static uint8_t _sync_to_planner()
{
if (mp_get_planner_buffers_available() == 0) {
return (TG_EAGAIN);
}
return (TG_OK);
}
static stat_t _sync_to_planner()
{
if (mp_get_planner_buffers_available() < PLANNER_BUFFER_HEADROOM) { // allow up to N planner buffers for this line
return (STAT_EAGAIN);
}
return (STAT_OK);
}
void rpt_request_queue_report(int8_t buffers)
//void rpt_request_queue_report()
{
if (cfg.queue_report_verbosity == QR_OFF) return;
qr.buffers_available = mp_get_planner_buffers_available();
if (buffers > 0) {
qr.buffers_added += buffers;
} else {
qr.buffers_removed -= buffers;
}
// perform filtration for QR_FILTERED reports
if (cfg.queue_report_verbosity == QR_FILTERED) {
if (qr.buffers_available == qr.prev_available) {
return;
}
if ((qr.buffers_available > cfg.queue_report_lo_water) && // e.g. > 2 buffers available
(qr.buffers_available < cfg.queue_report_hi_water)) { // e.g. < 20 buffers available
return;
}
}
qr.prev_available = qr.buffers_available;
qr.request = true;
}
stat_t cm_arc_cycle_callback()
{
if (arc.run_state == MOVE_OFF) { return (STAT_NOOP);}
if (mp_get_planner_buffers_available() < PLANNER_BUFFER_HEADROOM) { return (STAT_EAGAIN);}
arc.theta += arc.segment_theta;
arc.gm.target[arc.plane_axis_0] = arc.center_0 + sin(arc.theta) * arc.radius;
arc.gm.target[arc.plane_axis_1] = arc.center_1 + cos(arc.theta) * arc.radius;
arc.gm.target[arc.linear_axis] += arc.segment_linear_travel;
mp_aline(&arc.gm); // run the line
copy_vector(arc.position, arc.gm.target); // update arc current position
if (--arc.segment_count > 0) return (STAT_EAGAIN);
arc.run_state = MOVE_OFF;
return (STAT_OK);
}
