2018-06-06 23:49:44 +03:00
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#ifndef STEPCOMPRESS_H
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#define STEPCOMPRESS_H
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#include <stdint.h> // uint32_t
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#define ERROR_RET -989898989
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2021-07-19 21:51:05 +03:00
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struct pull_history_steps {
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uint64_t first_clock, last_clock;
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int64_t start_position;
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int step_count, interval, add;
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};
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2018-06-09 00:02:20 +03:00
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struct stepcompress *stepcompress_alloc(uint32_t oid);
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void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
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2022-01-30 03:13:31 +03:00
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, int32_t queue_step_msgtag
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2021-02-05 00:33:03 +03:00
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, int32_t set_next_step_dir_msgtag);
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2022-01-30 03:13:31 +03:00
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void stepcompress_set_invert_sdir(struct stepcompress *sc
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, uint32_t invert_sdir);
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2018-06-06 23:49:44 +03:00
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void stepcompress_free(struct stepcompress *sc);
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uint32_t stepcompress_get_oid(struct stepcompress *sc);
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2018-06-09 02:55:24 +03:00
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int stepcompress_get_step_dir(struct stepcompress *sc);
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2020-02-25 05:59:39 +03:00
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int stepcompress_append(struct stepcompress *sc, int sdir
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, double print_time, double step_time);
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2020-02-25 20:54:55 +03:00
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int stepcompress_commit(struct stepcompress *sc);
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2020-03-08 18:14:26 +03:00
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int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
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2021-08-06 16:56:06 +03:00
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int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
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2021-06-12 06:12:16 +03:00
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, int64_t last_position);
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int64_t stepcompress_find_past_position(struct stepcompress *sc
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, uint64_t clock);
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2020-03-08 18:14:26 +03:00
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int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
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2023-10-14 03:43:27 +03:00
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int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
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, uint32_t *data, int len);
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2021-07-19 21:51:05 +03:00
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int stepcompress_extract_old(struct stepcompress *sc
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, struct pull_history_steps *p, int max
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, uint64_t start_clock, uint64_t end_clock);
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2018-06-06 23:49:44 +03:00
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struct serialqueue;
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struct steppersync *steppersync_alloc(
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struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
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, int move_num);
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void steppersync_free(struct steppersync *ss);
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void steppersync_set_time(struct steppersync *ss, double time_offset
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, double mcu_freq);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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#endif // stepcompress.h
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