2018-06-06 22:49:44 +02:00
|
|
|
#ifndef STEPCOMPRESS_H
|
|
|
|
|
#define STEPCOMPRESS_H
|
|
|
|
|
|
|
|
|
|
#include <stdint.h> // uint32_t
|
|
|
|
|
|
|
|
|
|
#define ERROR_RET -989898989
|
|
|
|
|
|
2021-07-19 20:51:05 +02:00
|
|
|
struct pull_history_steps {
|
|
|
|
|
uint64_t first_clock, last_clock;
|
|
|
|
|
int64_t start_position;
|
|
|
|
|
int step_count, interval, add;
|
|
|
|
|
};
|
|
|
|
|
|
2018-06-08 23:02:20 +02:00
|
|
|
struct stepcompress *stepcompress_alloc(uint32_t oid);
|
|
|
|
|
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
|
2021-02-04 22:33:03 +01:00
|
|
|
, uint32_t invert_sdir, int32_t queue_step_msgtag
|
|
|
|
|
, int32_t set_next_step_dir_msgtag);
|
2018-06-06 22:49:44 +02:00
|
|
|
void stepcompress_free(struct stepcompress *sc);
|
|
|
|
|
uint32_t stepcompress_get_oid(struct stepcompress *sc);
|
2018-06-09 01:55:24 +02:00
|
|
|
int stepcompress_get_step_dir(struct stepcompress *sc);
|
2020-02-25 03:59:39 +01:00
|
|
|
int stepcompress_append(struct stepcompress *sc, int sdir
|
|
|
|
|
, double print_time, double step_time);
|
2020-02-25 18:54:55 +01:00
|
|
|
int stepcompress_commit(struct stepcompress *sc);
|
2020-03-08 16:14:26 +01:00
|
|
|
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
|
2021-08-06 15:56:06 +02:00
|
|
|
int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
|
2021-06-12 05:12:16 +02:00
|
|
|
, int64_t last_position);
|
|
|
|
|
int64_t stepcompress_find_past_position(struct stepcompress *sc
|
|
|
|
|
, uint64_t clock);
|
2020-03-08 16:14:26 +01:00
|
|
|
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
|
2021-07-19 20:51:05 +02:00
|
|
|
int stepcompress_extract_old(struct stepcompress *sc
|
|
|
|
|
, struct pull_history_steps *p, int max
|
|
|
|
|
, uint64_t start_clock, uint64_t end_clock);
|
2018-06-06 22:49:44 +02:00
|
|
|
|
|
|
|
|
struct serialqueue;
|
|
|
|
|
struct steppersync *steppersync_alloc(
|
|
|
|
|
struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
|
|
|
|
|
, int move_num);
|
|
|
|
|
void steppersync_free(struct steppersync *ss);
|
|
|
|
|
void steppersync_set_time(struct steppersync *ss, double time_offset
|
|
|
|
|
, double mcu_freq);
|
|
|
|
|
int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
|
|
|
|
|
|
|
|
|
|
#endif // stepcompress.h
|
