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toolhead: Merge lookahead.py into toolhead.py 

Remove the lookahead.py file and move its code directly into
toolhead.py.  The MoveQueue() class is small and tightly coupled to
the toolhead code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-07 16:01:58 -04:00
parent e0a9a1b800
commit 9bb1ae079f
2 changed files with 53 additions and 53 deletions
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50
klippy/lookahead.py
View File

@ -1,50 +0,0 @@
# Move queue look-ahead
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
class MoveQueue:
def __init__(self, dummy_move):
self.dummy_move = dummy_move
self.queue = []
self.prev_junction_max = 0.
self.junction_flush = 0.
def prev_move(self):
if self.queue:
return self.queue[-1]
return self.dummy_move
def flush(self, lazy=False):
next_junction_max = 0.
can_flush = not lazy
flush_count = len(self.queue)
junction_end = [None] * flush_count
for i in range(len(self.queue)-1, -1, -1):
move = self.queue[i]
junction_end[i] = next_junction_max
if not can_flush:
flush_count -= 1
next_junction_max = next_junction_max + move.junction_delta
if next_junction_max >= move.junction_start_max:
next_junction_max = move.junction_start_max
can_flush = True
prev_junction_max = self.prev_junction_max
for i in range(flush_count):
move = self.queue[i]
next_junction_max = min(prev_junction_max + move.junction_delta
, junction_end[i])
move.process(prev_junction_max, next_junction_max)
prev_junction_max = next_junction_max
del self.queue[:flush_count]
self.prev_junction_max = prev_junction_max
self.junction_flush = 0.
if self.queue:
self.junction_flush = self.queue[-1].junction_max
def add_move(self, move):
self.queue.append(move)
if len(self.queue) == 1:
self.junction_flush = move.junction_max
return
self.junction_flush -= move.junction_delta
if self.junction_flush <= 0.:
self.flush(lazy=True)

56
klippy/toolhead.py
View File

@ -4,12 +4,13 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, time
import lookahead, cartesian
import cartesian
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _t is time (in seconds), _r is ratio (scalar between
# 0.0 and 1.0)
# Class to track each move request
class Move:
def __init__(self, toolhead, pos, move_d, axes_d, speed, accel):
self.toolhead = toolhead
@ -49,11 +50,12 @@ class Move:
cruise_r = 0.
junction_cruise = junction_start + accel_r*self.junction_delta
self.accel_r, self.cruise_r, self.decel_r = accel_r, cruise_r, decel_r
# Determine the move velocities and time spent in each portion
# Determine move velocities
start_v = math.sqrt(junction_start)
cruise_v = math.sqrt(junction_cruise)
end_v = math.sqrt(junction_end)
self.start_v, self.cruise_v, self.end_v = start_v, cruise_v, end_v
# Determine time spent in each portion of move
accel_t = 2.0 * self.move_d * accel_r / (start_v + cruise_v)
cruise_t = self.move_d * cruise_r / cruise_v
decel_t = 2.0 * self.move_d * decel_r / (end_v + cruise_v)
@ -63,8 +65,56 @@ class Move:
self.toolhead.kin.move(next_move_time, self)
self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
# Class to track a list of pending move requests and to facilitate
# "look-ahead" across moves to reduce acceleration between moves.
class MoveQueue:
def __init__(self, dummy_move):
self.dummy_move = dummy_move
self.queue = []
self.prev_junction_max = 0.
self.junction_flush = 0.
def prev_move(self):
if self.queue:
return self.queue[-1]
return self.dummy_move
def flush(self, lazy=False):
next_junction_max = 0.
can_flush = not lazy
flush_count = len(self.queue)
junction_end = [None] * flush_count
for i in range(len(self.queue)-1, -1, -1):
move = self.queue[i]
junction_end[i] = next_junction_max
if not can_flush:
flush_count -= 1
next_junction_max = next_junction_max + move.junction_delta
if next_junction_max >= move.junction_start_max:
next_junction_max = move.junction_start_max
can_flush = True
prev_junction_max = self.prev_junction_max
for i in range(flush_count):
move = self.queue[i]
next_junction_max = min(prev_junction_max + move.junction_delta
, junction_end[i])
move.process(prev_junction_max, next_junction_max)
prev_junction_max = next_junction_max
del self.queue[:flush_count]
self.prev_junction_max = prev_junction_max
self.junction_flush = 0.
if self.queue:
self.junction_flush = self.queue[-1].junction_max
def add_move(self, move):
self.queue.append(move)
if len(self.queue) == 1:
self.junction_flush = move.junction_max
return
self.junction_flush -= move.junction_delta
if self.junction_flush <= 0.:
self.flush(lazy=True)
STALL_TIME = 0.100
# Main code to track events (and their timing) on the printer toolhead
class ToolHead:
def __init__(self, printer, config):
self.printer = printer
@ -73,7 +123,7 @@ class ToolHead:
self.max_xy_speed, self.max_xy_accel = self.kin.get_max_xy_speed()
self.junction_deviation = config.getfloat('junction_deviation', 0.02)
dummy_move = Move(self, [0.]*4, 0., [0.]*4, 0., 0.)
self.move_queue = lookahead.MoveQueue(dummy_move)
self.move_queue = MoveQueue(dummy_move)
self.commanded_pos = [0., 0., 0., 0.]
# Print time tracking
self.buffer_time_high = config.getfloat('buffer_time_high', 5.000)