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