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trapq: Implement sentinel nodes on the trapq list

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Use sentinels to make list traversal code simpler.  Also add in null
moves so that there are no time gaps in the list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-01 18:32:06 -04:00
parent 2843c85019
commit 4dbe795ac2
3 changed files with 55 additions and 17 deletions
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23
klippy/chelper/itersolve.c
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@@ -144,14 +144,12 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
{
double last_flush_time = sk->last_flush_time;
sk->last_flush_time = flush_time;
if (!sk->tq || list_empty(&sk->tq->moves))
if (!sk->tq)
return 0;
trapq_check_sentinels(sk->tq);
struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
while (last_flush_time >= m->print_time + m->move_t) {
if (list_is_last(&m->node, &sk->tq->moves))
return 0;
while (last_flush_time >= m->print_time + m->move_t)
m = list_next_entry(m, node);
}
for (;;) {
double start = m->print_time, end = start + m->move_t;
if (start < last_flush_time)
@@ -166,7 +164,7 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
return ret;
}
last_flush_time = end;
if (list_is_last(&m->node, &sk->tq->moves))
if (flush_time <= m->print_time + m->move_t)
return 0;
m = list_next_entry(m, node);
}
@@ -176,22 +174,19 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
double __visible
itersolve_check_active(struct stepper_kinematics *sk, double flush_time)
{
if (!sk->tq || list_empty(&sk->tq->moves))
if (!sk->tq)
return 0.;
trapq_check_sentinels(sk->tq);
struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
while (sk->last_flush_time >= m->print_time + m->move_t) {
if (list_is_last(&m->node, &sk->tq->moves))
return 0.;
while (sk->last_flush_time >= m->print_time + m->move_t)
m = list_next_entry(m, node);
}
while (m->print_time < flush_time) {
for (;;) {
if (check_active(sk, m))
return m->print_time;
if (list_is_last(&m->node, &sk->tq->moves))
if (flush_time <= m->print_time + m->move_t)
return 0.;
m = list_next_entry(m, node);
}
return 0.;
}
void __visible