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clocksync: Don't export get_last_clock() 

Everywhere the data in get_last_clock() is used can be done just as
easily with estimated_print_time().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-18 22:53:12 -04:00
parent 13812aa1c9
commit 008be18f41
3 changed files with 25 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
klippy/clocksync.py
View File

@ -11,9 +11,10 @@ class ClockSync:
def __init__(self, reactor): def __init__(self, reactor):
self.reactor = reactor self.reactor = reactor
self.serial = None self.serial = None
self.lock = threading.Lock() self.queries_pending = 0
self.status_timer = self.reactor.register_timer(self._status_event) self.status_timer = self.reactor.register_timer(self._status_event)
self.status_cmd = None self.status_cmd = None
self.lock = threading.Lock()
self.last_clock = 0 self.last_clock = 0
self.last_clock_time = self.last_clock_time_min = 0. self.last_clock_time = self.last_clock_time_min = 0.
self.min_freq = self.max_freq = 0. self.min_freq = self.max_freq = 0.
@ -46,6 +47,8 @@ class ClockSync:
def stats(self, eventtime): def stats(self, eventtime):
return "last_clock=%d last_clock_time=%.3f" % ( return "last_clock=%d last_clock_time=%.3f" % (
self.last_clock, self.last_clock_time) self.last_clock, self.last_clock_time)
def is_active(self, eventtime):
return self.queries_pending <= 4
def get_clock(self, eventtime): def get_clock(self, eventtime):
with self.lock: with self.lock:
last_clock = self.last_clock last_clock = self.last_clock
@ -59,13 +62,12 @@ class ClockSync:
if clock_diff & 0x80000000: if clock_diff & 0x80000000:
return last_clock + 0x100000000 - clock_diff return last_clock + 0x100000000 - clock_diff
return last_clock - clock_diff return last_clock - clock_diff
def get_last_clock(self):
with self.lock:
return self.last_clock, self.last_clock_time
def _status_event(self, eventtime): def _status_event(self, eventtime):
self.queries_pending += 1
self.serial.send(self.status_cmd) self.serial.send(self.status_cmd)
return eventtime + 1.0 return eventtime + 1.0
def _handle_status(self, params): def _handle_status(self, params):
self.queries_pending = 0
sent_time = params['#sent_time'] sent_time = params['#sent_time']
if not sent_time: if not sent_time:
return return

50
klippy/mcu.py
View File

@ -147,9 +147,7 @@ class MCU_endstop:
self._cmd_queue = mcu.alloc_command_queue() self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None self._oid = self._home_cmd = self._query_cmd = None
self._homing = False self._homing = False
self._min_query_time = 0. self._min_query_time = self._next_query_time = self._home_timeout = 0.
self._next_query_clock = self._home_timeout_clock = 0
self._retry_query_ticks = 0
self._last_state = {} self._last_state = {}
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
@ -164,7 +162,6 @@ class MCU_endstop:
self._mcu.add_config_cmd( self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True) self._oid, i, s.get_oid()), is_init=True)
self._retry_query_ticks = self._mcu.seconds_to_clock(self.RETRY_QUERY)
self._home_cmd = self._mcu.lookup_command( self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c") "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c") self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
@ -175,7 +172,7 @@ class MCU_endstop:
rest_ticks = self._mcu.seconds_to_clock(rest_time) rest_ticks = self._mcu.seconds_to_clock(rest_time)
self._homing = True self._homing = True
self._min_query_time = self._mcu.monotonic() self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock + self._retry_query_ticks self._next_query_time = print_time + self.RETRY_QUERY
msg = self._home_cmd.encode( msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert) self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
@ -184,7 +181,7 @@ class MCU_endstop:
def home_finalize(self, print_time): def home_finalize(self, print_time):
for s in self._steppers: for s in self._steppers:
s.note_homing_finalized() s.note_homing_finalized()
self._home_timeout_clock = self._mcu.print_time_to_clock(print_time) self._home_timeout = print_time
def home_wait(self): def home_wait(self):
eventtime = self._mcu.monotonic() eventtime = self._mcu.monotonic()
while self._check_busy(eventtime): while self._check_busy(eventtime):
@ -196,6 +193,7 @@ class MCU_endstop:
# Check if need to send an end_stop_query command # Check if need to send an end_stop_query command
if self._mcu.is_fileoutput(): if self._mcu.is_fileoutput():
return False return False
print_time = self._mcu.estimated_print_time(eventtime)
last_sent_time = self._last_state.get('#sent_time', -1.) last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time: if last_sent_time >= self._min_query_time:
if not self._homing: if not self._homing:
@ -205,23 +203,21 @@ class MCU_endstop:
s.note_homing_triggered() s.note_homing_triggered()
self._homing = False self._homing = False
return False return False
last_clock, last_clock_time = self._mcu.get_last_clock() if print_time > self._home_timeout:
if last_clock > self._home_timeout_clock:
# Timeout - disable endstop checking # Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0) msg = self._home_cmd.encode(self._oid, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing") raise error("Timeout during endstop homing")
if self._mcu.is_shutdown: if self._mcu.is_shutdown:
raise error("MCU is shutdown") raise error("MCU is shutdown")
last_clock, last_clock_time = self._mcu.get_last_clock() if print_time >= self._next_query_time:
if last_clock >= self._next_query_clock: self._next_query_time = print_time + self.RETRY_QUERY
self._next_query_clock = last_clock + self._retry_query_ticks
msg = self._query_cmd.encode(self._oid) msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue) self._mcu.send(msg, cq=self._cmd_queue)
return True return True
def query_endstop(self, print_time): def query_endstop(self, print_time):
self._homing = False self._homing = False
self._next_query_clock = self._mcu.print_time_to_clock(print_time) self._next_query_time = print_time
self._min_query_time = self._mcu.monotonic() self._min_query_time = self._mcu.monotonic()
def query_endstop_wait(self): def query_endstop_wait(self):
eventtime = self._mcu.monotonic() eventtime = self._mcu.monotonic()
@ -377,9 +373,7 @@ class MCU_adc:
self._oid = self._mcu.create_oid() self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % ( self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin)) self._oid, self._pin))
last_clock, last_clock_time = self._mcu.get_last_clock() clock = self._mcu.get_query_slot(self._oid)
clock = last_clock + self._mcu.seconds_to_clock(
1.0 + self._oid * 0.01) # XXX
sample_ticks = self._mcu.seconds_to_clock(self._sample_time) sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX") mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
max_adc = self._sample_count * mcu_adc_max max_adc = self._sample_count * mcu_adc_max
@ -405,7 +399,6 @@ class MCU_adc:
class MCU: class MCU:
error = error error = error
COMM_TIMEOUT = 3.5
def __init__(self, printer, config, clocksync): def __init__(self, printer, config, clocksync):
self._printer = printer self._printer = printer
self._clocksync = clocksync self._clocksync = clocksync
@ -420,8 +413,6 @@ class MCU:
printer.reactor, self._serialport, baud) printer.reactor, self._serialport, baud)
self.is_shutdown = False self.is_shutdown = False
self._shutdown_msg = "" self._shutdown_msg = ""
self._timeout_timer = printer.reactor.register_timer(
self.timeout_handler)
self._restart_method = 'command' self._restart_method = 'command'
if baud: if baud:
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']} rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
@ -490,8 +481,6 @@ class MCU:
self._check_restart("enable power") self._check_restart("enable power")
self.serial.connect() self.serial.connect()
self._clocksync.connect(self.serial) self._clocksync.connect(self.serial)
self._printer.reactor.update_timer(
self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.serial.msgparser.get_constant_float( self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
'STATS_SUMSQ_BASE') 'STATS_SUMSQ_BASE')
@ -518,15 +507,11 @@ class MCU:
def dummy_estimated_print_time(eventtime): def dummy_estimated_print_time(eventtime):
return 0. return 0.
self.estimated_print_time = dummy_estimated_print_time self.estimated_print_time = dummy_estimated_print_time
def timeout_handler(self, eventtime): def check_active(self, print_time, eventtime):
last_clock, last_clock_time = self.get_last_clock() if self._clocksync.is_active(eventtime):
timeout = last_clock_time + self.COMM_TIMEOUT return
if eventtime < timeout: logging.info("Timeout with firmware (eventtime=%f)", eventtime)
return timeout
logging.info("Timeout with firmware (eventtime=%f last_status=%f)" % (
eventtime, last_clock_time))
self._printer.note_mcu_error("Lost communication with firmware") self._printer.note_mcu_error("Lost communication with firmware")
return self._printer.reactor.NEVER
def disconnect(self): def disconnect(self):
self.serial.disconnect() self.serial.disconnect()
if self._steppersync is not None: if self._steppersync is not None:
@ -549,10 +534,9 @@ class MCU:
chelper.run_hub_ctrl(1) chelper.run_hub_ctrl(1)
return return
if self._restart_method == 'command': if self._restart_method == 'command':
last_clock, last_clock_time = self.get_last_clock()
eventtime = reactor.monotonic() eventtime = reactor.monotonic()
if ((self._reset_cmd is None and self._config_reset_cmd is None) if ((self._reset_cmd is None and self._config_reset_cmd is None)
or eventtime > last_clock_time + self.COMM_TIMEOUT): or not self._clocksync.is_active(eventtime)):
logging.info("Unable to issue reset command") logging.info("Unable to issue reset command")
return return
if self._reset_cmd is None: if self._reset_cmd is None:
@ -689,6 +673,10 @@ class MCU:
return None return None
def create_command(self, msg): def create_command(self, msg):
return self.serial.msgparser.create_command(msg) return self.serial.msgparser.create_command(msg)
def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot
# Clock syncing # Clock syncing
def print_time_to_clock(self, print_time): def print_time_to_clock(self, print_time):
return int(print_time * self._mcu_freq) return int(print_time * self._mcu_freq)
@ -700,8 +688,6 @@ class MCU:
return self._mcu_freq return self._mcu_freq
def seconds_to_clock(self, time): def seconds_to_clock(self, time):
return int(time * self._mcu_freq) return int(time * self._mcu_freq)
def get_last_clock(self):
return self._clocksync.get_last_clock()
def translate_clock(self, clock): def translate_clock(self, clock):
return self._clocksync.translate_clock(clock) return self._clocksync.translate_clock(clock)
def get_max_stepper_error(self): def get_max_stepper_error(self):

1
klippy/toolhead.py
View File

@ -357,6 +357,7 @@ class ToolHead:
self.commanded_pos[3] = extrude_pos self.commanded_pos[3] = extrude_pos
# Misc commands # Misc commands
def check_active(self, eventtime): def check_active(self, eventtime):
self.mcu.check_active(self.print_time, eventtime)
if not self.sync_print_time: if not self.sync_print_time:
return True return True
return self.print_time + 60. > self.mcu.estimated_print_time(eventtime) return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)