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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-11-01 18:32:06 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-21 13:17:45 -0500 |
| commit | 4dbe795ac2b9af24c3c45d4d25ac0eedf86f3d12 (patch) | |
| tree | 81a867ec77541be7a6b4e43efc8e5072c50f92af /klippy/chelper/itersolve.c | |
| parent | 2843c850198010b1948a578a1b1421ee81be36b7 (diff) | |
| download | kutter-4dbe795ac2b9af24c3c45d4d25ac0eedf86f3d12.tar.gz kutter-4dbe795ac2b9af24c3c45d4d25ac0eedf86f3d12.tar.xz kutter-4dbe795ac2b9af24c3c45d4d25ac0eedf86f3d12.zip | |
trapq: Implement sentinel nodes on the trapq list
Use sentinels to make list traversal code simpler. Also add in null
moves so that there are no time gaps in the list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper/itersolve.c')
| -rw-r--r-- | klippy/chelper/itersolve.c | 23 |
1 files changed, 9 insertions, 14 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 5eafd2a7..84fd5f71 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -144,14 +144,12 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time) { double last_flush_time = sk->last_flush_time; sk->last_flush_time = flush_time; - if (!sk->tq || list_empty(&sk->tq->moves)) + if (!sk->tq) return 0; + trapq_check_sentinels(sk->tq); struct move *m = list_first_entry(&sk->tq->moves, struct move, node); - while (last_flush_time >= m->print_time + m->move_t) { - if (list_is_last(&m->node, &sk->tq->moves)) - return 0; + while (last_flush_time >= m->print_time + m->move_t) m = list_next_entry(m, node); - } for (;;) { double start = m->print_time, end = start + m->move_t; if (start < last_flush_time) @@ -166,7 +164,7 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time) return ret; } last_flush_time = end; - if (list_is_last(&m->node, &sk->tq->moves)) + if (flush_time <= m->print_time + m->move_t) return 0; m = list_next_entry(m, node); } @@ -176,22 +174,19 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time) double __visible itersolve_check_active(struct stepper_kinematics *sk, double flush_time) { - if (!sk->tq || list_empty(&sk->tq->moves)) + if (!sk->tq) return 0.; + trapq_check_sentinels(sk->tq); struct move *m = list_first_entry(&sk->tq->moves, struct move, node); - while (sk->last_flush_time >= m->print_time + m->move_t) { - if (list_is_last(&m->node, &sk->tq->moves)) - return 0.; + while (sk->last_flush_time >= m->print_time + m->move_t) m = list_next_entry(m, node); - } - while (m->print_time < flush_time) { + for (;;) { if (check_active(sk, m)) return m->print_time; - if (list_is_last(&m->node, &sk->tq->moves)) + if (flush_time <= m->print_time + m->move_t) return 0.; m = list_next_entry(m, node); } - return 0.; } void __visible |