ps/2 keyboard when send commands

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I write interrupt driven driver for ps/2 keyboard and I have basic queue of commands

In osdev wiki they say that:
you can't start sending a command within the IRQ handler because code outside the IRQ handler may be in the middle of sending a command.
but then, when it should be sent?
If after interrupt then how I will execute specific code after returning from interrupt?
I don't want to make it in timer interrupt because it will be a bit slower and it will waste cpu time.

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