mirror of https://github.com/Desuuuu/klipper.git
stepcompress: Propagate errors back to python code
Propagate error codes back to the python code and raise an exception on an error. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
667b72870f
commit
19ed67331d
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@ -16,7 +16,7 @@ defs_stepcompress = """
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, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
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, uint32_t invert_sdir, uint32_t oid);
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void stepcompress_free(struct stepcompress *sc);
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void stepcompress_push(struct stepcompress *sc, double step_clock
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int stepcompress_push(struct stepcompress *sc, double step_clock
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, int32_t sdir);
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int32_t stepcompress_push_factor(struct stepcompress *sc
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, double steps, double step_offset
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@ -32,16 +32,14 @@ defs_stepcompress = """
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, double clock_offset, double dist, double start_pos
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, double accel_multiplier, double step_dist, double height
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, double closestxy_d, double closest_height2, double movez_r);
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void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
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void stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
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void stepcompress_queue_msg(struct stepcompress *sc
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, uint32_t *data, int len);
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uint32_t stepcompress_get_errors(struct stepcompress *sc);
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int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
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int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
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int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
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struct steppersync *steppersync_alloc(struct serialqueue *sq
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, struct stepcompress **sc_list, int sc_num, int move_num);
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void steppersync_free(struct steppersync *ss);
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void steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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"""
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defs_serialqueue = """
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@ -19,6 +19,8 @@ def parse_pin_extras(pin, can_pullup=False):
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pin = pin[1:].strip()
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return pin, pullup, invert
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STEPCOMPRESS_ERROR_RET = -989898989
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class MCU_stepper:
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def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error):
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self._mcu = mcu
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@ -59,18 +61,31 @@ class MCU_stepper:
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def get_mcu_position(self):
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return self.commanded_position + self._mcu_position_offset
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def note_homing_start(self, homing_clock):
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self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
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ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
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if ret:
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raise error("Internal error in stepcompress")
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def note_homing_finalized(self):
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self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
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ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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def reset_step_clock(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
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ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
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if ret:
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raise error("Internal error in stepcompress")
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data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
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self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
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ret = self.ffi_lib.stepcompress_queue_msg(
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self._stepqueue, data, len(data))
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if ret:
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raise error("Internal error in stepcompress")
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def step(self, mcu_time, sdir):
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clock = mcu_time * self._mcu_freq
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self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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if ret:
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raise error("Internal error in stepcompress")
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if sdir:
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self.commanded_position += 1
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else:
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@ -81,12 +96,16 @@ class MCU_stepper:
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count = self.ffi_lib.stepcompress_push_sqrt(
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self._stepqueue, steps, step_offset, clock
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, sqrt_offset * mcu_freq2, factor * mcu_freq2)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def step_factor(self, mcu_time, steps, step_offset, factor):
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clock = mcu_time * self._mcu_freq
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count = self.ffi_lib.stepcompress_push_factor(
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self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def step_delta_const(self, mcu_time, dist, start_pos
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@ -97,6 +116,8 @@ class MCU_stepper:
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self._stepqueue, clock, dist, start_pos
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, inv_velocity * self._mcu_freq, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def step_delta_accel(self, mcu_time, dist, start_pos
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@ -108,10 +129,10 @@ class MCU_stepper:
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self._stepqueue, clock, dist, start_pos
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, accel_multiplier * mcu_freq2, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self.commanded_position += count
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return count
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def get_errors(self):
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return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
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class MCU_endstop:
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error = error
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@ -390,15 +411,9 @@ class MCU:
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self.ffi_lib.steppersync_free(self._steppersync)
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self._steppersync = None
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def stats(self, eventtime):
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stats = self.serial.stats(eventtime)
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stats += " mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
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return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
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self.serial.stats(eventtime),
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self._mcu_tick_avg, self._mcu_tick_stddev)
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err = 0
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for s in self._steppers:
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err += s.get_errors()
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if err:
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stats += " step_errors=%d" % (err,)
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return stats
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def force_shutdown(self):
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self.send(self._emergency_stop_cmd.encode())
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def clear_shutdown(self):
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@ -527,7 +542,9 @@ class MCU:
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return
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mcu_time = print_time + self._print_start_time
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clock = int(mcu_time * self._mcu_freq)
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self.ffi_lib.steppersync_flush(self._steppersync, clock)
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ret = self.ffi_lib.steppersync_flush(self._steppersync, clock)
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if ret:
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raise error("Internal error in stepcompress")
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def pause(self, waketime):
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return self._printer.reactor.pause(waketime)
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def __del__(self):
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@ -31,8 +31,6 @@ struct stepcompress {
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uint64_t *queue, *queue_end, *queue_pos, *queue_next;
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// Internal tracking
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uint32_t max_error;
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// Error checking
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uint32_t errors;
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// Message generation
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uint64_t last_step_clock, homing_clock;
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struct list_head msg_queue;
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@ -224,27 +222,28 @@ compress_bisect_add(struct stepcompress *sc)
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* Step compress checking
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****************************************************************/
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#define ERROR_RET -989898989
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// Verify that a given 'step_move' matches the actual step times
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static void
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static int
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check_line(struct stepcompress *sc, struct step_move move)
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{
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if (!CHECK_LINES)
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return;
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return 0;
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if (move.count == 1) {
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if (move.interval != (uint32_t)(*sc->queue_pos - sc->last_step_clock)
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|| *sc->queue_pos < sc->last_step_clock) {
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errorf("Count 1 point out of range: %d %d %d"
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, move.interval, move.count, move.add);
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sc->errors++;
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return ERROR_RET;
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}
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return;
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return 0;
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}
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int err = 0;
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if (!move.count || (!move.interval && !move.add)
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|| move.interval >= 0x80000000) {
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errorf("Point out of range: %d %d %d"
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, move.interval, move.count, move.add);
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err++;
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return ERROR_RET;
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}
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uint32_t interval = move.interval, p = 0;
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uint16_t i;
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@ -254,16 +253,16 @@ check_line(struct stepcompress *sc, struct step_move move)
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if (p < point.minp || p > point.maxp) {
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errorf("Point %d of %d: %d not in %d:%d"
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, i+1, move.count, p, point.minp, point.maxp);
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err++;
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return ERROR_RET;
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}
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if (interval >= 0x80000000) {
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errorf("Point %d of %d: interval overflow %d"
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, i+1, move.count, interval);
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err++;
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return ERROR_RET;
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}
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interval += move.add;
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}
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sc->errors += err;
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return 0;
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}
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@ -317,14 +316,16 @@ stepcompress_free(struct stepcompress *sc)
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}
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// Convert previously scheduled steps into commands for the mcu
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static void
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static int
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stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
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{
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if (sc->queue_pos >= sc->queue_next)
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return;
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return 0;
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while (move_clock > sc->last_step_clock) {
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struct step_move move = compress_bisect_add(sc);
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check_line(sc, move);
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int ret = check_line(sc, move);
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if (ret)
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return ret;
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uint32_t msg[5] = {
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sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
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}
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sc->queue_pos += move.count;
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}
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return 0;
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}
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// Send the set_next_step_dir command
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static void
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static int
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set_next_step_dir(struct stepcompress *sc, int sdir)
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{
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if (sc->sdir == sdir)
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return;
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return 0;
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sc->sdir = sdir;
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stepcompress_flush(sc, UINT64_MAX);
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int ret = stepcompress_flush(sc, UINT64_MAX);
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if (ret)
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return ret;
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uint32_t msg[3] = {
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sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
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};
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struct queue_message *qm = message_alloc_and_encode(msg, 3);
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qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
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list_add_tail(&qm->node, &sc->msg_queue);
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return 0;
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}
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// Check if the internal queue needs to be expanded, and expand if so
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static void
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static int
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_check_expand(struct stepcompress *sc, uint64_t *qn)
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{
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sc->queue_next = qn;
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if (qn - sc->queue_pos > 65535 + 2000)
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if (qn - sc->queue_pos > 65535 + 2000) {
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// No point in keeping more than 64K steps in memory
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stepcompress_flush(sc, *(qn - 65535));
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int ret = stepcompress_flush(sc, *(qn - 65535));
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if (ret)
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return ret;
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}
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expand_queue(sc, 1);
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return 0;
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}
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static inline void
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static inline int
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check_expand(struct stepcompress *sc, uint64_t **pqn, uint64_t **pqend)
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{
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if (likely(*pqn < *pqend))
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return;
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_check_expand(sc, *pqn);
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return 0;
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int ret = _check_expand(sc, *pqn);
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if (ret)
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return ret;
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*pqn = sc->queue_next;
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*pqend = sc->queue_end;
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return 0;
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}
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// Schedule a step event at the specified step_clock time
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void
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int
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stepcompress_push(struct stepcompress *sc, double step_clock, int32_t sdir)
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{
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set_next_step_dir(sc, !!sdir);
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int ret = set_next_step_dir(sc, !!sdir);
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if (ret)
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return ret;
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step_clock += 0.5;
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uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
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check_expand(sc, &qn, &qend);
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ret = check_expand(sc, &qn, &qend);
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if (ret)
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return ret;
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*qn++ = step_clock;
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sc->queue_next = qn;
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return 0;
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}
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// Schedule 'steps' number of steps with a constant time between steps
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@ -416,12 +433,16 @@ stepcompress_push_factor(struct stepcompress *sc
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}
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int count = steps + .5 - step_offset;
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if (count <= 0 || count > 10000000) {
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if (count && steps)
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if (count && steps) {
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errorf("push_factor invalid count %d %f %f %f %f"
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, sc->oid, steps, step_offset, clock_offset, factor);
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return ERROR_RET;
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}
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return 0;
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}
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set_next_step_dir(sc, sdir);
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int ret = set_next_step_dir(sc, sdir);
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if (ret)
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return ret;
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int res = sdir ? count : -count;
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// Calculate each step time
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double pos = step_offset + .5;
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uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
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while (count--) {
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check_expand(sc, &qn, &qend);
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int ret = check_expand(sc, &qn, &qend);
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if (ret)
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return ret;
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*qn++ = clock_offset + pos*factor;
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pos += 1.0;
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}
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@ -452,13 +475,17 @@ stepcompress_push_sqrt(struct stepcompress *sc, double steps, double step_offset
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}
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int count = steps + .5 - step_offset;
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if (count <= 0 || count > 10000000) {
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if (count && steps)
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if (count && steps) {
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errorf("push_sqrt invalid count %d %f %f %f %f %f"
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, sc->oid, steps, step_offset, clock_offset, sqrt_offset
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, factor);
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return ERROR_RET;
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}
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return 0;
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}
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set_next_step_dir(sc, sdir);
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int ret = set_next_step_dir(sc, sdir);
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if (ret)
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return ret;
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int res = sdir ? count : -count;
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// Calculate each step time
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@ -466,7 +493,9 @@ stepcompress_push_sqrt(struct stepcompress *sc, double steps, double step_offset
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double pos = step_offset + .5 + sqrt_offset/factor;
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uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
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while (count--) {
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check_expand(sc, &qn, &qend);
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int ret = check_expand(sc, &qn, &qend);
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if (ret)
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return ret;
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double v = safe_sqrt(pos*factor);
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*qn++ = clock_offset + (factor >= 0. ? v : -v);
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pos += 1.0;
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@ -488,13 +517,17 @@ stepcompress_push_delta_const(
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double end_height = safe_sqrt(closest_height2 - reldist*reldist);
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int count = (end_height - height + movez_r*dist) / step_dist + .5;
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if (count <= 0 || count > 10000000) {
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if (count)
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if (count) {
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errorf("push_delta_const invalid count %d %d %f %f %f %f %f %f %f %f"
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, sc->oid, count, clock_offset, dist, step_dist, start_pos
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, closest_height2, height, movez_r, inv_velocity);
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return ERROR_RET;
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}
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return 0;
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}
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set_next_step_dir(sc, step_dist > 0.);
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int ret = set_next_step_dir(sc, step_dist > 0.);
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if (ret)
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return ret;
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int res = step_dist > 0. ? count : -count;
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// Calculate each step time
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@ -505,7 +538,9 @@ stepcompress_push_delta_const(
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if (!movez_r) {
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// Optmized case for common XY only moves (no Z movement)
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while (count--) {
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check_expand(sc, &qn, &qend);
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int ret = check_expand(sc, &qn, &qend);
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if (ret)
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return ret;
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double v = safe_sqrt(closest_height2 - height*height);
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double pos = start_pos + (step_dist > 0. ? -v : v);
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*qn++ = clock_offset + pos * inv_velocity;
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@ -515,7 +550,9 @@ stepcompress_push_delta_const(
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// Optmized case for Z only moves
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double v = (step_dist > 0. ? -end_height : end_height);
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while (count--) {
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check_expand(sc, &qn, &qend);
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int ret = check_expand(sc, &qn, &qend);
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if (ret)
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return ret;
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double pos = start_pos + movez_r*height + v;
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*qn++ = clock_offset + pos * inv_velocity;
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height += step_dist;
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@ -523,7 +560,9 @@ stepcompress_push_delta_const(
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} else {
|
||||
// General case (handles XY+Z moves)
|
||||
while (count--) {
|
||||
check_expand(sc, &qn, &qend);
|
||||
int ret = check_expand(sc, &qn, &qend);
|
||||
if (ret)
|
||||
return ret;
|
||||
double relheight = movexy_r*height - movez_r*closestxy_d;
|
||||
double v = safe_sqrt(closest_height2 - relheight*relheight);
|
||||
double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
|
||||
|
@ -548,13 +587,17 @@ stepcompress_push_delta_accel(
|
|||
double end_height = safe_sqrt(closest_height2 - reldist*reldist);
|
||||
int count = (end_height - height + movez_r*dist) / step_dist + .5;
|
||||
if (count <= 0 || count > 10000000) {
|
||||
if (count)
|
||||
if (count) {
|
||||
errorf("push_delta_accel invalid count %d %d %f %f %f %f %f %f %f %f"
|
||||
, sc->oid, count, clock_offset, dist, step_dist, start_pos
|
||||
, closest_height2, height, movez_r, accel_multiplier);
|
||||
return ERROR_RET;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
set_next_step_dir(sc, step_dist > 0.);
|
||||
int ret = set_next_step_dir(sc, step_dist > 0.);
|
||||
if (ret)
|
||||
return ret;
|
||||
int res = step_dist > 0. ? count : -count;
|
||||
|
||||
// Calculate each step time
|
||||
|
@ -563,7 +606,9 @@ stepcompress_push_delta_accel(
|
|||
height += .5 * step_dist;
|
||||
uint64_t *qn = sc->queue_next, *qend = sc->queue_end;
|
||||
while (count--) {
|
||||
check_expand(sc, &qn, &qend);
|
||||
int ret = check_expand(sc, &qn, &qend);
|
||||
if (ret)
|
||||
return ret;
|
||||
double relheight = movexy_r*height - movez_r*closestxy_d;
|
||||
double v = safe_sqrt(closest_height2 - relheight*relheight);
|
||||
double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
|
||||
|
@ -576,38 +621,40 @@ stepcompress_push_delta_accel(
|
|||
}
|
||||
|
||||
// Reset the internal state of the stepcompress object
|
||||
void
|
||||
int
|
||||
stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
|
||||
{
|
||||
stepcompress_flush(sc, UINT64_MAX);
|
||||
int ret = stepcompress_flush(sc, UINT64_MAX);
|
||||
if (ret)
|
||||
return ret;
|
||||
sc->last_step_clock = last_step_clock;
|
||||
sc->sdir = -1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Indicate the stepper is in homing mode (or done homing if zero)
|
||||
void
|
||||
int
|
||||
stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
|
||||
{
|
||||
stepcompress_flush(sc, UINT64_MAX);
|
||||
int ret = stepcompress_flush(sc, UINT64_MAX);
|
||||
if (ret)
|
||||
return ret;
|
||||
sc->homing_clock = homing_clock;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Queue an mcu command to go out in order with stepper commands
|
||||
void
|
||||
int
|
||||
stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
|
||||
{
|
||||
stepcompress_flush(sc, UINT64_MAX);
|
||||
int ret = stepcompress_flush(sc, UINT64_MAX);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
struct queue_message *qm = message_alloc_and_encode(data, len);
|
||||
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
|
||||
list_add_tail(&qm->node, &sc->msg_queue);
|
||||
}
|
||||
|
||||
// Return the count of internal errors found
|
||||
uint32_t
|
||||
stepcompress_get_errors(struct stepcompress *sc)
|
||||
{
|
||||
return sc->errors;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
@ -693,13 +740,16 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
|
|||
}
|
||||
|
||||
// Find and transmit any scheduled steps prior to the given 'move_clock'
|
||||
void
|
||||
int
|
||||
steppersync_flush(struct steppersync *ss, uint64_t move_clock)
|
||||
{
|
||||
// Flush each stepcompress to the specified move_clock
|
||||
int i;
|
||||
for (i=0; i<ss->sc_num; i++)
|
||||
stepcompress_flush(ss->sc_list[i], move_clock);
|
||||
for (i=0; i<ss->sc_num; i++) {
|
||||
int ret = stepcompress_flush(ss->sc_list[i], move_clock);
|
||||
if (ret)
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Order commands by the reqclock of each pending command
|
||||
struct list_head msgs;
|
||||
|
@ -739,4 +789,5 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
|
|||
// Transmit commands
|
||||
if (!list_empty(&msgs))
|
||||
serialqueue_send_batch(ss->sq, ss->cq, &msgs);
|
||||
return 0;
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue