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reactor: Use the system monotonic clock instead of the normal system clock 

The normal system clock can have sudden jumps if the system clock is
changed.  Use the system monotonic clock to avoid these sudden changes
in time.

It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity.  This could cause
sudden system clock changes which could lead to Klippy processing
errors.  Using the monotonic clock eliminates these issues.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-06 13:31:34 -05:00
parent c24b7a7ef9
commit 20d0936fa2
10 changed files with 58 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
klippy/chelper.py
View File

@ -71,6 +71,7 @@ defs_serialqueue = """
defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *));
double get_monotonic(void);
"""
# Return the list of file modification times

4
klippy/gcode.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections, time
import os, re, logging, collections
import homing
# Parse out incoming GCode and find and translate head movements
@ -179,7 +179,7 @@ class GCodeParser:
def bg_temp(self, heater):
if self.is_fileinput:
return
eventtime = time.time()
eventtime = self.reactor.monotonic()
while self.is_printer_ready and heater.check_busy(eventtime):
self.toolhead.reset_motor_off_time(eventtime)
self.respond(self.get_temp())

6
klippy/klippy.py
View File

@ -195,6 +195,10 @@ class Printer:
self.reactor.unregister_timer(self.connect_timer)
return self.reactor.NEVER
def run(self):
systime = time.time()
monotime = self.reactor.monotonic()
logging.info("Start printer at %s (%.1f %.1f)" % (
time.asctime(time.localtime(systime)), systime, monotime))
try:
self.reactor.run()
except:
@ -216,7 +220,7 @@ class Printer:
def disconnect(self):
try:
if self.mcu is not None:
self.stats(time.time())
self.stats(self.reactor.monotonic())
self.mcu.disconnect()
except:
logging.exception("Unhandled exception during disconnect")

14
klippy/mcu.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, zlib, logging, time, math
import sys, zlib, logging, math
import serialhdl, pins, chelper
class error(Exception):
@ -163,7 +163,7 @@ class MCU_endstop:
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True
self._min_query_time = time.time()
self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock + self._retry_query_ticks
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
@ -173,7 +173,7 @@ class MCU_endstop:
self._stepper.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
eventtime = time.time()
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
@ -211,10 +211,10 @@ class MCU_endstop:
def query_endstop(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
self._homing = False
self._min_query_time = time.time()
self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock
def query_endstop_wait(self):
eventtime = time.time()
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
@ -377,7 +377,7 @@ class MCU:
if not self._is_fileoutput:
self.serial.connect()
self._printer.reactor.update_timer(
self._timeout_timer, time.time() + self.COMM_TIMEOUT)
self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
'STATS_SUMSQ_BASE')
@ -547,5 +547,7 @@ class MCU:
raise error("Internal error in stepcompress")
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
def __del__(self):
self.disconnect()

17
klippy/pyhelper.c
View File

@ -9,17 +9,20 @@
#include <stdint.h> // uint8_t
#include <stdio.h> // fprintf
#include <string.h> // strerror
#include <sys/time.h> // gettimeofday
#include <time.h> // struct timespec
#include "pyhelper.h" // get_time
#include "pyhelper.h" // get_monotonic
// Return the current system time as a double
// Return the monotonic system time as a double
double
get_time(void)
get_monotonic(void)
{
struct timeval tv;
gettimeofday(&tv, NULL);
return (double)tv.tv_sec + (double)tv.tv_usec / 1000000.;
struct timespec ts;
int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret) {
report_errno("clock_gettime", ret);
return 0.;
}
return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001;
}
// Fill a 'struct timespec' with a system time stored in a double

2
klippy/pyhelper.h
View File

@ -1,7 +1,7 @@
#ifndef PYHELPER_H
#define PYHELPER_H
double get_time(void);
double get_monotonic(void);
struct timespec fill_time(double time);
void set_python_logging_callback(void (*func)(const char *));
void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));

24
klippy/reactor.py
View File

@ -3,8 +3,9 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import select, time, math
import select, math
import greenlet
import chelper
class ReactorTimer:
def __init__(self, callback, waketime):
@ -33,6 +34,7 @@ class SelectReactor:
self._process = False
self._g_dispatch = None
self._greenlets = []
self.monotonic = chelper.get_ffi()[1].get_monotonic
# Timers
def _note_time(self, t):
nexttime = t.waketime
@ -67,7 +69,7 @@ class SelectReactor:
self._note_time(t)
if eventtime >= self._next_timer:
return 0.
return min(1., max(.001, self._next_timer - time.time()))
return min(1., max(.001, self._next_timer - self.monotonic()))
# Greenlets
def pause(self, waketime):
g = greenlet.getcurrent()
@ -97,16 +99,16 @@ class SelectReactor:
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = select.select(self._fds, [], [], timeout)
eventtime = time.time()
eventtime = self.monotonic()
for fd in res[0]:
fd.callback(eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = time.time()
eventtime = self.monotonic()
break
self._g_dispatch = None
def run(self):
@ -137,16 +139,16 @@ class PollReactor(SelectReactor):
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._poll.poll(int(math.ceil(timeout * 1000.)))
eventtime = time.time()
eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = time.time()
eventtime = self.monotonic()
break
self._g_dispatch = None
@ -172,16 +174,16 @@ class EPollReactor(SelectReactor):
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time()
eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._epoll.poll(timeout)
eventtime = time.time()
eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
eventtime = time.time()
eventtime = self.monotonic()
break
self._g_dispatch = None

16
klippy/serialhdl.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import time, logging, threading
import logging, threading
import serial
import msgproto, chelper, util
@ -60,7 +60,7 @@ class SerialReader:
# Initial connection
logging.info("Starting serial connect")
while 1:
starttime = time.time()
starttime = self.reactor.monotonic()
try:
self.ser = serial.Serial(self.serialport, self.baud, timeout=0)
except OSError, e:
@ -106,7 +106,7 @@ class SerialReader:
est_clock = float(self.msgparser.config['CLOCK_FREQ'])
self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1)
self.est_clock = est_clock
self.last_ack_time = time.time()
self.last_ack_time = self.reactor.monotonic()
self.last_ack_clock = 0
self.ffi_lib.serialqueue_set_clock_est(
self.serialqueue, self.est_clock, self.last_ack_time
@ -232,7 +232,7 @@ class SerialRetryCommand:
self.cmd = cmd
self.name = name
self.response = None
self.min_query_time = time.time()
self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name)
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
@ -246,7 +246,7 @@ class SerialRetryCommand:
if last_sent_time >= self.min_query_time:
self.response = params
def get_response(self):
eventtime = time.time()
eventtime = self.serial.reactor.monotonic()
while self.response is None:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback(self.name)
@ -267,7 +267,7 @@ class SerialBootStrap:
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def get_identify_data(self, timeout):
eventtime = time.time()
eventtime = self.serial.reactor.monotonic()
while not self.is_done and eventtime <= timeout:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback('identify_response')
@ -305,10 +305,10 @@ def stk500v2_leave(ser, reactor):
ser.read(1)
# Send stk500v2 leave programmer sequence
ser.baudrate = 115200
reactor.pause(time.time() + 0.100)
reactor.pause(reactor.monotonic() + 0.100)
ser.read(4096)
ser.write('\x1b\x01\x00\x01\x0e\x11\x04')
reactor.pause(time.time() + 0.050)
reactor.pause(reactor.monotonic() + 0.050)
res = ser.read(4096)
logging.debug("Got %s from stk500v2" % (repr(res),))
ser.baudrate = origbaud

6
klippy/serialqueue.c
View File

@ -23,7 +23,7 @@
#include <termios.h> // tcflush
#include <unistd.h> // pipe
#include "list.h" // list_add_tail
#include "pyhelper.h" // get_time
#include "pyhelper.h" // get_monotonic
#include "serialqueue.h" // struct queue_message
@ -149,11 +149,11 @@ static void
pollreactor_run(struct pollreactor *pr)
{
pr->must_exit = 0;
double eventtime = get_time();
double eventtime = get_monotonic();
while (! pr->must_exit) {
int timeout = pollreactor_check_timers(pr, eventtime);
int ret = poll(pr->fds, pr->num_fds, timeout);
eventtime = get_time();
eventtime = get_monotonic();
if (ret > 0) {
int i;
for (i=0; i<pr->num_fds; i++)

13
klippy/toolhead.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, time
import math, logging
import cartesian, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
@ -210,7 +210,7 @@ class ToolHead:
def get_next_move_time(self):
if not self.print_time:
self.print_time = self.buffer_time_low + STALL_TIME
curtime = time.time()
curtime = self.reactor.monotonic()
self.printer.mcu.set_print_start_time(curtime)
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
return self.print_time
@ -224,15 +224,16 @@ class ToolHead:
self.printer.mcu.flush_moves(self.print_time)
self.print_time = 0.
self.need_check_stall = -1.
self.reset_motor_off_time(time.time())
self.reset_motor_off_time(self.reactor.monotonic())
self.reactor.update_timer(self.flush_timer, self.motor_off_time)
def _check_stall(self):
if not self.print_time:
# XXX - find better way to flush initial move_queue items
if self.move_queue.queue:
self.reactor.update_timer(self.flush_timer, time.time() + 0.100)
self.reactor.update_timer(
self.flush_timer, self.reactor.monotonic() + 0.100)
return
eventtime = time.time()
eventtime = self.reactor.monotonic()
while 1:
buffer_time = self.printer.mcu.get_print_buffer_time(
eventtime, self.print_time)
@ -310,7 +311,7 @@ class ToolHead:
logging.debug('; Max time of %f' % (last_move_time,))
def wait_moves(self):
self.move_queue.flush()
eventtime = time.time()
eventtime = self.reactor.monotonic()
while self.print_time:
eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self):