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trapq: Initial support for building a queue of trapezoidal velocity moves

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Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 18:50:53 -04:00
parent c06f6943a6
commit d3afe4f1d8
4 changed files with 81 additions and 6 deletions
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46
klippy/chelper/trapq.c
View file

@ -5,11 +5,13 @@
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt
#include <stddef.h> // offsetof
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // unlikely
#include "trapq.h" // move_get_coord
// Allocate a new 'move' object
struct move * __visible
move_alloc(void)
{
@ -85,3 +87,47 @@ move_get_coord(struct move *m, double move_time)
.y = m->start_pos.y + m->axes_r.y * move_dist,
.z = m->start_pos.z + m->axes_r.z * move_dist };
}
// Allocate a new 'trapq' object
struct trapq * __visible
trapq_alloc(void)
{
struct trapq *tq = malloc(sizeof(*tq));
memset(tq, 0, sizeof(*tq));
list_init(&tq->moves);
return tq;
}
// Free memory associated with a 'trapq' object
void __visible
trapq_free(struct trapq *tq)
{
while (!list_empty(&tq->moves)) {
struct move *m = list_first_entry(&tq->moves, struct move, node);
list_del(&m->node);
free(m);
}
free(tq);
}
// Add a move to the trapezoid velocity queue
void __visible
trapq_add_move(struct trapq *tq, struct move *m)
{
struct move *nm = move_alloc();
memcpy(nm, m, sizeof(*nm));
list_add_tail(&nm->node, &tq->moves);
}
// Free any moves older than `print_time` from the trapezoid velocity queue
void __visible
trapq_free_moves(struct trapq *tq, double print_time)
{
while (!list_empty(&tq->moves)) {
struct move *m = list_first_entry(&tq->moves, struct move, node);
if (m->print_time + m->move_t > print_time)
return;
list_del(&m->node);
free(m);
}
}