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toolhead: Synchronize print_time to main mcu's time 

Instead of starting the print_time at zero, start it at the estimated
time of the main mcu's clock.  This simplifies the code and it ensures
that print_time never goes backwards.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-12 12:24:44 -04:00
parent b9586bad18
commit 5dfe4e1eb9
3 changed files with 62 additions and 98 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
klippy/fan.py
View File

@ -39,6 +39,7 @@ class PrinterFan:
class PrinterHeaterFan: class PrinterHeaterFan:
def __init__(self, printer, config): def __init__(self, printer, config):
self.fan = PrinterFan(printer, config) self.fan = PrinterFan(printer, config)
self.mcu = printer.objects['mcu']
heater = config.get("heater", "extruder0") heater = config.get("heater", "extruder0")
self.heater = extruder.get_printer_heater(printer, heater) self.heater = extruder.get_printer_heater(printer, heater)
self.heater_temp = config.getfloat("heater_temp", 50.0) self.heater_temp = config.getfloat("heater_temp", 50.0)
@ -51,9 +52,8 @@ class PrinterHeaterFan:
power = 0. power = 0.
if target_temp or current_temp > self.heater_temp: if target_temp or current_temp > self.heater_temp:
power = 1. power = 1.
mcu_time = self.fan.mcu_fan.get_mcu().system_to_mcu_time( print_time = self.mcu.estimated_print_time(eventtime) + FAN_MIN_TIME
eventtime + FAN_MIN_TIME) self.fan.set_speed(print_time, power)
self.fan.set_pwm(mcu_time, power)
return eventtime + 1. return eventtime + 1.
def add_printer_objects(printer, config): def add_printer_objects(printer, config):

41
klippy/mcu.py
View File

@ -443,15 +443,13 @@ class MCU:
self._config_crc = None self._config_crc = None
self._pin_map = config.get('pin_map', None) self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '') self._custom = config.get('custom', '')
self._mcu_freq = 0.
# Move command queuing # Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi() ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat( self._max_stepper_error = config.getfloat(
'max_stepper_error', 0.000025, minval=0.) 'max_stepper_error', 0.000025, minval=0.)
self._stepqueues = [] self._stepqueues = []
self._steppersync = None self._steppersync = None
# Print time to clock epoch calculations
self._print_start_time = 0.
self._mcu_freq = 0.
# Stats # Stats
self._stats_sumsq_base = 0. self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0. self._mcu_tick_avg = 0.
@ -471,9 +469,6 @@ class MCU:
self.is_shutdown = True self.is_shutdown = True
self._shutdown_msg = msg = params['#msg'] self._shutdown_msg = msg = params['#msg']
logging.info("%s: %s" % (params['#name'], self._shutdown_msg)) logging.info("%s: %s" % (params['#name'], self._shutdown_msg))
pst = self._print_start_time
logging.info("Clock last synchronized at %.6f (%d)" % (
pst, int(pst * self._mcu_freq)))
self.serial.dump_debug() self.serial.dump_debug()
prefix = "MCU shutdown: " prefix = "MCU shutdown: "
if params['#name'] == 'is_shutdown': if params['#name'] == 'is_shutdown':
@ -521,12 +516,9 @@ class MCU:
self.serial.connect_file(outfile, dict_data) self.serial.connect_file(outfile, dict_data)
# Handle pacing # Handle pacing
if not pace: if not pace:
def dummy_set_print_start_time(eventtime): def dummy_estimated_print_time(eventtime):
pass return 0.
def dummy_get_print_buffer_time(eventtime, last_move_end): self.estimated_print_time = dummy_estimated_print_time
return 1.250
self.set_print_start_time = dummy_set_print_start_time
self.get_print_buffer_time = dummy_get_print_buffer_time
def timeout_handler(self, eventtime): def timeout_handler(self, eventtime):
last_clock, last_clock_time = self.serial.get_last_clock() last_clock, last_clock_time = self.serial.get_last_clock()
timeout = last_clock_time + self.COMM_TIMEOUT timeout = last_clock_time + self.COMM_TIMEOUT
@ -698,22 +690,14 @@ class MCU:
def create_command(self, msg): def create_command(self, msg):
return self.serial.msgparser.create_command(msg) return self.serial.msgparser.create_command(msg)
# Clock syncing # Clock syncing
def set_print_start_time(self, eventtime):
clock = self.serial.get_clock(eventtime)
logging.debug("Synchronizing mcu clock at %.6f to %d" % (
eventtime, clock))
est_mcu_time = clock / self._mcu_freq
self._print_start_time = est_mcu_time
def get_print_buffer_time(self, eventtime, print_time):
if self.is_shutdown:
return 0.
mcu_time = print_time + self._print_start_time
est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq
return mcu_time - est_mcu_time
def print_to_mcu_time(self, print_time): def print_to_mcu_time(self, print_time):
return print_time + self._print_start_time return print_time
def system_to_mcu_time(self, eventtime): def print_time_to_clock(self, print_time):
return self.serial.get_clock(eventtime) / self._mcu_freq return int(print_time * self._mcu_freq)
def clock_to_print_time(self, clock):
return clock / self._mcu_freq
def estimated_print_time(self, eventtime):
return self.clock_to_print_time(self.serial.get_clock(eventtime))
def get_mcu_freq(self): def get_mcu_freq(self):
return self._mcu_freq return self._mcu_freq
def get_last_clock(self): def get_last_clock(self):
@ -726,8 +710,7 @@ class MCU:
def flush_moves(self, print_time): def flush_moves(self, print_time):
if self._steppersync is None: if self._steppersync is None:
return return
mcu_time = print_time + self._print_start_time clock = self.print_time_to_clock(print_time)
clock = int(mcu_time * self._mcu_freq)
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock) ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")

113
klippy/toolhead.py
View File

@ -204,18 +204,17 @@ class ToolHead:
self.move_flush_time = config.getfloat( self.move_flush_time = config.getfloat(
'move_flush_time', 0.050, above=0.) 'move_flush_time', 0.050, above=0.)
self.print_time = 0. self.print_time = 0.
self.last_print_end_time = self.reactor.monotonic()
self.need_check_stall = -1. self.need_check_stall = -1.
self.print_stall = 0 self.print_stall = 0
self.synch_print_time = True self.sync_print_time = True
self.forced_synch = False self.last_flush_from_idle = False
self.flush_timer = self.reactor.register_timer(self._flush_handler) self.flush_timer = self.reactor.register_timer(self._flush_handler)
self.move_queue.set_flush_time(self.buffer_time_high) self.move_queue.set_flush_time(self.buffer_time_high)
# Motor off tracking # Motor off tracking
self.motor_off_time = config.getfloat( self.need_motor_off = False
'motor_off_time', 600.000, minval=0.) self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
self.motor_off_timer = self.reactor.register_timer( self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler) self._motor_off_handler, self.reactor.NOW)
# Create kinematics class # Create kinematics class
self.extruder = extruder.DummyExtruder() self.extruder = extruder.DummyExtruder()
self.move_queue.set_extruder(self.extruder) self.move_queue.set_extruder(self.extruder)
@ -230,97 +229,80 @@ class ToolHead:
flush_to_time = self.print_time - self.move_flush_time flush_to_time = self.print_time - self.move_flush_time
self.mcu.flush_moves(flush_to_time) self.mcu.flush_moves(flush_to_time)
def get_next_move_time(self): def get_next_move_time(self):
if self.synch_print_time: if not self.sync_print_time:
curtime = self.reactor.monotonic() return self.print_time
if self.print_time: self.sync_print_time = False
buffer_time = self.mcu.get_print_buffer_time( est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
curtime, self.print_time) if self.last_flush_from_idle and self.print_time > est_print_time:
self.print_time += max(self.buffer_time_start - buffer_time, 0.) self.print_stall += 1
if self.forced_synch: self.last_flush_from_idle = False
self.print_stall += 1 self.need_motor_off = True
self.forced_synch = False self.print_time = max(
else: self.print_time, est_print_time + self.buffer_time_start)
self.mcu.set_print_start_time(curtime) self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.print_time = self.buffer_time_start
self._reset_motor_off()
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
self.synch_print_time = False
return self.print_time return self.print_time
def _flush_lookahead(self, must_synch=False): def _flush_lookahead(self, must_sync=False):
synch_print_time = self.synch_print_time sync_print_time = self.sync_print_time
self.move_queue.flush() self.move_queue.flush()
if synch_print_time or must_synch: self.last_flush_from_idle = False
self.synch_print_time = True if sync_print_time or must_sync:
self.sync_print_time = True
self.move_queue.set_flush_time(self.buffer_time_high) self.move_queue.set_flush_time(self.buffer_time_high)
self.mcu.flush_moves(self.print_time) self.mcu.flush_moves(self.print_time)
self.need_check_stall = -1.
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
def get_last_move_time(self): def get_last_move_time(self):
self._flush_lookahead() self._flush_lookahead()
return self.get_next_move_time() return self.get_next_move_time()
def reset_print_time(self): def reset_print_time(self):
self._flush_lookahead(must_synch=True) self._flush_lookahead(must_sync=True)
self.print_time = 0. self.print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
self.last_print_end_time = self.reactor.monotonic()
self.need_check_stall = -1.
self.forced_synch = False
self._reset_motor_off()
def _check_stall(self): def _check_stall(self):
eventtime = self.reactor.monotonic() eventtime = self.reactor.monotonic()
if not self.print_time: if self.sync_print_time:
# Building initial queue - make sure to flush on idle input # Building initial queue - make sure to flush on idle input
self.reactor.update_timer(self.flush_timer, eventtime + 0.100) self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
return return
# Check if there are lots of queued moves and stall if so # Check if there are lots of queued moves and stall if so
while 1: while 1:
buffer_time = self.mcu.get_print_buffer_time( est_print_time = self.mcu.estimated_print_time(eventtime)
eventtime, self.print_time) buffer_time = self.print_time - est_print_time
stall_time = buffer_time - self.buffer_time_high stall_time = buffer_time - self.buffer_time_high
if stall_time <= 0.: if stall_time <= 0.:
break break
eventtime = self.reactor.pause(eventtime + stall_time) if self.mcu.is_fileoutput():
if not self.print_time: self.need_check_stall = self.reactor.NEVER
return return
self.need_check_stall = self.print_time - stall_time + 0.100 eventtime = self.reactor.pause(eventtime + min(1., stall_time))
self.need_check_stall = est_print_time + self.buffer_time_high + 0.100
def _flush_handler(self, eventtime): def _flush_handler(self, eventtime):
try: try:
if not self.print_time:
# Input idled before filling lookahead queue - flush it
self._flush_lookahead()
if not self.print_time:
return self.reactor.NEVER
print_time = self.print_time print_time = self.print_time
buffer_time = self.mcu.get_print_buffer_time(eventtime, print_time) buffer_time = print_time - self.mcu.estimated_print_time(eventtime)
if buffer_time > self.buffer_time_low: if buffer_time > self.buffer_time_low:
# Running normally - reschedule check # Running normally - reschedule check
return eventtime + buffer_time - self.buffer_time_low return eventtime + buffer_time - self.buffer_time_low
# Under ran low buffer mark - flush lookahead queue # Under ran low buffer mark - flush lookahead queue
self._flush_lookahead(must_synch=True) self._flush_lookahead(must_sync=True)
if print_time != self.print_time: if print_time != self.print_time:
# Flushed something - retry self.last_flush_from_idle = True
self.forced_synch = True
return self.reactor.NOW
if buffer_time > 0.:
# Wait for buffer to fully empty
return eventtime + buffer_time
self.reset_print_time()
except: except:
logging.exception("Exception in flush_handler") logging.exception("Exception in flush_handler")
self.force_shutdown() self.force_shutdown()
return self.reactor.NEVER return self.reactor.NEVER
# Motor off timer # Motor off timer
def _reset_motor_off(self):
if not self.print_time:
waketime = self.reactor.monotonic() + self.motor_off_time
else:
waketime = self.reactor.NEVER
self.reactor.update_timer(self.motor_off_timer, waketime)
def _motor_off_handler(self, eventtime): def _motor_off_handler(self, eventtime):
if not self.need_motor_off or not self.sync_print_time:
return eventtime + self.motor_off_time
elapsed_time = self.mcu.estimated_print_time(eventtime) - self.print_time
if elapsed_time < self.motor_off_time:
return eventtime + self.motor_off_time - elapsed_time
try: try:
self.motor_off() self.motor_off()
self.reset_print_time()
except: except:
logging.exception("Exception in motor_off_handler") logging.exception("Exception in motor_off_handler")
self.force_shutdown() self.force_shutdown()
return self.reactor.NEVER return eventtime + self.motor_off_time
# Movement commands # Movement commands
def get_position(self): def get_position(self):
return list(self.commanded_pos) return list(self.commanded_pos)
@ -353,13 +335,15 @@ class ToolHead:
self.kin.motor_off(last_move_time) self.kin.motor_off(last_move_time)
self.extruder.motor_off(last_move_time) self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME) self.dwell(STALL_TIME)
self.need_motor_off = False
logging.debug('; Max time of %f' % (last_move_time,)) logging.debug('; Max time of %f' % (last_move_time,))
def wait_moves(self): def wait_moves(self):
self._flush_lookahead() self._flush_lookahead()
if self.mcu.is_fileoutput(): if self.mcu.is_fileoutput():
return return
eventtime = self.reactor.monotonic() eventtime = self.reactor.monotonic()
while self.print_time: while (not self.sync_print_time
or self.print_time >= self.mcu.estimated_print_time(eventtime)):
eventtime = self.reactor.pause(eventtime + 0.100) eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self): def query_endstops(self):
last_move_time = self.get_last_move_time() last_move_time = self.get_last_move_time()
@ -378,12 +362,9 @@ class ToolHead:
def stats(self, eventtime): def stats(self, eventtime):
buffer_time = 0. buffer_time = 0.
print_time = self.print_time print_time = self.print_time
if print_time: est_print_time = self.mcu.estimated_print_time(eventtime)
is_active = True is_active = not self.sync_print_time or print_time + 60. > est_print_time
buffer_time = max(0., self.mcu.get_print_buffer_time( buffer_time = max(0., print_time - est_print_time)
eventtime, print_time))
else:
is_active = eventtime < self.last_print_end_time + 60.
return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % ( return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
print_time, buffer_time, self.print_stall) print_time, buffer_time, self.print_stall)
def force_shutdown(self): def force_shutdown(self):