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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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9
klippy/extras/force_move.py
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@@ -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)