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trapq: Add trapq_find_move() function 

Add support for finding a move by time in the trapezoidal velocity
move list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-04 18:48:51 -05:00
parent a28b29993a
commit da06e185fb
2 changed files with 22 additions and 0 deletions
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21
klippy/chelper/trapq.c
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@ -130,6 +130,27 @@ trapq_integrate(struct move *m, int axis, double start, double end)
return res; return res;
} }
// Find a move associated with a given time
struct move *
trapq_find_move(struct move *m, double *ptime)
{
double move_time = *ptime;
for (;;) {
if (unlikely(move_time < 0.)) {
// Check previous move in list
m = list_prev_entry(m, node);
move_time += m->move_t;
} else if (unlikely(move_time > m->move_t)) {
// Check next move in list
move_time -= m->move_t;
m = list_next_entry(m, node);
} else {
*ptime = move_time;
return m;
}
}
}
#define NEVER_TIME 9999999999999999.9 #define NEVER_TIME 9999999999999999.9
// Allocate a new 'trapq' object // Allocate a new 'trapq' object

1
klippy/chelper/trapq.h
View File

@ -33,6 +33,7 @@ void trapq_append(struct trapq *tq, double print_time
double move_get_distance(struct move *m, double move_time); double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time); struct coord move_get_coord(struct move *m, double move_time);
double trapq_integrate(struct move *m, int axis, double start, double end); double trapq_integrate(struct move *m, int axis, double start, double end);
struct move *trapq_find_move(struct move *m, double *ptime);
struct trapq *trapq_alloc(void); struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq); void trapq_free(struct trapq *tq);
void trapq_check_sentinels(struct trapq *tq); void trapq_check_sentinels(struct trapq *tq);