toolhead: Fill cmove in toolhead instead of in each kinematic class

This simplifies the kinematic classes.

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

klippy/kinematics/cartesian.py

@@ -20,8 +20,6 @@ class CartKinematics:
         self.limits = [(1.0, -1.0)] * 3
         # 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
         for axis, rail in zip('xyz', self.rails):
             rail.setup_cartesian_itersolve(axis)
         # Setup stepper max halt velocity
@@ -141,15 +139,9 @@ class CartKinematics:
     def move(self, print_time, move):
         if self.need_motor_enable:
             self._check_motor_enable(print_time, move)
-        self.move_fill(
-            self.cmove, print_time,
-            move.accel_t, move.cruise_t, move.decel_t,
-            move.start_pos[0], move.start_pos[1], move.start_pos[2],
-            move.axes_d[0], move.axes_d[1], move.axes_d[2],
-            move.start_v, move.cruise_v, move.accel)
         for i, rail in enumerate(self.rails):
             if move.axes_d[i]:
-                rail.step_itersolve(self.cmove)
+                rail.step_itersolve(move.cmove)
     # Dual carriage support
     def _activate_carriage(self, carriage):
         toolhead = self.printer.lookup_object('toolhead')

klippy/kinematics/corexy.py

@@ -22,8 +22,6 @@ class CoreXYKinematics:
         self.limits = [(1.0, -1.0)] * 3
         # 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.rails[0].setup_itersolve(ffi_main.gc(
             ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free))
         self.rails[1].setup_itersolve(ffi_main.gc(
@@ -128,13 +126,7 @@ class CoreXYKinematics:
         if self.need_motor_enable:
             self._check_motor_enable(print_time, move)
         axes_d = move.axes_d
-        cmove = self.cmove
+        cmove = move.cmove
-        self.move_fill(
-            cmove, print_time,
-            move.accel_t, move.cruise_t, move.decel_t,
-            move.start_pos[0], move.start_pos[1], move.start_pos[2],
-            axes_d[0], axes_d[1], axes_d[2],
-            move.start_v, move.cruise_v, move.accel)
         rail_x, rail_y, rail_z = self.rails
         if axes_d[0] or axes_d[1]:
             rail_x.step_itersolve(cmove)

klippy/kinematics/delta.py

@@ -62,8 +62,6 @@ class DeltaKinematics:
                        for angle in self.angles]
         # 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
         for r, a, t in zip(self.rails, self.arm2, self.towers):
             sk = ffi_main.gc(ffi_lib.delta_stepper_alloc(a, t[0], t[1]),
                              ffi_lib.free)
@@ -163,14 +161,8 @@ class DeltaKinematics:
     def move(self, print_time, move):
         if self.need_motor_enable:
             self._check_motor_enable(print_time)
-        self.move_fill(
-            self.cmove, print_time,
-            move.accel_t, move.cruise_t, move.decel_t,
-            move.start_pos[0], move.start_pos[1], move.start_pos[2],
-            move.axes_d[0], move.axes_d[1], move.axes_d[2],
-            move.start_v, move.cruise_v, move.accel)
         for rail in self.rails:
-            rail.step_itersolve(self.cmove)
+            rail.step_itersolve(move.cmove)
     # Helper functions for DELTA_CALIBRATE script
     def get_stable_position(self):
         steppers = [rail.get_steppers()[0] for rail in self.rails]

klippy/toolhead.py

@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging, importlib
-import mcu, homing, kinematics.extruder
+import mcu, homing, chelper, kinematics.extruder
 
 # Common suffixes: _d is distance (in mm), _v is velocity (in
 #   mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@@ -17,6 +17,7 @@ class Move:
         self.start_pos = tuple(start_pos)
         self.end_pos = tuple(end_pos)
         self.accel = toolhead.max_accel
+        self.cmove = toolhead.cmove
         self.is_kinematic_move = True
         self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
         self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@@ -91,6 +92,12 @@ class Move:
         # Generate step times for the move
         next_move_time = self.toolhead.get_next_move_time()
         if self.is_kinematic_move:
+            self.toolhead.move_fill(
+                self.cmove, next_move_time,
+                self.accel_t, self.cruise_t, self.decel_t,
+                self.start_pos[0], self.start_pos[1], self.start_pos[2],
+                self.axes_d[0], self.axes_d[1], self.axes_d[2],
+                self.start_v, self.cruise_v, self.accel)
             self.toolhead.kin.move(next_move_time, self)
         if self.axes_d[3]:
             self.toolhead.extruder.move(next_move_time, self)
@@ -226,6 +233,10 @@ class ToolHead:
         self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
         self.motor_off_timer = self.reactor.register_timer(
             self._motor_off_handler, self.reactor.NOW)
+        # 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
         # Create kinematics class
         self.extruder = kinematics.extruder.DummyExtruder()
         self.move_queue.set_extruder(self.extruder)