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MoveSegment.cpp « Movement « src - github.com/Duet3D/RepRapFirmware.git - Unnamed repository; edit this file 'description' to name the repository.
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/*
 * MoveSegment.cpp
 *
 *  Created on: 26 Feb 2021
 *      Author: David
 */

#include "MoveSegment.h"

// Static members

MoveSegment *MoveSegment::freeList = nullptr;
unsigned int MoveSegment::numCreated = 0;

void MoveSegment::InitialAllocate(unsigned int num) noexcept
{
	while (num > numCreated)
	{
		freeList = new MoveSegment(freeList);
		++numCreated;
	}
}

// Allocate a MoveSegment, from the freelist if possible, else create a new one. Not thread-safe. Clears the flags.
MoveSegment *MoveSegment::Allocate(MoveSegment *next) noexcept
{
	MoveSegment * ms = freeList;
	if (ms != nullptr)
	{
		freeList = ms->GetNext();
		ms->nextAndFlags = reinterpret_cast<uint32_t>(next);
	}
	else
	{
		ms = new MoveSegment(next);
		++numCreated;
	}
	return ms;
}

void MoveSegment::AddToTail(MoveSegment *tail) noexcept
{
	MoveSegment *seg = this;
	while (seg->GetNext() != nullptr)
	{
		seg = seg->GetNext();
	}
	seg->SetNext(tail);
}

void MoveSegment::DebugPrint(char ch) const noexcept
{
#if MS_USE_FPU
	debugPrintf("%c d=%.4e t=%.1f ", ch, (double)segLength, (double)segTime);
	if (IsLinear())
	{
		debugPrintf("c=%.4e\n", (double)c);
	}
	else
	{
		debugPrintf("b=%.4e c=%.4e\n", (double)b, (double)c);
	}
#else
	debugPrintf("%c d=%" PRIu32 " t=%" PRIu32 " ", ch, iSegLength, iSegTime);
	if (IsLinear())
	{
		debugPrintf("c=%" PRIi32 "\n", ic);
	}
	else
	{
		debugPrintf("b=%" PRIi32 " c=%" PRIi32 "\n", ib, ic);
	}
#endif
}

// End