Revert "itersolve: Implement a step+dir+step filter"

This reverts commit c9cb462f90.

The step flushing for this commit was not complete.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/chelper/itersolve.c

@@ -13,65 +13,6 @@
 #include "stepcompress.h" // queue_append_start
 #include "trapq.h" // struct move
 
-
-/****************************************************************
- * Filter rapid "step + direction change + step" sequences
- ****************************************************************/
-
-#define SDS_CHECK_TIME .001
-#define SDS_FILTER_TIME .000750
-
-static int
-sds_commit(struct stepper_kinematics *sk)
-{
-    double mtime = sk->next_move_print_time, stime = sk->next_step_time;
-    sk->next_move_print_time = 0.;
-    return stepcompress_append(sk->sc, sk->next_step_dir, mtime, stime);
-}
-
-static int
-sds_append(struct stepper_kinematics *sk, int sdir
-           , double move_print_time, double step_time)
-{
-    if (sk->next_move_print_time) {
-        if (sdir != sk->next_step_dir) {
-            double mt_diff = move_print_time - sk->next_move_print_time;
-            double st_diff = step_time - sk->next_step_time;
-            if (mt_diff + st_diff < SDS_FILTER_TIME) {
-                // Rollback last step
-                sk->next_move_print_time = 0.;
-                sk->next_step_dir = sdir;
-                return 0;
-            }
-        }
-        int ret = sds_commit(sk);
-        if (ret)
-            return ret;
-    }
-    sk->next_move_print_time = move_print_time;
-    sk->next_step_time = step_time;
-    sk->next_step_dir = sdir;
-    return 0;
-}
-
-static int
-sds_flush(struct stepper_kinematics *sk
-          , double move_print_time, double step_time)
-{
-    if (sk->next_move_print_time) {
-        double mt_diff = move_print_time - sk->next_move_print_time;
-        double st_diff = step_time - sk->next_step_time;
-        if (mt_diff + st_diff >= SDS_FILTER_TIME)
-            return sds_commit(sk);
-    }
-    return 0;
-}
-
-
-/****************************************************************
- * Main iterative solver
- ****************************************************************/
-
 struct timepos {
     double time, position;
 };
@@ -125,7 +66,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
     double start = move_start - m->print_time, end = move_end - m->print_time;
     struct timepos last = { start, sk->commanded_pos }, low = last, high = last;
     double seek_time_delta = SEEK_TIME_RESET;
-    int sdir = sk->next_step_dir, is_dir_change = 0;
+    int sdir = !!stepcompress_get_step_dir(sk->sc), is_dir_change = 0;
     for (;;) {
         double diff = high.position - last.position, dist = sdir ? diff : -diff;
         if (dist >= half_step) {
@@ -133,7 +74,8 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
             double target = last.position + (sdir ? half_step : -half_step);
             struct timepos next = itersolve_find_step(sk, m, low, high, target);
             // Add step at given time
-            int ret = sds_append(sk, sdir, m->print_time, next.time);
+            int ret = stepcompress_append(sk->sc, sdir
+                                          , m->print_time, next.time);
             if (ret)
                 return ret;
             seek_time_delta = next.time - last.time;
@@ -148,10 +90,6 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
             if (low.time < high.time)
                 // The existing search range is still valid
                 continue;
-        } else if (dist > 0.) {
-            // Avoid rollback if stepper fully reaches target position
-            if (sk->next_move_print_time)
-                sds_commit(sk);
         } else if (unlikely(dist < -(half_step + .000000001))) {
             // Found direction change
             is_dir_change = 1;
@@ -183,20 +121,12 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
             high.time = end;
         high.position = calc_position_cb(sk, m, high.time);
     }
-    int ret = sds_flush(sk, m->print_time, end);
-    if (ret)
-        return ret;
     sk->commanded_pos = last.position;
     if (sk->post_cb)
         sk->post_cb(sk);
     return 0;
 }
 
-
-/****************************************************************
- * Interface functions
- ****************************************************************/
-
 // Check if a move is likely to cause movement on a stepper
 static inline int
 check_active(struct stepper_kinematics *sk, struct move *m)
@@ -219,10 +149,7 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
     struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
     while (last_flush_time >= m->print_time + m->move_t)
         m = list_next_entry(m, node);
-    double gen_steps_post_active = sk->gen_steps_post_active;
-    if (gen_steps_post_active < SDS_CHECK_TIME)
-        gen_steps_post_active = SDS_CHECK_TIME;
-    double force_steps_time = sk->last_move_time + gen_steps_post_active;
+    double force_steps_time = sk->last_move_time + sk->gen_steps_post_active;
     for (;;) {
         if (last_flush_time >= flush_time)
             return 0;
@@ -247,7 +174,7 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
             if (ret)
                 return ret;
             sk->last_move_time = last_flush_time = end;
-            force_steps_time = end + gen_steps_post_active;
+            force_steps_time = end + sk->gen_steps_post_active;
         } else if (start < force_steps_time) {
             // Must generates steps just past stepper activity
             if (end > force_steps_time)

klippy/chelper/itersolve.h

@@ -16,9 +16,6 @@ struct stepper_kinematics {
     double step_dist, commanded_pos;
     struct stepcompress *sc;
 
-    double next_move_print_time, next_step_time;
-    int next_step_dir;
-
     double last_flush_time, last_move_time;
     struct trapq *tq;
     int active_flags;