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trapq: Remove move_fill()

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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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24
klippy/chelper/trapq.c
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@@ -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