removed spike debug

Author: grandixximo

src/emc/motion_planning/motion_planning_9d.cc

@@ -2414,8 +2414,6 @@ static int replanForward(TP_STRUCT *tp, double v0_override, double budget_sec)
             prof->v[RUCKIG_PROFILE_PHASES] = 0.0;
             prof->a[RUCKIG_PROFILE_PHASES] = 0.0;
             prof->p[RUCKIG_PROFILE_PHASES] = 0.0;
-            prof->dbg_src = 6;  // feed hold
-            prof->dbg_v0_req = 0.0;
             prof->generation = prof->generation + 1;
             __atomic_store_n(&prof->valid, 1, __ATOMIC_RELEASE);
             atomicStoreInt((int*)&tc->shared_9d.optimization_state,
@@ -2486,7 +2484,6 @@ static int replanForward(TP_STRUCT *tp, double v0_override, double budget_sec)
                     computeAndStoreProfile(prev_tc, rp);
                 }
                 if (prev_tc->shared_9d.profile.valid) {
-                    prev_tc->shared_9d.profile.dbg_src = 2;
                     atomicStoreInt((int*)&prev_tc->shared_9d.optimization_state,
                         TC_PLAN_FINALIZED);
                 }
@@ -2512,8 +2509,6 @@ static int replanForward(TP_STRUCT *tp, double v0_override, double budget_sec)
             }
             if (tc->shared_9d.profile.valid) {
                 fo_dirty_count++;
-                tc->shared_9d.profile.dbg_src = 2;  // forward pass
-                tc->shared_9d.profile.dbg_v0_req = scaled_v_entry;
                 // Only finalize when exit boundary conditions are known.
                 // STOP segments may be promoted to TANGENT when the next
                 // segment creates a blend, so require a successor in queue.

src/emc/tp/tc_types.h

@@ -219,10 +219,6 @@ typedef struct {
     double p[RUCKIG_PROFILE_PHASES + 1];    // Position at phase boundaries
     double v[RUCKIG_PROFILE_PHASES + 1];    // Velocity at phase boundaries
     double a[RUCKIG_PROFILE_PHASES + 1];    // Acceleration at phase boundaries
-    // Debug: provenance of this profile's v[0]
-    // src: 1=recomputeDS, 2=cursor, 3=bkwd, 4=fwd, 5=alt, 6=hold, 7=backtrack
-    int dbg_src;
-    double dbg_v0_req;   // scaled entry velocity requested (before Ruckig)
 } ruckig_profile_t;
 
 /**

src/emc/tp/tp.c

@@ -5014,76 +5014,6 @@ STATIC int tpHandleSplitCycle(TP_STRUCT * const tp, TC_STRUCT * const tc,
         if (junction_vel < 0.0) junction_vel = 0.0;
     }
 
-    // PREDICT_SPIKE: log junction velocity mismatch prediction.
-    // NOTE: canonical_feed_scale is the feed override knob position at
-    // junction time (from emcmotStatus->feed_scale), NOT the feed the
-    // machine is actually running at.  The machine only changes feed
-    // through branches — if no branch was taken at the knob's feed,
-    // the machine is still at the profile's feed.  Comparing prof_feed
-    // vs canon_feed is therefore unreliable for classification.
-    if (GET_TRAJ_PLANNER_TYPE() == 2 &&
-        __atomic_load_n(&nexttc->shared_9d.profile.valid, __ATOMIC_ACQUIRE)) {
-        double _pred_v0 = nexttc->shared_9d.profile.v[0];
-        double _pred_gap = junction_vel - _pred_v0;
-        if (fabs(_pred_gap) > 0.3) {
-            double _pred_feed = nexttc->shared_9d.canonical_feed_scale;
-            double _pred_prof_feed = nexttc->shared_9d.profile.computed_feed_scale;
-            double _pred_prev_feed = tc->shared_9d.canonical_feed_scale;
-            double _pred_feed_err = (_pred_feed > 0.001) ?
-                fabs(_pred_prof_feed - _pred_feed) / _pred_feed : 0.0;
-            rtapi_print_msg(RTAPI_MSG_ERR,
-                "PREDICT_SPIKE seg=%d: v0-mismatch "
-                "jv=%.3f v0=%.3f gap=%.3f "
-                "prof_feed=%.3f knob_feed=%.3f prev_feed=%.3f "
-                "feed_err=%.1f%%\n",
-                nexttc->id, junction_vel, _pred_v0, _pred_gap,
-                _pred_prof_feed, _pred_feed, _pred_prev_feed,
-                _pred_feed_err * 100.0);
-        }
-    }
-
-    // SPIKE_DBG: log junction velocity mismatch at segment handoff.
-    // src: 1=DS, 2=cursor, 4=fwd, 5=alt, 6=hold, 7=backtrack, 8=bkwd_fixup, 9=head
-    if (GET_TRAJ_PLANNER_TYPE() == 2 &&
-        __atomic_load_n(&nexttc->shared_9d.profile.valid, __ATOMIC_ACQUIRE)) {
-        double _dbg_v0 = nexttc->shared_9d.profile.v[0];
-        double _dbg_gap = junction_vel - _dbg_v0;
-        if (fabs(_dbg_gap) > 0.3) {
-            double _dbg_feed = nexttc->shared_9d.canonical_feed_scale;
-            double _dbg_prev_feed = tc->shared_9d.canonical_feed_scale;
-            double _dbg_prof_feed = nexttc->shared_9d.profile.computed_feed_scale;
-            double _dbg_prev_aev = tc->shared_9d.achieved_exit_vel;
-            double _dbg_prev_fv = atomicLoadDouble(&tc->shared_9d.final_vel);
-            double _dbg_prev_fvl = atomicLoadDouble(&tc->shared_9d.final_vel_limit);
-            int _dbg_src = nexttc->shared_9d.profile.dbg_src;
-            double _dbg_v0_req = nexttc->shared_9d.profile.dbg_v0_req;
-            // Predecessor profile data: what vf did tc's profile actually achieve?
-            double _dbg_prev_prof_vf = tc->shared_9d.profile.valid
-                ? tc->shared_9d.profile.v[RUCKIG_PROFILE_PHASES] : -1.0;
-            int _dbg_prev_src = tc->shared_9d.profile.dbg_src;
-            double _dbg_prev_prof_feed = tc->shared_9d.profile.computed_feed_scale;
-            rtapi_print_msg(RTAPI_MSG_ERR,
-                "SPIKE_DBG seg %d->%d: jv=%.3f v0=%.3f gap=%.3f "
-                "src=%d v0_req=%.3f "
-                "feed=%.3f prev_feed=%.3f prof_feed=%.3f "
-                "prev_term=%d kink=%.3f maxvel=%.3f target=%.4f "
-                "prev_aev=%.3f prev_fv=%.3f prev_fvl=%.3f "
-                "prev_type=%d next_type=%d\n",
-                tc->id, nexttc->id, junction_vel, _dbg_v0, _dbg_gap,
-                _dbg_src, _dbg_v0_req,
-                _dbg_feed, _dbg_prev_feed, _dbg_prof_feed,
-                tc->term_cond, nexttc->kink_vel, nexttc->maxvel,
-                nexttc->target,
-                _dbg_prev_aev, _dbg_prev_fv, _dbg_prev_fvl,
-                tc->motion_type, nexttc->motion_type);
-            rtapi_print_msg(RTAPI_MSG_ERR,
-                "  PREV_PROF seg %d: kink=%.3f maxvel=%.3f "
-                "prof_vf=%.3f src=%d prof_feed=%.3f\n",
-                tc->id, tc->kink_vel, tc->maxvel,
-                _dbg_prev_prof_vf, _dbg_prev_src, _dbg_prev_prof_feed);
-        }
-    }
-
     int mode = 0;
     tpUpdateCycle(tp, nexttc, next2tc, &mode);