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toolhead: Keep stepcompress move history relative to current time (#6439)

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Expire history relative to current time rather than last move in history queue

Signed-off-by: Francois Chagnon <fc@francoischagnon.net>
This commit is contained in:
Francois Chagnon 2023-12-30 11:34:21 -05:00 • committed by GitHub
parent b502558052
commit d7f6348ae6
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 54 additions and 27 deletions
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10
klippy/chelper/trapq.c
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@ -163,11 +163,10 @@ trapq_append(struct trapq *tq, double print_time
}
}
#define HISTORY_EXPIRE (30.0)
// Expire any moves older than `print_time` from the trapezoid velocity queue
void __visible
trapq_finalize_moves(struct trapq *tq, double print_time)
trapq_finalize_moves(struct trapq *tq, double print_time
, double clear_history_time)
{
struct move *head_sentinel = list_first_entry(&tq->moves, struct move,node);
struct move *tail_sentinel = list_last_entry(&tq->moves, struct move, node);
@ -190,10 +189,9 @@ trapq_finalize_moves(struct trapq *tq, double print_time)
if (list_empty(&tq->history))
return;
struct move *latest = list_first_entry(&tq->history, struct move, node);
double expire_time = latest->print_time + latest->move_t - HISTORY_EXPIRE;
for (;;) {
struct move *m = list_last_entry(&tq->history, struct move, node);
if (m == latest || m->print_time + m->move_t > expire_time)
if (m == latest || m->print_time + m->move_t > clear_history_time)
break;
list_del(&m->node);
free(m);
@ -206,7 +204,7 @@ trapq_set_position(struct trapq *tq, double print_time
, double pos_x, double pos_y, double pos_z)
{
// Flush all moves from trapq
trapq_finalize_moves(tq, NEVER_TIME);
trapq_finalize_moves(tq, NEVER_TIME, 0);
// Prune any moves in the trapq history that were interrupted
while (!list_empty(&tq->history)) {