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Trajectory array-per-axis
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@thinkyhead
thinkyhead committed Apr 21, 2023
1 parent 8808baf commit cd1e5ce
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97 changes: 97 additions & 0 deletions Marlin/src/core/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -787,6 +787,103 @@ struct XYZEval {
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
};

#include <string.h> // for memset

template<typename T, int SIZE>
struct XYZarray {
typedef T el[SIZE];
union {
el data[LOGICAL_AXES];
struct { T NUM_AXIS_ARGS(); };
struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k, _u, _v, _w); };
};
FI void reset() { ZERO(data); }

FI void set(const int n, const XYval<T> p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y,,,,,,,); }
FI void set(const int n, const XYZval<T> p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); }
FI void set(const int n, const XYZEval<T> p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); }

// Setter for all individual args
FI void set(const int n, NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }

// Setters with fewer elements leave the rest untouched
#if HAS_Y_AXIS
FI void set(const int n, const T px) { x[n] = px; }
#endif
#if HAS_Z_AXIS
FI void set(const int n, const T px, const T py) { x[n] = px; y[n] = py; }
#endif
#if HAS_I_AXIS
FI void set(const int n, const T px, const T py, const T pz) { x[n] = px; y[n] = py; z[n] = pz; }
#endif
#if HAS_J_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; }
#endif
#if HAS_K_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; }
#endif
#if HAS_U_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; }
#endif
#if HAS_V_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; }
#endif
#if HAS_W_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; v[n] = pv; }
#endif

FI XYZval<T> operator[](const int n) const { return XYZval<T>(NUM_AXIS_ARRAY(x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); }
};

template<typename T, int SIZE>
struct XYZEarray {
typedef T el[SIZE];
union {
el data[LOGICAL_AXES];
struct { el LOGICAL_AXIS_ARGS(); };
struct { el LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); };
};
FI void reset() { ZERO(data); }

FI void set(const int n, const XYval<T> p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y,,,,,,,); }
FI void set(const int n, const XYZval<T> p) { NUM_AXIS_CODE(x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); }
FI void set(const int n, const XYZEval<T> p) { LOGICAL_AXIS_CODE(e[n]=p.e, x[n]=p.x, y[n]=p.y, z[n]=p.z, i[n]=p.i, j[n]=p.j, k[n]=p.k, u[n]=p.u, v[n]=p.v, w[n]=p.w ); }

// Setter for all individual args
FI void set(const int n, NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }
#if LOGICAL_AXES > NUM_AXES
FI void set(const int n, LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e[n] = e, a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }
#endif

// Setters with fewer elements leave the rest untouched
#if HAS_Y_AXIS
FI void set(const int n, const T px) { x[n] = px; }
#endif
#if HAS_Z_AXIS
FI void set(const int n, const T px, const T py) { x[n] = px; y[n] = py; }
#endif
#if HAS_I_AXIS
FI void set(const int n, const T px, const T py, const T pz) { x[n] = px; y[n] = py; z[n] = pz; }
#endif
#if HAS_J_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; }
#endif
#if HAS_K_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; }
#endif
#if HAS_U_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; }
#endif
#if HAS_V_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; }
#endif
#if HAS_W_AXIS
FI void set(const int n, const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x[n] = px; y[n] = py; z[n] = pz; i[n] = pi; j[n] = pj; k[n] = pk; u[n] = pu; v[n] = pv; }
#endif

FI XYZEval<T> operator[](const int n) const { return XYZval<T>(LOGICAL_AXIS_ARRAY(e[n], x[n], y[n], z[n], i[n], j[n], k[n], u[n], v[n], w[n])); }
};

#undef _RECIP
#undef _ABS
#undef _LS
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