mcu: Contact and identify all the mcus prior to configuring them

Break up the connect phase into two phases - mcu_identify and connect.
The first phase will contact all the micro-controllers and obtain the
"identify" data dictionaries for them.  Once all the micro-controllers
have been contacted, then they can be configured.  This fixes an issue
with FIRMWARE_RESTART not working correctly on multi-mcu setups that
use restart_method=command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-04 23:00:00 -05:00
parent 0b90337d59
commit 5eb5841eaf
2 changed files with 24 additions and 20 deletions

View File

@ -132,6 +132,7 @@ class Printer:
def _connect(self, eventtime): def _connect(self, eventtime):
try: try:
self._read_config() self._read_config()
self.send_event("klippy:mcu_identify")
for cb in self.event_handlers.get("klippy:connect", []): for cb in self.event_handlers.get("klippy:connect", []):
if self.state_message is not message_startup: if self.state_message is not message_startup:
return return

View File

@ -456,6 +456,8 @@ class MCU:
if self._name.startswith('mcu '): if self._name.startswith('mcu '):
self._name = self._name[4:] self._name = self._name[4:]
self._printer.register_event_handler("klippy:connect", self._connect) self._printer.register_event_handler("klippy:connect", self._connect)
self._printer.register_event_handler("klippy:mcu_identify",
self._mcu_identify)
self._printer.register_event_handler("klippy:shutdown", self._shutdown) self._printer.register_event_handler("klippy:shutdown", self._shutdown)
self._printer.register_event_handler("klippy:disconnect", self._printer.register_event_handler("klippy:disconnect",
self._disconnect) self._disconnect)
@ -490,7 +492,6 @@ class MCU:
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._move_count = 0
self._stepqueues = [] self._stepqueues = []
self._steppersync = None self._steppersync = None
# Stats # Stats
@ -603,7 +604,16 @@ class MCU:
raise error("Can not update MCU '%s' config as it is shutdown" % ( raise error("Can not update MCU '%s' config as it is shutdown" % (
self._name,)) self._name,))
return config_params return config_params
def _check_config(self): def _log_info(self):
msgparser = self._serial.get_msgparser()
log_info = [
"Loaded MCU '%s' %d commands (%s / %s)" % (
self._name, len(msgparser.messages_by_id),
msgparser.version, msgparser.build_versions),
"MCU '%s' config: %s" % (self._name, " ".join(
["%s=%s" % (k, v) for k, v in self.get_constants().items()]))]
return "\n".join(log_info)
def _connect(self):
config_params = self._send_get_config() config_params = self._send_get_config()
if not config_params['is_config']: if not config_params['is_config']:
if self._restart_method == 'rpi_usb': if self._restart_method == 'rpi_usb':
@ -622,13 +632,18 @@ class MCU:
# Already configured - send init commands # Already configured - send init commands
self._send_config(config_params['crc']) self._send_config(config_params['crc'])
# Setup steppersync with the move_count returned by get_config # Setup steppersync with the move_count returned by get_config
self._move_count = config_params['move_count'] move_count = config_params['move_count']
self._steppersync = self._ffi_lib.steppersync_alloc( self._steppersync = self._ffi_lib.steppersync_alloc(
self._serial.serialqueue, self._stepqueues, len(self._stepqueues), self._serial.serialqueue, self._stepqueues, len(self._stepqueues),
self._move_count) move_count)
self._ffi_lib.steppersync_set_time( self._ffi_lib.steppersync_set_time(
self._steppersync, 0., self._mcu_freq) self._steppersync, 0., self._mcu_freq)
def _connect(self): # Log config information
move_msg = "Configured MCU '%s' (%d moves)" % (self._name, move_count)
logging.info(move_msg)
log_info = self._log_info() + "\n" + move_msg
self._printer.set_rollover_info(self._name, log_info, log=False)
def _mcu_identify(self):
if self.is_fileoutput(): if self.is_fileoutput():
self._connect_file() self._connect_file()
else: else:
@ -641,17 +656,9 @@ class MCU:
self._clocksync.connect(self._serial) self._clocksync.connect(self._serial)
except serialhdl.error as e: except serialhdl.error as e:
raise error(str(e)) raise error(str(e))
msgparser = self._serial.get_msgparser() logging.info(self._log_info())
name = self._name
log_info = [
"Loaded MCU '%s' %d commands (%s / %s)" % (
name, len(msgparser.messages_by_id),
msgparser.version, msgparser.build_versions),
"MCU '%s' config: %s" % (name, " ".join(
["%s=%s" % (k, v) for k, v in self.get_constants().items()]))]
logging.info("\n".join(log_info))
ppins = self._printer.lookup_object('pins') ppins = self._printer.lookup_object('pins')
pin_resolver = ppins.get_pin_resolver(name) pin_resolver = ppins.get_pin_resolver(self._name)
for cname, value in self.get_constants().items(): for cname, value in self.get_constants().items():
if cname.startswith("RESERVE_PINS_"): if cname.startswith("RESERVE_PINS_"):
for pin in value.split(','): for pin in value.split(','):
@ -661,6 +668,7 @@ class MCU:
self._emergency_stop_cmd = self.lookup_command("emergency_stop") self._emergency_stop_cmd = self.lookup_command("emergency_stop")
self._reset_cmd = self.try_lookup_command("reset") self._reset_cmd = self.try_lookup_command("reset")
self._config_reset_cmd = self.try_lookup_command("config_reset") self._config_reset_cmd = self.try_lookup_command("config_reset")
msgparser = self._serial.get_msgparser()
if (self._restart_method is None if (self._restart_method is None
and (self._reset_cmd is not None and (self._reset_cmd is not None
or self._config_reset_cmd is not None) or self._config_reset_cmd is not None)
@ -669,11 +677,6 @@ class MCU:
self.register_response(self._handle_shutdown, 'shutdown') self.register_response(self._handle_shutdown, 'shutdown')
self.register_response(self._handle_shutdown, 'is_shutdown') self.register_response(self._handle_shutdown, 'is_shutdown')
self.register_response(self._handle_mcu_stats, 'stats') self.register_response(self._handle_mcu_stats, 'stats')
self._check_config()
move_msg = "Configured MCU '%s' (%d moves)" % (name, self._move_count)
logging.info(move_msg)
log_info.append(move_msg)
self._printer.set_rollover_info(name, "\n".join(log_info), log=False)
# Config creation helpers # Config creation helpers
def setup_pin(self, pin_type, pin_params): def setup_pin(self, pin_type, pin_params):
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop, pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,