From 44d8c2f5bf970e5f701e8bf8e2eff4e17b9266bc Mon Sep 17 00:00:00 2001
From: espr14 <espr14@gmail.com>
Date: Wed, 17 Nov 2021 18:07:11 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=8F=97=EF=B8=8F=20Planner::busy()=20(#231?=
=?UTF-8?q?45)?=
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---
Marlin/src/module/planner.cpp | 12 ++----------
Marlin/src/module/planner.h | 11 +++++++++++
2 files changed, 13 insertions(+), 10 deletions(-)
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 11460fa67a2..e19684a7b55 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -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
@@ -1763,13 +1759,9 @@ 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
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 16d136be454..60574b65f05 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -75,6 +75,10 @@
#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,
@@ -865,6 +869,13 @@ 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();