq *tq, double print_time
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}
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}
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#define HISTORY_EXPIRE (30.0)
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// Expire any moves older than `print_time` from the trapezoid velocity queue
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void __visible
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trapq_finalize_moves(struct trapq *tq, double print_time)
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trapq_finalize_moves(struct trapq *tq, double print_time
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, double clear_history_time)
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{
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struct move *head_sentinel = list_first_entry(&tq->moves, struct move,node);
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struct move *tail_sentinel = list_last_entry(&tq->moves, struct move, node);
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@ -190,10 +189,9 @@ trapq_finalize_moves(struct trapq *tq, double print_time)
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if (list_empty(&tq->history))
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return;
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struct move *latest = list_first_entry(&tq->history, struct move, node);
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double expire_time = latest->print_time + latest->move_t - HISTORY_EXPIRE;
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for (;;) {
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struct move *m = list_last_entry(&tq->history, struct move, node);
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if (m == latest || m->print_time + m->move_t > expire_time)
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if (m == latest || m->print_time + m->move_t > clear_history_time)
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break;
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list_del(&m->node);
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free(m);
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@ -206,7 +204,7 @@ trapq_set_position(struct trapq *tq, double print_time
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, double pos_x, double pos_y, double pos_z)
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{
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// Flush all moves from trapq
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trapq_finalize_moves(tq, NEVER_TIME);
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trapq_finalize_moves(tq, NEVER_TIME, 0);
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// Prune any moves in the trapq history that were interrupted
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while (!list_empty(&tq->history)) {
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@ -43,7 +43,8 @@ void trapq_append(struct trapq *tq, double print_time
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, double start_pos_x, double start_pos_y, double start_pos_z
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, double axes_r_x, double axes_r_y, double axes_r_z
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, double start_v, double cruise_v, double accel);
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void trapq_finalize_moves(struct trapq *tq, double print_time);
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void trapq_finalize_moves(struct trapq *tq, double print_time
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, double clear_history_time);
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void trapq_set_position(struct trapq *tq, double print_time
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, double pos_x, double pos_y, double pos_z);
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int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
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@ -86,7 +86,8 @@ class ForceMove:
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0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
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print_time = print_time + accel_t + cruise_t + accel_t
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stepper.generate_steps(print_time)
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self.trapq_finalize_moves(self.trapq, print_time + 99999.9)
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self.trapq_finalize_moves(self.trapq, print_time + 99999.9,
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print_time + 99999.9)
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stepper.set_trapq(prev_trapq)
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stepper.set_stepper_kinematics(prev_sk)
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toolhead.note_kinematic_activity(print_time)
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@ -67,7 +67,8 @@ class ManualStepper:
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0., cruise_v, accel)
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self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
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self.rail.generate_steps(self.next_cmd_time)
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self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9)
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self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
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self.next_cmd_time + 99999.9)
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.note_kinematic_activity(self.next_cmd_time)
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if sync:
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@ -211,8 +211,8 @@ class PrinterExtruder:
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gcode.register_mux_command("ACTIVATE_EXTRUDER", "EXTRUDER",
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self.name, self.cmd_ACTIVATE_EXTRUDER,
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desc=self.cmd_ACTIVATE_EXTRUDER_help)
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def update_move_time(self, flush_time):
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self.trapq_finalize_moves(self.trapq, flush_time)
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def update_move_time(self, flush_time, clear_history_time):
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self.trapq_finalize_moves(self.trapq, flush_time, clear_history_time)
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def get_status(self, eventtime):
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sts = self.heater.get_status(eventtime)
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sts['can_extrude'] = self.heater.can_extrude
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@ -313,7 +313,7 @@ class PrinterExtruder:
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class DummyExtruder:
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def __init__(self, printer):
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self.printer = printer
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def update_move_time(self, flush_time):
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def update_move_time(self, flush_time, clear_history_time):
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pass
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def check_move(self, move):
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raise move.move_error("Extrude when no extruder present")
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@ -955,7 +955,7 @@ class MCU:
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self._reserved_move_slots += 1
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def register_flush_callback(self, callback):
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self._flush_callbacks.append(callback)
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def flush_moves(self, print_time):
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def flush_moves(self, print_time, clear_history_time):
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if self._steppersync is None:
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return
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clock = self.print_time_to_clock(print_time)
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@ -963,7 +963,10 @@ class MCU:
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return
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for cb in self._flush_callbacks:
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cb(print_time, clock)
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ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
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clear_history_clock = \
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max(0, self.print_time_to_clock(clear_history_time))
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ret = self._ffi_lib.steppersync_flush(self._steppersync, clock,
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clear_history_clock)
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if ret:
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raise error("Internal error in MCU '%s' stepcompress"
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% (self._name,))
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@ -195,6 +195,7 @@ MIN_KIN_TIME = 0.100
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MOVE_BATCH_TIME = 0.500
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STEPCOMPRESS_FLUSH_TIME = 0.050
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SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
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MOVE_HISTORY_EXPIRE = 30.
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DRIP_SEGMENT_TIME = 0.050
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DRIP_TIME = 0.100
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@ -289,13 +290,15 @@ class ToolHead:
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for sg in self.step_generators:
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sg(sg_flush_time)
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self.last_sg_flush_time = sg_flush_time
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clear_history_time = self.mcu.estimated_print_time(
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self.reactor.monotonic() - MOVE_HISTORY_EXPIRE)
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# Free trapq entries that are no longer needed
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free_time = sg_flush_time - self.kin_flush_delay
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self.trapq_finalize_moves(self.trapq, free_time)
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self.extruder.update_move_time(free_time)
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self.trapq_finalize_moves(self.trapq, free_time, clear_history_time)
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self.extruder.update_move_time(free_time, clear_history_time)
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# Flush stepcompress and mcu steppersync
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for m in self.all_mcus:
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m.flush_moves(flush_time)
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m.flush_moves(flush_time, clear_history_time)
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self.last_flush_time = flush_time
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def _advance_move_time(self, next_print_time):
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pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
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@ -522,7 +525,7 @@ class ToolHead:
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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_finalize_moves(self.trapq, self.reactor.NEVER)
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self.trapq_finalize_moves(self.trapq, self.reactor.NEVER, 0)
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# Exit "Drip" state
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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self.flush_step_generation()
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