trdispatch: Support fast responses to trsync_state messages

Add C code that can process trsync_state messages and dispatch
responses with low-latency.

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

1 files changed, 18 insertions, 4 deletions

diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 4a8728fb..7b20963d 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -18,7 +18,7 @@ COMPILE_ARGS = ("-Wall -g -O2 -shared -fPIC"
 SSE_FLAGS = "-mfpmath=sse -msse2"
 SOURCE_FILES = [
     'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
-    'pollreactor.c', 'msgblock.c',
+    'pollreactor.c', 'msgblock.c', 'trdispatch.c',
     'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
     'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
     'kin_shaper.c',
@@ -168,6 +168,19 @@ defs_serialqueue = """
         , struct pull_queue_message *q, int max);
 """
 
+defs_trdispatch = """
+    void trdispatch_start(struct trdispatch *td, uint32_t dispatch_reason);
+    void trdispatch_stop(struct trdispatch *td);
+    struct trdispatch *trdispatch_alloc(void);
+    struct trdispatch_mcu *trdispatch_mcu_alloc(struct trdispatch *td
+        , struct serialqueue *sq, struct command_queue *cq, uint32_t trsync_oid
+        , uint32_t set_timeout_msgtag, uint32_t trigger_msgtag
+        , uint32_t state_msgtag);
+    void trdispatch_mcu_setup(struct trdispatch_mcu *tdm
+        , uint64_t last_status_clock, uint64_t expire_clock
+        , uint64_t expire_ticks, uint64_t min_extend_ticks);
+"""
+
 defs_pyhelper = """
     void set_python_logging_callback(void (*func)(const char *));
     double get_monotonic(void);
@@ -179,9 +192,10 @@ defs_std = """
 
 defs_all = [
     defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
-    defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
-    defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
-    defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
+    defs_itersolve, defs_trapq, defs_trdispatch,
+    defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
+    defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
+    defs_kin_shaper,
 ]
 
 # Update filenames to an absolute path