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trapq: Prune interrupted moves from history on trapq_set_position() 

It is possible for a homing move to not fully complete.  Fixup the
trapq history to make processing of the history easier for callers.
Similarly, do not add artificial "null" moves to the trapq history.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-06 10:06:03 -04:00
parent b17ec3d2e9
commit afada5e79e
1 changed files with 16 additions and 1 deletions
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15
klippy/chelper/trapq.c
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@ -181,7 +181,10 @@ trapq_finalize_moves(struct trapq *tq, double print_time)
if (m->print_time + m->move_t > print_time)
break;
list_del(&m->node);
if (m->start_v || m->half_accel)
list_add_head(&m->node, &tq->history);
else
free(m);
}
// Free old moves from history list
if (list_empty(&tq->history))
@ -205,6 +208,18 @@ trapq_set_position(struct trapq *tq, double print_time
// Flush all moves from trapq
trapq_finalize_moves(tq, NEVER_TIME);
// Prune any moves in the trapq history that were interrupted
while (!list_empty(&tq->history)) {
struct move *m = list_first_entry(&tq->history, struct move, node);
if (m->print_time < print_time) {
if (m->print_time + m->move_t > print_time)
m->move_t = print_time - m->print_time;
break;
}
list_del(&m->node);
free(m);
}
// Add a marker to the trapq history
struct move *m = move_alloc();
m->print_time = print_time;