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Add busy() to planner #23145

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merged 2 commits into from
Nov 17, 2021
Merged

Add busy() to planner #23145

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23cdaff
Add busy() to planner
espr14 Nov 16, 2021
57cbac6
inline
thinkyhead Nov 17, 2021
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12 changes: 2 additions & 10 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,10 +91,6 @@
#include "../feature/power.h"
#endif

#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
#include "../feature/closedloop.h"
#endif

#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
Expand Down Expand Up @@ -1717,13 +1713,9 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
}

/**
* Block until all buffered steps are executed / cleaned
* Block until the planner is finished processing
*/
void Planner::synchronize() {
while (has_blocks_queued() || cleaning_buffer_counter
|| TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
) idle();
}
void Planner::synchronize() { while (busy()) idle(); }

/**
* Planner::_buffer_steps
Expand Down
11 changes: 11 additions & 0 deletions Marlin/src/module/planner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,10 @@
#define IS_PAGE(B) false
#endif

#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
#include "../feature/closedloop.h"
#endif

// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE,
Expand Down Expand Up @@ -879,6 +883,13 @@ class Planner {
// Triggered position of an axis in mm (not core-savvy)
static float triggered_position_mm(const AxisEnum axis);

// Blocks are queued, or we're running out moves, or the closed loop controller is waiting
static inline bool busy() {
return (has_blocks_queued() || cleaning_buffer_counter
|| TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
);
}

// Block until all buffered steps are executed / cleaned
static void synchronize();

Expand Down