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trapq: Remove move_fill()

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Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-29 12:44:39 -04:00
parent 797dcfcb12
commit 1acaaa98c2
9 changed files with 49 additions and 57 deletions
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10
klippy/toolhead.py
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@ -18,7 +18,6 @@ class Move:
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
velocity = min(speed, toolhead.max_velocity)
self.cmove = toolhead.cmove
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@ -97,13 +96,12 @@ class Move:
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
if self.is_kinematic_move:
self.toolhead.move_fill(
self.cmove, next_move_time,
self.toolhead.trapq_append(
self.toolhead.trapq, next_move_time,
self.accel_t, self.cruise_t, self.decel_t,
self.start_pos[0], self.start_pos[1], self.start_pos[2],
self.axes_d[0], self.axes_d[1], self.axes_d[2],
self.start_v, self.cruise_v, self.accel)
self.toolhead.trapq_add_move(self.toolhead.trapq, self.cmove)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time(
@ -247,10 +245,8 @@ class ToolHead:
self.drip_completion = None
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.move_handlers = []
# Create kinematics class