trapq: Remove move_fill()

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>

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);

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.);
 }
 

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);
 }

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

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);