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trapq: Extend trapq_extract_old() to also check active moves

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Support extracting moves from both the "live" trapq->moves as well as
the "history" from trapq->history storage.  Now that moves are flushed
separately from the lookahead queue, there is a good chance that the
current move being processed on the mcus will still be in the active
trapq list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-10-08 15:45:00 -04:00
parent b85b92fdfb
commit cba7a285e4
2 changed files with 31 additions and 10 deletions
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5
klippy/chelper/list.h
View File

@@ -116,6 +116,11 @@ list_join_tail(struct list_head *add, struct list_head *h)
; &pos->member != &(head)->root \
; pos = list_next_entry(pos, member))
#define list_for_each_entry_reverse(pos, head, member) \
for (pos = list_last_entry((head), typeof(*pos), member) \
; &pos->member != &(head)->root \
; pos = list_prev_entry(pos, member))
#define list_for_each_entry_safe(pos, n, head, member) \
for (pos = list_first_entry((head), typeof(*pos), member) \
, n = list_next_entry(pos, member) \

36
klippy/chelper/trapq.c
View File

@@ -228,6 +228,22 @@ trapq_set_position(struct trapq *tq, double print_time
list_add_head(&m->node, &tq->history);
}
// Copy the info in a 'struct move' to a 'struct pull_move'
static void
copy_pull_move(struct pull_move *p, struct move *m)
{
p->print_time = m->print_time;
p->move_t = m->move_t;
p->start_v = m->start_v;
p->accel = 2. * m->half_accel;
p->start_x = m->start_pos.x;
p->start_y = m->start_pos.y;
p->start_z = m->start_pos.z;
p->x_r = m->axes_r.x;
p->y_r = m->axes_r.y;
p->z_r = m->axes_r.z;
}
// Return history of movement queue
int __visible
trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
@@ -235,21 +251,21 @@ trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
{
int res = 0;
struct move *m;
list_for_each_entry_reverse(m, &tq->moves, node) {
if (start_time >= m->print_time + m->move_t || res >= max)
break;
if (end_time <= m->print_time || (!m->start_v && !m->half_accel))
continue;
copy_pull_move(p, m);
p++;
res++;
}
list_for_each_entry(m, &tq->history, node) {
if (start_time >= m->print_time + m->move_t || res >= max)
break;
if (end_time <= m->print_time)
continue;
p->print_time = m->print_time;
p->move_t = m->move_t;
p->start_v = m->start_v;
p->accel = 2. * m->half_accel;
p->start_x = m->start_pos.x;
p->start_y = m->start_pos.y;
p->start_z = m->start_pos.z;
p->x_r = m->axes_r.x;
p->y_r = m->axes_r.y;
p->z_r = m->axes_r.z;
copy_pull_move(p, m);
p++;
res++;
}