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stepcompress: Rename 'struct history_move' to 'struct history_steps' 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-07-19 14:40:50 -04:00
parent 07f0ecb4d0
commit fbfa31a3c3
1 changed files with 25 additions and 25 deletions
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50
klippy/chelper/stepcompress.c
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@ -56,7 +56,7 @@ struct step_move {
#define HISTORY_EXPIRE (30.0)
struct history_move {
struct history_steps {
struct list_node node;
uint64_t first_clock, last_clock;
int64_t start_position;
@ -274,12 +274,12 @@ static void
free_history(struct stepcompress *sc, uint64_t end_clock)
{
while (!list_empty(&sc->history_list)) {
struct history_move *hm = list_last_entry(
&sc->history_list, struct history_move, node);
if (hm->last_clock > end_clock)
struct history_steps *hs = list_last_entry(
&sc->history_list, struct history_steps, node);
if (hs->last_clock > end_clock)
break;
list_del(&hm->node);
free(hm);
list_del(&hs->node);
free(hs);
}
}
@ -351,14 +351,14 @@ add_move(struct stepcompress *sc, uint64_t first_clock, struct step_move *move)
sc->last_step_clock = last_clock;
// Create and store move in history tracking
struct history_move *hm = malloc(sizeof(*hm));
hm->first_clock = first_clock;
hm->last_clock = last_clock;
hm->start_position = sc->last_position;
hm->step_count = sc->sdir ? move->count : -move->count;
sc->last_position += hm->step_count;
memcpy(&hm->sm, move, sizeof(hm->sm));
list_add_head(&hm->node, &sc->history_list);
struct history_steps *hs = malloc(sizeof(*hs));
hs->first_clock = first_clock;
hs->last_clock = last_clock;
hs->start_position = sc->last_position;
hs->step_count = sc->sdir ? move->count : -move->count;
sc->last_position += hs->step_count;
memcpy(&hs->sm, move, sizeof(hs->sm));
list_add_head(&hs->node, &sc->history_list);
}
// Convert previously scheduled steps into commands for the mcu
@ -567,16 +567,16 @@ int64_t __visible
stepcompress_find_past_position(struct stepcompress *sc, uint64_t clock)
{
int64_t last_position = sc->last_position;
struct history_move *hm;
list_for_each_entry(hm, &sc->history_list, node) {
if (clock < hm->first_clock) {
last_position = hm->start_position;
struct history_steps *hs;
list_for_each_entry(hs, &sc->history_list, node) {
if (clock < hs->first_clock) {
last_position = hs->start_position;
continue;
}
if (clock >= hm->last_clock)
return hm->start_position + hm->step_count;
int32_t interval = hm->sm.interval, add = hm->sm.add;
int32_t ticks = (int32_t)(clock - hm->first_clock) + interval, offset;
if (clock >= hs->last_clock)
return hs->start_position + hs->step_count;
int32_t interval = hs->sm.interval, add = hs->sm.add;
int32_t ticks = (int32_t)(clock - hs->first_clock) + interval, offset;
if (!add) {
offset = ticks / interval;
} else {
@ -584,9 +584,9 @@ stepcompress_find_past_position(struct stepcompress *sc, uint64_t clock)
double a = .5 * add, b = interval - .5 * add, c = -ticks;
offset = (sqrt(b*b - 4*a*c) - b) / (2. * a);
}
if (hm->step_count < 0)
return hm->start_position - offset;
return hm->start_position + offset;
if (hs->step_count < 0)
return hs->start_position - offset;
return hs->start_position + offset;
}
return last_position;
}