mcu: Enhance itersolve stepper kinematics allocation

Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-13 11:24:36 -04:00
parent b988596519
commit a31c31aed4
7 changed files with 31 additions and 36 deletions

View file

@ -39,12 +39,10 @@ class MCU_stepper:
self._min_stop_interval = min_stop_interval
def setup_step_distance(self, step_dist):
self._step_dist = step_dist
def setup_itersolve(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
self._ffi_lib.itersolve_set_stepcompress(
sk, self._stepqueue, self._step_dist)
return old_sk
def setup_itersolve(self, alloc_func, *params):
ffi_main, ffi_lib = chelper.get_ffi()
sk = ffi_main.gc(getattr(ffi_lib, alloc_func)(*params), ffi_lib.free)
self.set_stepper_kinematics(sk)
def build_config(self):
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
@ -85,6 +83,12 @@ class MCU_stepper:
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
self._ffi_lib.itersolve_set_stepcompress(
sk, self._stepqueue, self._step_dist)
return old_sk
def set_ignore_move(self, ignore_move):
was_ignore = (self._itersolve_gen_steps
is not self._ffi_lib.itersolve_gen_steps)