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-rw-r--r--klippy/chelper/__init__.py6
-rw-r--r--klippy/chelper/itersolve.c4
-rw-r--r--klippy/chelper/kin_extruder.c14
-rw-r--r--klippy/chelper/trapq.c24
-rw-r--r--klippy/chelper/trapq.h17
-rw-r--r--klippy/extras/force_move.py9
-rw-r--r--klippy/extras/manual_stepper.py13
-rw-r--r--klippy/kinematics/extruder.py9
-rw-r--r--klippy/toolhead.py10
9 files changed, 49 insertions, 57 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 2c8f78f3..e26e31ba 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -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);
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c
index eeb107ab..c86b35e3 100644
--- a/klippy/chelper/itersolve.c
+++ b/klippy/chelper/itersolve.c
@@ -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.);
}
diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c
index 26513092..37c00c8b 100644
--- a/klippy/chelper/kin_extruder.c
+++ b/klippy/chelper/kin_extruder.c
@@ -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);
}
diff --git a/klippy/chelper/trapq.c b/klippy/chelper/trapq.c
index 828d48cf..966c8a45 100644
--- a/klippy/chelper/trapq.c
+++ b/klippy/chelper/trapq.c
@@ -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
diff --git a/klippy/chelper/trapq.h b/klippy/chelper/trapq.h
index e568a1ab..0c81b330 100644
--- a/klippy/chelper/trapq.h
+++ b/klippy/chelper/trapq.h
@@ -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);
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py
index 63e1c293..fe3b3a60 100644
--- a/klippy/extras/force_move.py
+++ b/klippy/extras/force_move.py
@@ -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)
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index a8448e72..9b985007 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -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)
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index a9215688..6b9245d4 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -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):
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 5c93dfa6..0c4dd1bb 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -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
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 10:23:47 +0000