stepcompress: Store a reference to 'struct stepper_kinematics'

Support storing a reference to 'struct stepper_kinematics' in 'struct
stepcompress' and support globally generating steps via the
steppersync mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/chelper/__init__.py

@@ -54,6 +54,8 @@ defs_stepcompress = """
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
+    void stepcompress_set_stepper_kinematics(struct stepcompress *sc
+        , struct stepper_kinematics *sk);
 """
 
 defs_steppersync = """
@@ -62,13 +64,13 @@ defs_steppersync = """
     void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
+    int32_t steppersync_generate_steps(struct steppersync *ss
+        , double gen_steps_time, uint64_t flush_clock);
     void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
     int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
 """
 
 defs_itersolve = """
-    int32_t itersolve_generate_steps(struct stepper_kinematics *sk
-        , struct stepcompress *sc, double flush_time);
     double itersolve_check_active(struct stepper_kinematics *sk
         , double flush_time);
     int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);

klippy/chelper/itersolve.c

@@ -143,7 +143,7 @@ check_active(struct stepper_kinematics *sk, struct move *m)
 }
 
 // Generate step times for a range of moves on the trapq
-int32_t __visible
+int32_t
 itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
                          , double flush_time)
 {

klippy/chelper/stepcompress.c

@@ -21,6 +21,7 @@
 #include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // DIV_ROUND_UP
+#include "itersolve.h" // itersolve_generate_steps
 #include "pyhelper.h" // errorf
 #include "serialqueue.h" // struct queue_message
 #include "stepcompress.h" // stepcompress_alloc
@@ -46,6 +47,8 @@ struct stepcompress {
     // History tracking
     int64_t last_position;
     struct list_head history_list;
+    // Itersolve reference
+    struct stepper_kinematics *sk;
 };
 
 struct step_move {
@@ -538,7 +541,7 @@ stepcompress_commit(struct stepcompress *sc)
 }
 
 // Flush pending steps
-int
+static int
 stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
 {
     if (sc->next_step_clock && move_clock >= sc->next_step_clock) {
@@ -662,3 +665,26 @@ stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
     }
     return res;
 }
+
+// Store a reference to stepper_kinematics
+void __visible
+stepcompress_set_stepper_kinematics(struct stepcompress *sc
+                                    , struct stepper_kinematics *sk)
+{
+    sc->sk = sk;
+}
+
+// Generate steps (via itersolve) and flush
+int32_t
+stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time
+                            , uint64_t flush_clock)
+{
+    if (!sc->sk)
+        return 0;
+    // Generate steps
+    int32_t ret = itersolve_generate_steps(sc->sk, sc, gen_steps_time);
+    if (ret)
+        return ret;
+    // Flush steps
+    return stepcompress_flush(sc, flush_clock);
+}

klippy/chelper/stepcompress.h

@@ -27,7 +27,6 @@ void stepcompress_set_time(struct stepcompress *sc
 int stepcompress_append(struct stepcompress *sc, int sdir
                         , double print_time, double step_time);
 int stepcompress_commit(struct stepcompress *sc);
-int stepcompress_flush(struct stepcompress *sc, uint64_t move_clock);
 int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
 int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
                                    , int64_t last_position);
@@ -39,5 +38,11 @@ int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);
+struct stepper_kinematics;
+void stepcompress_set_stepper_kinematics(struct stepcompress *sc
+                                         , struct stepper_kinematics *sk);
+int32_t stepcompress_generate_steps(struct stepcompress *sc
+                                    , double gen_steps_time
+                                    , uint64_t flush_clock);
 
 #endif // stepcompress.h

klippy/chelper/steppersync.c

@@ -76,6 +76,22 @@ steppersync_set_time(struct steppersync *ss, double time_offset
     }
 }
 
+// Generate steps and flush stepcompress objects
+int32_t __visible
+steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                           , uint64_t flush_clock)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        int32_t ret = stepcompress_generate_steps(sc, gen_steps_time
+                                                  , flush_clock);
+        if (ret)
+            return ret;
+    }
+    return 0;
+}
+
 // Expire the stepcompress history before the given clock time
 void __visible
 steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
@@ -116,14 +132,6 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
 int __visible
 steppersync_flush(struct steppersync *ss, uint64_t move_clock)
 {
-    // Flush each stepcompress to the specified move_clock
-    int i;
-    for (i=0; i<ss->sc_num; i++) {
-        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
-        if (ret)
-            return ret;
-    }
-
     // Order commands by the reqclock of each pending command
     struct list_head msgs;
     list_init(&msgs);
@@ -131,6 +139,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
         // Find message with lowest reqclock
         uint64_t req_clock = MAX_CLOCK;
         struct queue_message *qm = NULL;
+        int i;
         for (i=0; i<ss->sc_num; i++) {
             struct stepcompress *sc = ss->sc_list[i];
             struct list_head *sc_mq = stepcompress_get_msg_queue(sc);

klippy/chelper/steppersync.h

@@ -10,6 +10,8 @@ struct steppersync *steppersync_alloc(
 void steppersync_free(struct steppersync *ss);
 void steppersync_set_time(struct steppersync *ss, double time_offset
                           , double mcu_freq);
+int32_t steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                                   , uint64_t flush_clock);
 void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
 int steppersync_flush(struct steppersync *ss, uint64_t move_clock);