stepcompress: Store a reference to 'struct stepper_kinematics'

Support storing a reference to 'struct stepper_kinematics' in 'struct
stepcompress' and support globally generating steps via the
steppersync mechanism.

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

klippy/chelper/__init__.py

@@ -54,6 +54,8 @@ defs_stepcompress = """
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
+    void stepcompress_set_stepper_kinematics(struct stepcompress *sc
+        , struct stepper_kinematics *sk);
 """
 
 defs_steppersync = """
@@ -62,13 +64,13 @@ defs_steppersync = """
     void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
+    int32_t steppersync_generate_steps(struct steppersync *ss
+        , double gen_steps_time, uint64_t flush_clock);
     void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
     int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
 """
 
 defs_itersolve = """
-    int32_t itersolve_generate_steps(struct stepper_kinematics *sk
-        , struct stepcompress *sc, double flush_time);
     double itersolve_check_active(struct stepper_kinematics *sk
         , double flush_time);
     int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);

klippy/chelper/itersolve.c

@@ -143,7 +143,7 @@ check_active(struct stepper_kinematics *sk, struct move *m)
 }
 
 // Generate step times for a range of moves on the trapq
-int32_t __visible
+int32_t
 itersolve_generate_steps(struct stepper_kinematics *sk, struct stepcompress *sc
                          , double flush_time)
 {

klippy/chelper/stepcompress.c

@@ -21,6 +21,7 @@
 #include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // DIV_ROUND_UP
+#include "itersolve.h" // itersolve_generate_steps
 #include "pyhelper.h" // errorf
 #include "serialqueue.h" // struct queue_message
 #include "stepcompress.h" // stepcompress_alloc
@@ -46,6 +47,8 @@ struct stepcompress {
     // History tracking
     int64_t last_position;
     struct list_head history_list;
+    // Itersolve reference
+    struct stepper_kinematics *sk;
 };
 
 struct step_move {
@@ -538,7 +541,7 @@ stepcompress_commit(struct stepcompress *sc)
 }
 
 // Flush pending steps
-int
+static int
 stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
 {
     if (sc->next_step_clock && move_clock >= sc->next_step_clock) {
@@ -662,3 +665,26 @@ stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
     }
     return res;
 }
+
+// Store a reference to stepper_kinematics
+void __visible
+stepcompress_set_stepper_kinematics(struct stepcompress *sc
+                                    , struct stepper_kinematics *sk)
+{
+    sc->sk = sk;
+}
+
+// Generate steps (via itersolve) and flush
+int32_t
+stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time
+                            , uint64_t flush_clock)
+{
+    if (!sc->sk)
+        return 0;
+    // Generate steps
+    int32_t ret = itersolve_generate_steps(sc->sk, sc, gen_steps_time);
+    if (ret)
+        return ret;
+    // Flush steps
+    return stepcompress_flush(sc, flush_clock);
+}

klippy/chelper/stepcompress.h

@@ -27,7 +27,6 @@ void stepcompress_set_time(struct stepcompress *sc
 int stepcompress_append(struct stepcompress *sc, int sdir
                         , double print_time, double step_time);
 int stepcompress_commit(struct stepcompress *sc);
-int stepcompress_flush(struct stepcompress *sc, uint64_t move_clock);
 int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
 int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
                                    , int64_t last_position);
@@ -39,5 +38,11 @@ int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);
+struct stepper_kinematics;
+void stepcompress_set_stepper_kinematics(struct stepcompress *sc
+                                         , struct stepper_kinematics *sk);
+int32_t stepcompress_generate_steps(struct stepcompress *sc
+                                    , double gen_steps_time
+                                    , uint64_t flush_clock);
 
 #endif // stepcompress.h

klippy/chelper/steppersync.c

@@ -76,6 +76,22 @@ steppersync_set_time(struct steppersync *ss, double time_offset
     }
 }
 
+// Generate steps and flush stepcompress objects
+int32_t __visible
+steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                           , uint64_t flush_clock)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        int32_t ret = stepcompress_generate_steps(sc, gen_steps_time
+                                                  , flush_clock);
+        if (ret)
+            return ret;
+    }
+    return 0;
+}
+
 // Expire the stepcompress history before the given clock time
 void __visible
 steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
@@ -116,14 +132,6 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
 int __visible
 steppersync_flush(struct steppersync *ss, uint64_t move_clock)
 {
-    // Flush each stepcompress to the specified move_clock
-    int i;
-    for (i=0; i<ss->sc_num; i++) {
-        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
-        if (ret)
-            return ret;
-    }
-
     // Order commands by the reqclock of each pending command
     struct list_head msgs;
     list_init(&msgs);
@@ -131,6 +139,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
         // Find message with lowest reqclock
         uint64_t req_clock = MAX_CLOCK;
         struct queue_message *qm = NULL;
+        int i;
         for (i=0; i<ss->sc_num; i++) {
             struct stepcompress *sc = ss->sc_list[i];
             struct list_head *sc_mq = stepcompress_get_msg_queue(sc);

klippy/chelper/steppersync.h

@@ -10,6 +10,8 @@ struct steppersync *steppersync_alloc(
 void steppersync_free(struct steppersync *ss);
 void steppersync_set_time(struct steppersync *ss, double time_offset
                           , double mcu_freq);
+int32_t steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
+                                   , uint64_t flush_clock);
 void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
 int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
 

klippy/extras/motion_queuing.py

@@ -11,13 +11,13 @@ MOVE_HISTORY_EXPIRE = 30.
 class PrinterMotionQueuing:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.steppers = []
         self.trapqs = []
         self.stepcompress = []
         self.steppersyncs = []
         self.flush_callbacks = []
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
+        self.steppersync_generate_steps = ffi_lib.steppersync_generate_steps
         self.steppersync_flush = ffi_lib.steppersync_flush
         self.steppersync_history_expire = ffi_lib.steppersync_history_expire
         self.clear_history_time = 0.
@@ -46,8 +46,6 @@ class PrinterMotionQueuing:
             ffi_lib.steppersync_free)
         self.steppersyncs.append((mcu, ss))
         return ss
-    def register_stepper(self, config, stepper):
-        self.steppers.append(stepper)
     def register_flush_callback(self, callback):
         self.flush_callbacks.append(callback)
     def unregister_flush_callback(self, callback):
@@ -59,12 +57,14 @@ class PrinterMotionQueuing:
         # Invoke flush callbacks (if any)
         for cb in self.flush_callbacks:
             cb(must_flush_time, max_step_gen_time)
-        # Generate itersolve steps
-        for stepper in self.steppers:
-            stepper.generate_steps(max_step_gen_time)
-        # Flush steps from stepcompress and steppersync
         for mcu, ss in self.steppersyncs:
             clock = max(0, mcu.print_time_to_clock(must_flush_time))
+            # Generate steps
+            ret = self.steppersync_generate_steps(ss, max_step_gen_time, clock)
+            if ret:
+                raise mcu.error("Internal error in MCU '%s' stepcompress"
+                                % (mcu.get_name(),))
+            # Flush steps from steppersync
             ret = self.steppersync_flush(ss, clock)
             if ret:
                 raise mcu.error("Internal error in MCU '%s' stepcompress"

klippy/stepper.py

@@ -48,7 +48,6 @@ class MCU_stepper:
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, self._invert_dir)
         self._stepper_kinematics = None
-        self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
         self._itersolve_check_active = ffi_lib.itersolve_check_active
         self._trapq = ffi_main.NULL
         printer.register_event_handler('klippy:connect',
@@ -192,6 +191,8 @@ class MCU_stepper:
         if old_sk is not None:
             mcu_pos = self.get_mcu_position()
         self._stepper_kinematics = sk
+        ffi_main, ffi_lib = chelper.get_ffi()
+        ffi_lib.stepcompress_set_stepper_kinematics(self._stepqueue, sk);
         self.set_trapq(self._trapq)
         self._set_mcu_position(mcu_pos)
         return old_sk
@@ -253,12 +254,6 @@ class MCU_stepper:
         # Invoke callbacks
         for cb in cbs:
             cb(ret)
-    def generate_steps(self, flush_time):
-        # Generate steps
-        sk = self._stepper_kinematics
-        ret = self._itersolve_generate_steps(sk, self._stepqueue, flush_time)
-        if ret:
-            raise error("Internal error in stepcompress")
     def is_active_axis(self, axis):
         ffi_main, ffi_lib = chelper.get_ffi()
         a = axis.encode()
@@ -281,8 +276,7 @@ def PrinterStepper(config, units_in_radians=False):
                               rotation_dist, steps_per_rotation,
                               step_pulse_duration, units_in_radians)
     # Register with helper modules
-    mods = ['stepper_enable', 'force_move', 'motion_report', 'motion_queuing']
+    for mname in ['stepper_enable', 'force_move', 'motion_report']:
-    for mname in mods:
         m = printer.load_object(config, mname)
         m.register_stepper(config, mcu_stepper)
     return mcu_stepper