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trapq: Remove move_fill() 

Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-29 12:44:39 -04:00
parent 797dcfcb12
commit 1acaaa98c2
9 changed files with 49 additions and 57 deletions
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6
klippy/chelper/__init__.py
View File

@ -58,15 +58,13 @@ defs_itersolve = """
"""
defs_trapq = """
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_add_move(struct trapq *tq, struct move *m);
void trapq_free_moves(struct trapq *tq, double print_time);
"""
@ -94,7 +92,7 @@ defs_kin_winch = """
defs_kin_extruder = """
struct stepper_kinematics *extruder_stepper_alloc(void);
void extruder_move_fill(struct move *m, double print_time
void extruder_add_move(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t, double start_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v);

4
klippy/chelper/itersolve.c
View File

@ -215,7 +215,9 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk
{
struct move m;
memset(&m, 0, sizeof(m));
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
m.start_pos.x = x;
m.start_pos.y = y;
m.start_pos.z = z;
return sk->calc_position_cb(sk, &m, 0.);
}

14
klippy/chelper/kin_extruder.c
View File

@ -30,12 +30,14 @@ extruder_stepper_alloc(void)
// Populate a 'struct move' with an extruder velocity trapezoid
void __visible
extruder_move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v)
extruder_add_move(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v)
{
struct move *m = move_alloc();
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
@ -54,4 +56,6 @@ extruder_move_fill(struct move *m, double print_time
// Setup start distance
m->start_pos.x = start_pos;
m->axes_r.x = 1.;
trapq_add_move(tq, m);
}

24
klippy/chelper/trapq.c
View File

@ -12,7 +12,7 @@
#include "trapq.h" // move_get_coord
// Allocate a new 'move' object
struct move * __visible
struct move *
move_alloc(void)
{
struct move *m = malloc(sizeof(*m));
@ -20,14 +20,16 @@ move_alloc(void)
return m;
}
// Populate a 'struct move' with a velocity trapezoid
// Fill and add a move to the trapezoid velocity queue
void __visible
move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel)
trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel)
{
struct move *m = move_alloc();
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
@ -52,6 +54,8 @@ move_fill(struct move *m, double print_time
m->axes_r.x = axes_d_x * inv_move_d;
m->axes_r.y = axes_d_y * inv_move_d;
m->axes_r.z = axes_d_z * inv_move_d;
trapq_add_move(tq, m);
}
// Find the distance travel during acceleration/deceleration
@ -111,12 +115,10 @@ trapq_free(struct trapq *tq)
}
// Add a move to the trapezoid velocity queue
void __visible
void
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);
list_add_tail(&m->node, &tq->moves);
}
// Free any moves older than `print_time` from the trapezoid velocity queue

17
klippy/chelper/trapq.h
View File

@ -22,19 +22,18 @@ struct move {
struct list_node node;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct trapq {
struct list_head moves;
};
struct move *move_alloc(void);
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_add_move(struct trapq *tq, struct move *m);

9
klippy/extras/force_move.py
View File

@ -28,10 +28,8 @@ class ForceMove:
self.steppers = {}
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper_kinematics = ffi_main.gc(
ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free)
@ -70,9 +68,8 @@ class ForceMove:
prev_sk = stepper.set_stepper_kinematics(self.stepper_kinematics)
stepper.set_position((0., 0., 0.))
accel_t, cruise_t, cruise_v = calc_move_time(dist, speed, accel)
self.move_fill(self.cmove, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
self.trapq_add_move(self.trapq, self.cmove)
self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
0., 0., 0., dist, 0., 0., 0., cruise_v, accel)
print_time += accel_t + cruise_t + accel_t
stepper.generate_steps(print_time)
self.trapq_free_moves(self.trapq, print_time)

13
klippy/extras/manual_stepper.py
View File

@ -23,10 +23,8 @@ class ManualStepper:
self.next_cmd_time = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
self.stepper.set_trapq(self.trapq)
@ -58,11 +56,10 @@ class ManualStepper:
dist = movepos - cp
accel_t, cruise_t, cruise_v = force_move.calc_move_time(
dist, speed, accel)
self.move_fill(self.cmove, self.next_cmd_time,
accel_t, cruise_t, accel_t,
cp, 0., 0., dist, 0., 0.,
0., cruise_v, accel)
self.trapq_add_move(self.trapq, self.cmove)
self.trapq_append(self.trapq, self.next_cmd_time,
accel_t, cruise_t, accel_t,
cp, 0., 0., dist, 0., 0.,
0., cruise_v, accel)
self.next_cmd_time += accel_t + cruise_t + accel_t
self.stepper.generate_steps(self.next_cmd_time)
self.trapq_free_moves(self.trapq, self.next_cmd_time)

9
klippy/kinematics/extruder.py
View File

@ -53,10 +53,8 @@ class PrinterExtruder:
self.extrude_pos = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.extruder_move_fill = ffi_lib.extruder_move_fill
self.extruder_add_move = ffi_lib.extruder_add_move
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('extruder_stepper_alloc')
self.stepper.set_trapq(self.trapq)
@ -205,10 +203,9 @@ class PrinterExtruder:
extra_decel_v = extra_decel_d / decel_t
# Generate steps
self.extruder_move_fill(
self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos,
self.extruder_add_move(
self.trapq, print_time, accel_t, cruise_t, decel_t, start_pos,
start_v, cruise_v, accel, extra_accel_v, extra_decel_v)
self.trapq_add_move(self.trapq, self.cmove)
self.extrude_pos = start_pos + axis_d
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, params):

10
klippy/toolhead.py
View File

@ -18,7 +18,6 @@ class Move:
self.end_pos = tuple(end_pos)
self.accel = toolhead.max_accel
velocity = min(speed, toolhead.max_velocity)
self.cmove = toolhead.cmove
self.is_kinematic_move = True
self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@ -97,13 +96,12 @@ class Move:
# Generate step times for the move
next_move_time = self.toolhead.get_next_move_time()
if self.is_kinematic_move:
self.toolhead.move_fill(
self.cmove, next_move_time,
self.toolhead.trapq_append(
self.toolhead.trapq, next_move_time,
self.accel_t, self.cruise_t, self.decel_t,
self.start_pos[0], self.start_pos[1], self.start_pos[2],
self.axes_d[0], self.axes_d[1], self.axes_d[2],
self.start_v, self.cruise_v, self.accel)
self.toolhead.trapq_add_move(self.toolhead.trapq, self.cmove)
if self.axes_d[3]:
self.toolhead.extruder.move(next_move_time, self)
self.toolhead.update_move_time(
@ -247,10 +245,8 @@ class ToolHead:
self.drip_completion = None
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_append = ffi_lib.trapq_append
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.move_handlers = []
# Create kinematics class