mirror of https://github.com/Desuuuu/klipper.git
51 lines
1.9 KiB
Python
51 lines
1.9 KiB
Python
# 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)
|