Sync Klipper#7001..#7052: motion_queuing + steppersync (fixes #744, #897)#932
Open
rogerlz wants to merge 67 commits into
Open
Sync Klipper#7001..#7052: motion_queuing + steppersync (fixes #744, #897)#932rogerlz wants to merge 67 commits into
rogerlz wants to merge 67 commits into
Conversation
Load these extra modules from add_printer_objects() instead. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
… class Move the g-code command handlers to a new class. This reduces the size of the main Toolhead() class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Change note_mcu_movequeue_activity() to default to setting the step_gen_time (instead of the previous default to not set it). Most users of the mcu "move queue" will be for stepper activity. There is also little harm in incrementing the tracking of the last possible step generation time, but accidentally generating a step without incrementing the tracking can lead to very hard to debug failures. The two cases (output_pin.py and pwm_tool.py) where note_mcu_movequeue_activity() is called and definitely not related to step generation can explicitly pass 'is_step_gen=False'. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new module to assist with host management of motion queues. Register all MCU_stepper objects with this module and use the module for step generation. All steppers will now automatically generate steps whenever toolhead._advance_flush_time() is invoked. It is no longer necessary for callers to individually call stepper.generate_steps(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add an allocate_trapq() helper function to facilitate the creation of a low-level C trapq object. Track all trapq objects and clear history on them globally when the main motion queues are flushed. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allocate the low-level C steppersync object from the motion_queuing module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allocate the low-level C stepcompress object in the motion_queuing module. This simplifies the mcu.py code as it no longer needs to track the stepqueues for the steppersync object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move register_flush_callback() from mcu.py code to motion_queuing module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the mcu.flush_moves() code to motion_queuing.flush_steppersync(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't implement history expiration from the main steppersync_flush() code. Instead, have callers directly invoke steppersync_history_expire(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move code from flush_steppersync() to existing flush_motion_queues() and clean_motion_queues() functions. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement the 30 second clear_history_time offset checking directly in the motion_queuing module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…_callback() Use the existing register_flush_callback() system to implement motor activity checking. This simplifies the generate_steps() code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Pass in the 'struct stepcompress' reference to each call of itersolve_generate_steps(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support storing a reference to 'struct stepper_kinematics' in 'struct stepcompress' and support globally generating steps via the steppersync mechanism. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Merge the clean_motion_queues() code into the existing flush_motion_queues() code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the klippy package namespace import and apply Ruff formatting to the new module introduced by the Klipper#7001 cherry-picks. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
Track the kin_flush_delay in both toolhead.py and motion_queuing.py . Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 3d3b87f renamed last_sg_flush_time to min_restart_time to ensure that flush_step_generation() would fully flush out moves generated from the force_move module. However, now that force_move calls note_mcu_movequeue_activity() with is_step_gen=True, this is no longer necessary. Rework min_restart_time to last_step_gen_time. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Automatically add kin_flush_delay to the requested flush time if is_step_gen=True. This simplifies the callers. Also, rename self.step_gen_time to self.need_step_gen_time. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the code that implements flushing in waves from _advance_move_time() to _advance_flush_time(). This also separates print_time tracking from the _advance_flush_time() implementation. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…head() Separate out the lookahead specific flushing logic from the _flush_handler() code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Separate out step generation specific handling from _calc_print_time() code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement drip_update_time() using _advance_flush_time() instead of _advance_move_time(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…odule Move low-level step generation timing code to the motion_queing module. This helps simplify the toolhead module. It also helps centralize the step generation code into the motion_queing module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Remove the toolhead note_step_generation_scan_time() code and automatically detect the itersolve scan windows that are in use. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the "full flush" code from advance_flush_time() to a new flush_all_steps() method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a stepper kinematics has a "scan window" defined during its first flush then the iterative solver may walk past the head sentinel. Set a small negative print_time for the head sentinel to avoid this corner case. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't tie the step generation logic to the toolhead lookahead logic. Instead, use regular timers to generate steps with a goal of staying 500-750ms ahead of the micro-controllers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a flush_all_steps() request is for a time far in the future, then wait for that time to become close prior to flushing steps. This avoids committing to a step schedule that is far in the future. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…ime() Now that the host code does not flush far into the future, it is no longer necessary to flush in waves. Integrate _advance_flush_time() into _flush_motion_queues(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the next_batch_time even if it is slightly past or before the ideal flushing window. This should improve run to run reproducibility of flush timing. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Further encourage flushing steps in batches by delaying flushing if a batch isn't needed yet. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid unnecessary reactor wakeups if a batch is close to being ready. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only code movement - no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a new function for filling the fields of 'struct clock_estimate'. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a new C based mechanism for tracking all the 'struct steppersync' instances. This simplifies memory management. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Generate and flush all the steppersync instances from a single steppersyncmgr_gen_steps() call. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…_alloc() Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new 'struct syncemitter' for each object that can generate messages for a 'struct steppersync' and store in a regular linked list. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move msg_queue allocation from stepcompress to syncemitter. With this change the pwm_tool module does not need to allocate a stepcompress object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
…ersync.c Implement step generation from 'struct syncemitter' instead of in the stepcompress code. This simplifies the stepcompress code and simplifies the overall interface. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Callers can use syncemitter_queue_msg() instead. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
Replace the vendored trad_rack module with the current version from Annex-Engineering/TradRack (Kalico/klippy_module/trad_rack.py), which is maintained against the new motion queuing architecture: the TradRack toolhead participates in flushing via a motion_queuing flush callback instead of running its own flush timeline, resolving the incompatibility with global step generation. Imports adapted to the klippy package namespace and Ruff formatting applied. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
Restore the four-argument extruder_set_pressure_advance() definition, add the extruder_stepper_free() and input_shaper_update_sk() definitions, and free extruder kinematics via extruder_stepper_free() to match the upstream chelper code brought in by the Klipper#7014 and Klipper#7052 cherry-picks. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
The C-side changes from the Klipper#7014 cherry-picks (time-based pressure advance parameters, extruder_stepper_free(), and input_shaper_update_sk()) were partially lost while resolving conflicts; restore both files to the upstream state at the end of the Klipper#7052 series (Kalico had no local changes in these files). Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
The stepper_enable:motor_off event no longer passes print_time after the Klipper#7029 cherry-picks. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
With the new motion queuing architecture the background flush intentionally lags behind in debugoutput mode, so stepper position queries right after an M400 could observe stale positions in the klippy regression tests (eg, the mixing_extruder test). Flush all pending steps before returning from wait_moves() when pausing is not possible. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
rogerlz
changed the title
The lambda formatting in the vendored module differs between the Ruff version pinned in pre-commit (0.4.5) and the one used by CI (0.15.x); use the shape both versions accept. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
With clock calibration moved to motion_queuing.stats(), a disconnected non-critical mcu gets calibrate_clock() -> _check_timeout() -> handle_non_critical_disconnect() re-entered every stats tick (1s), spamming "disconnected!" to the console, re-firing the disconnect event and re-arming the reconnect timer. Return early if the disconnect was already handled. Verified on hardware (beacon usb unbind/rebind): one message per disconnect, automatic reconnect and homing still work. Signed-off-by: Rogerio Goncalves <rogerlz@gmail.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Cherry-picks the full upstream chain that reworks host motion flushing and fixes the stepcompress
history_listuse-after-free (#744, #897 — crashes with MPC + Beacon/Cartographer readers). The actual fix is414679ac9(history clearing moved to the background thread), which requires the whole series:motion_queuingmodule,ToolHeadCommandHelper,steppersync.csplit (fixes Segmentation Fault in stepcompress.c #744 1/3)Kalico integration:
RESET_VELOCITY_LIMIT+ per-axislimited_*params in the new command helper,set_accel/reset_accel, danger_options (bgflush_extra_timehooks in motion_queuing, velocity-limit logging), homing current helpers, recon_mcu untouched, macOS serialqueue guards kept.stepper_enable:motor_offevent signature.toolhead.wait_moves()generates all steps in batch mode so regression tests read deterministic positions.generic_cartesianhunks dropped (Klipper#6815 not synced yet).Test plan
pytest: 110 passed / 1 xfailed / 14 env-only failures (missing MCU dicts) — identical to main, including trad_rack, belay, mixing_extruder testsSET_VELOCITY_LIMIT/M204/RESET_VELOCITY_LIMIT, dry-run print via virtual_sdcard to completion, zero log errors,M84+ must-home enforcement