mirror of https://github.com/Desuuuu/klipper.git
toolhead: Rework lookahead flush to be more stable during high cpu
Change the lookahead queue so that it attempts to buffer at least buffer_time_high amount of moves when first starting a print. This helps ensure the buffer is normally always full. If the buffer falls below buffer_time_low then it is either due to the end of a print or because octoprint/klippy is unable to keep up. Change the code so that in this case the lookahead queue will attempt to gather buffer_time_high amount of moves before restarting movement. Update the default buffer_time_low to 1 second and buffer_time_high to 2 seconds. With the above changes a smaller buffer_time_high and a larger buffer_time_low are more practical. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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71256f9456
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@ -393,7 +393,7 @@ class MCU:
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def dummy_set_print_start_time(eventtime):
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pass
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def dummy_get_print_buffer_time(eventtime, last_move_end):
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return 0.250
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return 1.250
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self.set_print_start_time = dummy_set_print_start_time
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self.get_print_buffer_time = dummy_get_print_buffer_time
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def timeout_handler(self, eventtime):
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@ -107,6 +107,8 @@ class MoveQueue:
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self.leftover = 0
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self.next_start_v2 = 0.
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self.junction_flush = LOOKAHEAD_FLUSH_TIME
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def set_flush_time(self, flush_time):
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self.junction_flush = flush_time
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def flush(self, lazy=False):
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self.junction_flush = LOOKAHEAD_FLUSH_TIME
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update_flush_count = lazy
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@ -193,13 +195,17 @@ class ToolHead:
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self.move_queue = MoveQueue(self.extruder.lookahead)
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self.commanded_pos = [0., 0., 0., 0.]
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# Print time tracking
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self.buffer_time_high = config.getfloat('buffer_time_high', 5.000)
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self.buffer_time_low = config.getfloat('buffer_time_low', 0.150)
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self.buffer_time_high = config.getfloat('buffer_time_high', 2.000)
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self.buffer_time_low = config.getfloat('buffer_time_low', 1.000)
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self.buffer_time_start = config.getfloat('buffer_time_start', 0.250)
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self.move_flush_time = config.getfloat('move_flush_time', 0.050)
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self.print_time = 0.
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self.need_check_stall = -1.
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self.print_time_stall = 0
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self.print_stall = 0
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self.synch_print_time = True
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self.forced_synch = False
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self.flush_timer = self.reactor.register_timer(self._flush_handler)
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self.move_queue.set_flush_time(self.buffer_time_high)
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# Motor off tracking
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self.motor_off_time = config.getfloat('motor_off_time', 60.000)
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self.motor_off_timer = self.reactor.register_timer(
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@ -217,21 +223,37 @@ class ToolHead:
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flush_to_time = self.print_time - self.move_flush_time
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self.printer.mcu.flush_moves(flush_to_time)
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def get_next_move_time(self):
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if not self.print_time:
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self.print_time = self.buffer_time_low + STALL_TIME
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if self.synch_print_time:
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curtime = self.reactor.monotonic()
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self.printer.mcu.set_print_start_time(curtime)
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if self.print_time:
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buffer_time = self.printer.mcu.get_print_buffer_time(
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curtime, self.print_time)
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self.print_time += max(self.buffer_time_start - buffer_time, 0.)
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if self.forced_synch:
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self.print_stall += 1
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self.forced_synch = False
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else:
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self.printer.mcu.set_print_start_time(curtime)
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self.print_time = self.buffer_time_start
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self._reset_motor_off()
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self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
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self._reset_motor_off()
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self.synch_print_time = False
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return self.print_time
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def get_last_move_time(self):
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def _flush_lookahead(self, must_synch=False):
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synch_print_time = self.synch_print_time
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self.move_queue.flush()
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if synch_print_time or must_synch:
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self.synch_print_time = True
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self.move_queue.set_flush_time(self.buffer_time_high)
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self.printer.mcu.flush_moves(self.print_time)
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def get_last_move_time(self):
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self._flush_lookahead()
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return self.get_next_move_time()
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def reset_print_time(self):
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self.move_queue.flush()
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self.printer.mcu.flush_moves(self.print_time)
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self._flush_lookahead(must_synch=True)
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self.print_time = 0.
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self.need_check_stall = -1.
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self.forced_synch = False
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self._reset_motor_off()
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def _check_stall(self):
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eventtime = self.reactor.monotonic()
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@ -254,7 +276,7 @@ class ToolHead:
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try:
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if not self.print_time:
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# Input idled before filling lookahead queue - flush it
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self.move_queue.flush()
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self._flush_lookahead()
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if not self.print_time:
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return self.reactor.NEVER
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print_time = self.print_time
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@ -264,11 +286,14 @@ class ToolHead:
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# Running normally - reschedule check
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return eventtime + buffer_time - self.buffer_time_low
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# Under ran low buffer mark - flush lookahead queue
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self.move_queue.flush()
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self._flush_lookahead(must_synch=True)
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if print_time != self.print_time:
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self.print_time_stall += 1
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self.dwell(self.buffer_time_low + STALL_TIME)
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# Flushed something - retry
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self.forced_synch = True
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return self.reactor.NOW
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if buffer_time > 0.:
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# Wait for buffer to fully empty
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return eventtime + buffer_time
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self.reset_print_time()
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except:
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logging.exception("Exception in flush_handler")
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@ -293,7 +318,7 @@ class ToolHead:
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def get_position(self):
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return list(self.commanded_pos)
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def set_position(self, newpos):
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self.move_queue.flush()
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self._flush_lookahead()
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self.commanded_pos[:] = newpos
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self.kin.set_position(newpos)
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def move(self, newpos, speed):
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@ -323,7 +348,7 @@ class ToolHead:
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self.dwell(STALL_TIME)
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logging.debug('; Max time of %f' % (last_move_time,))
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def wait_moves(self):
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self.move_queue.flush()
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self._flush_lookahead()
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eventtime = self.reactor.monotonic()
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while self.print_time:
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eventtime = self.reactor.pause(eventtime + 0.100)
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@ -333,11 +358,14 @@ class ToolHead:
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# Misc commands
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def stats(self, eventtime):
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buffer_time = 0.
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if self.print_time:
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print_time = self.print_time
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if print_time:
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buffer_time = self.printer.mcu.get_print_buffer_time(
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eventtime, self.print_time)
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return "print_time=%.3f buffer_time=%.3f print_time_stall=%d" % (
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self.print_time, buffer_time, self.print_time_stall)
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eventtime, print_time)
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if buffer_time < 0.:
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buffer_time = 0.
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return "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
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print_time, buffer_time, self.print_stall)
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def force_shutdown(self):
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self.printer.mcu.force_shutdown()
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self.move_queue.reset()
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@ -8,7 +8,7 @@ import optparse, datetime
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import matplotlib.pyplot as plt, matplotlib.dates as mdates
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MAXBANDWIDTH=25000.
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MAXBUFFER=5.
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MAXBUFFER=2.
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def parse_log(logname):
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f = open(logname, 'rb')
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@ -90,7 +90,7 @@ def plot_mcu(data, maxbw, outname):
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ax1.plot_date(times, bwdeltas, 'g', label='Bandwidth')
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ax1.plot_date(times, loads, 'r', label='MCU load')
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ax1.plot_date(times, hostbuffers, 'c', label='Host buffer')
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ax1.legend()
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ax1.legend(loc='best')
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ax1.xaxis.set_major_formatter(mdates.DateFormatter('%H:%M'))
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#plt.gcf().autofmt_xdate()
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ax1.grid(True)
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