diff options
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 |