From 20d0936fa256e0caa41a18a79556c8ade3f8347f Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Mon, 6 Feb 2017 13:31:34 -0500 Subject: [PATCH] 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 --- klippy/chelper.py | 1 + klippy/gcode.py | 4 ++-- klippy/klippy.py | 6 +++++- klippy/mcu.py | 14 ++++++++------ klippy/pyhelper.c | 17 ++++++++++------- klippy/pyhelper.h | 2 +- klippy/reactor.py | 24 +++++++++++++----------- klippy/serialhdl.py | 16 ++++++++-------- klippy/serialqueue.c | 6 +++--- klippy/toolhead.py | 13 +++++++------ 10 files changed, 58 insertions(+), 45 deletions(-) diff --git a/klippy/chelper.py b/klippy/chelper.py index b7baf061..ed494456 100644 --- a/klippy/chelper.py +++ b/klippy/chelper.py @@ -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 diff --git a/klippy/gcode.py b/klippy/gcode.py index 407390e1..8b33e26a 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor # # 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()) diff --git a/klippy/klippy.py b/klippy/klippy.py index 517bdf22..eac85829 100644 --- a/klippy/klippy.py +++ b/klippy/klippy.py @@ -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") diff --git a/klippy/mcu.py b/klippy/mcu.py index 4fadc13d..f6a21746 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor # # 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() diff --git a/klippy/pyhelper.c b/klippy/pyhelper.c index 2716b9b7..410fd764 100644 --- a/klippy/pyhelper.c +++ b/klippy/pyhelper.c @@ -9,17 +9,20 @@ #include // uint8_t #include // fprintf #include // strerror -#include // gettimeofday #include // 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 diff --git a/klippy/pyhelper.h b/klippy/pyhelper.h index bca65fd2..1042214b 100644 --- a/klippy/pyhelper.h +++ b/klippy/pyhelper.h @@ -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))); diff --git a/klippy/reactor.py b/klippy/reactor.py index 1adf09a8..1fd8426a 100644 --- a/klippy/reactor.py +++ b/klippy/reactor.py @@ -3,8 +3,9 @@ # Copyright (C) 2016 Kevin O'Connor # # 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 diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py index 143fd138..b943f2da 100644 --- a/klippy/serialhdl.py +++ b/klippy/serialhdl.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor # # 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 diff --git a/klippy/serialqueue.c b/klippy/serialqueue.c index 6cdd9f77..2286912a 100644 --- a/klippy/serialqueue.c +++ b/klippy/serialqueue.c @@ -23,7 +23,7 @@ #include // tcflush #include // 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; inum_fds; i++) diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 3f039411..75ffe52b 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor # # 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):