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mcu: Rework home_wait() to use a reactor completion 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-26 16:29:07 -04:00 committed by KevinOConnor
parent 4f6982c4d0
commit 84be96aeff
1 changed files with 37 additions and 34 deletions
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71
klippy/mcu.py
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@ -145,11 +145,12 @@ class MCU_endstop:
self._pin = pin_params['pin'] self._pin = pin_params['pin']
self._pullup = pin_params['pullup'] self._pullup = pin_params['pullup']
self._invert = pin_params['invert'] self._invert = pin_params['invert']
self._reactor = mcu.get_printer().get_reactor()
self._oid = self._home_cmd = self._query_cmd = None self._oid = self._home_cmd = self._query_cmd = None
self._mcu.register_config_callback(self._build_config) self._mcu.register_config_callback(self._build_config)
self._min_query_time = 0. self._min_query_time = self._last_sent_time = 0.
self._next_query_print_time = 0. self._next_query_print_time = 0.
self._last_state = {} self._completion = None
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
def add_stepper(self, stepper): def add_stepper(self, stepper):
@ -184,8 +185,10 @@ class MCU_endstop:
triggered=True): triggered=True):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._min_query_time = self._mcu.monotonic()
self._next_query_print_time = print_time + self.RETRY_QUERY self._next_query_print_time = print_time + self.RETRY_QUERY
self._min_query_time = self._reactor.monotonic()
self._last_sent_time = 0.
self._completion = self._reactor.completion()
self._mcu.register_response(self._handle_end_stop_state, self._mcu.register_response(self._handle_end_stop_state,
"end_stop_state", self._oid) "end_stop_state", self._oid)
self._home_cmd.send( self._home_cmd.send(
@ -194,41 +197,45 @@ class MCU_endstop:
reqclock=clock) reqclock=clock)
for s in self._steppers: for s in self._steppers:
s.note_homing_start(clock) s.note_homing_start(clock)
def home_wait(self, home_end_time):
eventtime = self._mcu.monotonic()
try:
while self._check_busy(eventtime, home_end_time):
eventtime = self._mcu.pause(eventtime + 0.1)
finally:
self._mcu.register_response(None, "end_stop_state", self._oid)
def home_finalize(self):
pass
def _handle_end_stop_state(self, params): def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s", params) logging.debug("end_stop_state %s", params)
self._last_state = params if params['#sent_time'] >= self._min_query_time:
def _check_busy(self, eventtime, home_end_time=0.): if params['homing']:
# Check if need to send an end_stop_query command self._last_sent_time = params['#sent_time']
last_sent_time = self._last_state.get('#sent_time', -1.) else:
if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput(): self._min_query_time = self._reactor.NEVER
if not self._last_state.get('homing', 0): self._reactor.async_complete(self._completion, params)
def home_wait(self, home_end_time):
if self._mcu.is_fileoutput():
self._completion.complete({})
curtime = self._reactor.monotonic()
while 1:
params = self._completion.wait(curtime + 0.100)
if params is not None:
# Homing completed successfully
self._mcu.register_response(None, "end_stop_state", self._oid)
for s in self._steppers: for s in self._steppers:
s.note_homing_end(did_trigger=True) s.note_homing_end(did_trigger=True)
return False return
last_sent_print_time = self._mcu.estimated_print_time( # Check for timeout
last_sent_time) last = self._mcu.estimated_print_time(self._last_sent_time)
if last_sent_print_time > home_end_time: if last > home_end_time:
# Timeout - disable endstop checking # Timeout - disable endstop checking
self._mcu.register_response(None, "end_stop_state", self._oid)
for s in self._steppers: for s in self._steppers:
s.note_homing_end() s.note_homing_end()
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
raise self.TimeoutError("Timeout during endstop homing") raise self.TimeoutError("Timeout during endstop homing")
if self._mcu.is_shutdown(): # Check for resend
raise error("MCU is shutdown") curtime = self._reactor.monotonic()
est_print_time = self._mcu.estimated_print_time(eventtime) est_print_time = self._mcu.estimated_print_time(curtime)
if est_print_time >= self._next_query_print_time: if est_print_time >= self._next_query_print_time:
self._next_query_print_time = est_print_time + self.RETRY_QUERY self._next_query_print_time = est_print_time + self.RETRY_QUERY
self._query_cmd.send([self._oid]) self._query_cmd.send([self._oid])
return True if self._mcu.is_shutdown():
raise error("MCU is shutdown")
def home_finalize(self):
pass
def query_endstop(self, print_time): def query_endstop(self, print_time):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
if self._mcu.is_fileoutput(): if self._mcu.is_fileoutput():
@ -691,7 +698,7 @@ class MCU:
self._config_cmds.append(cmd) self._config_cmds.append(cmd)
def get_query_slot(self, oid): def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01) slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5) t = int(self.estimated_print_time(self._reactor.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot return self.print_time_to_clock(t) + slot
def register_stepqueue(self, stepqueue): def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue) self._stepqueues.append(stepqueue)
@ -736,10 +743,6 @@ class MCU:
return self._clocksync.get_adjusted_freq() return self._clocksync.get_adjusted_freq()
def clock32_to_clock64(self, clock32): def clock32_to_clock64(self, clock32):
return self._clocksync.clock32_to_clock64(clock32) return self._clocksync.clock32_to_clock64(clock32)
def pause(self, waketime):
return self._reactor.pause(waketime)
def monotonic(self):
return self._reactor.monotonic()
# Restarts # Restarts
def _disconnect(self): def _disconnect(self):
self._serial.disconnect() self._serial.disconnect()