force_move: Make sure to flush step generation queue after each move

Add toolhead.note_kinematic_activity() call and use it to force the step generation to be flushed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
FHeilmann · Jan 28, 2020 · 17ad26a · 17ad26a
1 parent 37d7405
commit 17ad26a
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
@@ -78,10 +78,11 @@ def manual_move(self, stepper, dist, speed, accel=0.):
         print_time = toolhead.get_last_move_time()
         self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
                           0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
-        print_time += accel_t + cruise_t + accel_t
+        print_time = print_time + accel_t + cruise_t + accel_t
         stepper.generate_steps(print_time)
-        self.trapq_free_moves(self.trapq, print_time)
+        self.trapq_free_moves(self.trapq, print_time + 99999.9)
         stepper.set_stepper_kinematics(prev_sk)
+        toolhead.note_kinematic_activity(print_time)
         toolhead.dwell(accel_t + cruise_t + accel_t)
     def _lookup_stepper(self, params):
         name = self.gcode.get_str('STEPPER', params)

diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
@@ -68,9 +68,11 @@ def do_move(self, movepos, speed, accel):
                           accel_t, cruise_t, accel_t,
                           cp, 0., 0., axis_r, 0., 0.,
                           0., cruise_v, accel)
-        self.next_cmd_time += accel_t + cruise_t + accel_t
+        self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
         self.rail.generate_steps(self.next_cmd_time)
-        self.trapq_free_moves(self.trapq, self.next_cmd_time)
+        self.trapq_free_moves(self.trapq, self.next_cmd_time + 99999.9)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.note_kinematic_activity(self.next_cmd_time)
         self.sync_print_time()
     def do_homing_move(self, movepos, speed, accel, triggered):
         if not self.can_home:

diff --git a/klippy/toolhead.py b/klippy/toolhead.py
@@ -504,6 +504,8 @@ def note_step_generation_scan_time(self, delay, old_delay=0.):
             self.kin_flush_times.append(delay)
         new_delay = max(self.kin_flush_times + [0.])
         self.kin_flush_delay = new_delay
+    def note_kinematic_activity(self, kin_time):
+        self.last_kin_move_time = max(self.last_kin_move_time, kin_time)
     def get_max_velocity(self):
         return self.max_velocity, self.max_accel
     def get_max_axis_halt(self):