stepcompress: Add support for queuing messages that consume move queu…

…e space Signed-off-by: Kevin O'Connor <[email protected]>
Klipper3d · Oct 20, 2023 · fe6c464 · fe6c464
1 parent 6749985
commit fe6c464
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diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
@@ -49,6 +49,8 @@
         , uint64_t clock);
     int stepcompress_queue_msg(struct stepcompress *sc
         , uint32_t *data, int len);
+    int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+        , uint32_t *data, int len);
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);

diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c
@@ -623,6 +623,21 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
     return 0;
 }
 
+// Queue an mcu command that will consume space in the mcu move queue
+int __visible
+stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+                          , uint32_t *data, int len)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+
+    struct queue_message *qm = message_alloc_and_encode(data, len);
+    qm->min_clock = qm->req_clock = req_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
+}
+
 // Return history of queue_step commands
 int __visible
 stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p

diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h
@@ -29,6 +29,8 @@ int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
 int64_t stepcompress_find_past_position(struct stepcompress *sc
                                         , uint64_t clock);
 int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
+int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+                              , uint32_t *data, int len);
 int stepcompress_extract_old(struct stepcompress *sc
                              , struct pull_history_steps *p, int max
                              , uint64_t start_clock, uint64_t end_clock);