Gracefully flushing move queue

Signed-off-by: Pascal Pieper <[email protected]>
Klipper3d · Oct 28, 2020 · 7b89695 · 7b89695
1 parent 474549f
commit 7b89695
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Showing 3 changed files with 7 additions and 14 deletions.
diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c
@@ -550,12 +550,9 @@ sync_channel_queue_msg(struct sync_channel *pc, uint32_t *data, int len,
 {
     struct queue_message *qm = message_alloc_and_encode(data, len);
     qm->req_clock = req_clock;
-    // TODO: Add more slack if min_clock is a bit earlier?
     qm->min_clock = req_clock;
 
     list_add_tail(&qm->node, &pc->msg_queue);
-
-    //TODO: Add queue flush here, or keep in mcu.py?
     return 0;
 }
 

diff --git a/klippy/mcu.py b/klippy/mcu.py
@@ -269,10 +269,9 @@ def set_pwm(self, print_time, value, cycle_time=None):
                 self._sync_channel, data, len(data), clock)
             if ret:
                 raise error("Internal error in pwm send")
-            #self._mcu.flush_moves(print_time)
             self._th.note_synchronous_command(print_time)
             return
-        
+
         # Soft pwm update
         if cycle_time is None:
             cycle_time = self._cycle_time
@@ -602,10 +601,10 @@ def _connect(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         self._steppersync = ffi_main.gc(
             ffi_lib.steppersync_alloc(self._serial.serialqueue,
-                                      self._stepqueues, len(self._stepqueues),
-                                      self._sync_channels, len(self._sync_channels),
-                                      move_count),
-                                      ffi_lib.steppersync_free)
+                                  self._stepqueues, len(self._stepqueues),
+                                  self._sync_channels, len(self._sync_channels),
+                                  move_count),
+                                  ffi_lib.steppersync_free)
         ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
         # Log config information
         move_msg = "Configured MCU '%s' (%d moves)" % (self._name, move_count)

diff --git a/klippy/toolhead.py b/klippy/toolhead.py
@@ -534,12 +534,9 @@ def register_lookahead_callback(self, callback):
         last_move.timing_callbacks.append(callback)
     def note_synchronous_command(self, kin_time):
         self.note_kinematic_activity(kin_time)
-        # Fixme: will this destroy move queue?
-        #self._update_move_time(kin_time)
-
+        self._update_move_time(kin_time)
         # timer will call _flush_handler to check if
-        # Batch should be sent.
-        # if not, reschedule.
+        # Batch should be sent. if not, reschedule.
         self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
     def note_kinematic_activity(self, kin_time):
         self.last_kin_move_time = max(self.last_kin_move_time, kin_time)