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mcu: Add mcu wrapper functions and avoid direct acccess to mcu variables 

Don't directly access any of the mcu class variables externally from
the class.  Add wrapper functions for those external callers that need
access to some internal state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-19 11:13:44 -04:00
parent f662445766
commit 94bcd9735a
1 changed files with 39 additions and 37 deletions
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76
klippy/mcu.py
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@ -85,9 +85,8 @@ class MCU_stepper:
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
def note_homing_triggered(self): def note_homing_triggered(self):
params = self._mcu.serial.send_with_response( cmd = self._get_position_cmd.encode(self._oid)
self._get_position_cmd.encode(self._oid), params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
'stepper_position', self._oid)
pos = params['pos'] pos = params['pos']
if self._invert_dir: if self._invert_dir:
pos = -pos pos = -pos
@ -202,7 +201,7 @@ class MCU_endstop:
msg = self._home_cmd.encode(self._oid, 0, 0, 0) msg = self._home_cmd.encode(self._oid, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing") raise error("Timeout during endstop homing")
if self._mcu.is_shutdown: if self._mcu.is_shutdown():
raise error("MCU is shutdown") raise error("MCU is shutdown")
if print_time >= self._next_query_time: if print_time >= self._next_query_time:
self._next_query_time = print_time + self.RETRY_QUERY self._next_query_time = print_time + self.RETRY_QUERY
@ -295,8 +294,7 @@ class MCU_pwm:
self._static_value = max(0., min(1., value)) self._static_value = max(0., min(1., value))
def build_config(self): def build_config(self):
if self._hard_pwm: if self._hard_pwm:
self._pwm_max = self._mcu.serial.msgparser.get_constant_float( self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
"PWM_MAX")
if self._static_value is not None: if self._static_value is not None:
value = int(self._static_value * self._pwm_max + 0.5) value = int(self._static_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd( self._mcu.add_config_cmd(
@ -312,8 +310,7 @@ class MCU_pwm:
self._set_cmd = self._mcu.lookup_command( self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu") "schedule_pwm_out oid=%c clock=%u value=%hu")
else: else:
self._pwm_max = self._mcu.serial.msgparser.get_constant_float( self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
"SOFT_PWM_MAX")
if self._static_value is not None: if self._static_value is not None:
if self._static_value != 0. and self._static_value != 1.: if self._static_value != 0. and self._static_value != 1.:
raise pins.error("static value on soft pwm not supported") raise pins.error("static value on soft pwm not supported")
@ -369,7 +366,7 @@ class MCU_adc:
self._oid, self._pin)) self._oid, self._pin))
clock = self._mcu.get_query_slot(self._oid) clock = self._mcu.get_query_slot(self._oid)
sample_ticks = self._mcu.seconds_to_clock(self._sample_time) sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX") mcu_adc_max = self._mcu.get_constant_float("ADC_MAX")
max_adc = self._sample_count * mcu_adc_max max_adc = self._sample_count * mcu_adc_max
self._inv_max_adc = 1.0 / max_adc self._inv_max_adc = 1.0 / max_adc
self._report_clock = self._mcu.seconds_to_clock(self._report_time) self._report_clock = self._mcu.seconds_to_clock(self._report_time)
@ -403,9 +400,9 @@ class MCU:
baud = 0 baud = 0
else: else:
baud = config.getint('baud', 250000, minval=2400) baud = config.getint('baud', 250000, minval=2400)
self.serial = serialhdl.SerialReader( self._serial = serialhdl.SerialReader(
printer.reactor, self._serialport, baud) printer.reactor, self._serialport, baud)
self.is_shutdown = False self._is_shutdown = False
self._shutdown_msg = "" self._shutdown_msg = ""
self._restart_method = 'command' self._restart_method = 'command'
if baud: if baud:
@ -446,12 +443,12 @@ class MCU:
self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2) self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
self._mcu_tick_awake = tick_sum / self._mcu_freq self._mcu_tick_awake = tick_sum / self._mcu_freq
def handle_shutdown(self, params): def handle_shutdown(self, params):
if self.is_shutdown: if self._is_shutdown:
return return
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))
self.serial.dump_debug() self._serial.dump_debug()
prefix = "MCU shutdown: " prefix = "MCU shutdown: "
if params['#name'] == 'is_shutdown': if params['#name'] == 'is_shutdown':
prefix = "Previous MCU shutdown: " prefix = "Previous MCU shutdown: "
@ -473,11 +470,10 @@ class MCU:
and not os.path.exists(self._serialport)): and not os.path.exists(self._serialport)):
# Try toggling usb power # Try toggling usb power
self._check_restart("enable power") self._check_restart("enable power")
self.serial.connect() self._serial.connect()
self._clocksync.connect(self.serial) self._clocksync.connect(self._serial)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.serial.msgparser.get_constant_float( self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
'STATS_SUMSQ_BASE')
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")
@ -494,8 +490,8 @@ class MCU:
dfile = open(dict_fname, 'rb') dfile = open(dict_fname, 'rb')
dict_data = dfile.read() dict_data = dfile.read()
dfile.close() dfile.close()
self.serial.connect_file(outfile, dict_data) self._serial.connect_file(outfile, dict_data)
self._clocksync.connect_file(self.serial, pace) self._clocksync.connect_file(self._serial, pace)
# Handle pacing # Handle pacing
if not pace: if not pace:
def dummy_estimated_print_time(eventtime): def dummy_estimated_print_time(eventtime):
@ -507,14 +503,14 @@ class MCU:
logging.info("Timeout with firmware (eventtime=%f)", eventtime) logging.info("Timeout with firmware (eventtime=%f)", eventtime)
self._printer.note_mcu_error("Lost communication with firmware") self._printer.note_mcu_error("Lost communication with firmware")
def disconnect(self): def disconnect(self):
self.serial.disconnect() self._serial.disconnect()
if self._steppersync is not None: if self._steppersync is not None:
self._ffi_lib.steppersync_free(self._steppersync) self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None self._steppersync = None
def stats(self, eventtime): def stats(self, eventtime):
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev) self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
return ' '.join([self.serial.stats(eventtime), return ' '.join([self._serial.stats(eventtime),
self._clocksync.stats(eventtime), msg]) self._clocksync.stats(eventtime), msg])
def force_shutdown(self): def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode()) self.send(self._emergency_stop_cmd.encode())
@ -536,7 +532,7 @@ class MCU:
if self._reset_cmd is None: if self._reset_cmd is None:
# Attempt reset via config_reset command # Attempt reset via config_reset command
logging.info("Attempting a microcontroller config_reset command") logging.info("Attempting a microcontroller config_reset command")
self.is_shutdown = True self._is_shutdown = True
self.force_shutdown() self.force_shutdown()
reactor.pause(reactor.monotonic() + 0.015) reactor.pause(reactor.monotonic() + 0.015)
self.send(self._config_reset_cmd.encode()) self.send(self._config_reset_cmd.encode())
@ -574,7 +570,7 @@ class MCU:
self._oid_count,)) self._oid_count,))
# Resolve pin names # Resolve pin names
mcu = self.serial.msgparser.get_constant('MCU') mcu = self._serial.msgparser.get_constant('MCU')
pnames = pins.get_pin_map(mcu, self._pin_map) pnames = pins.get_pin_map(mcu, self._pin_map)
updated_cmds = [] updated_cmds = []
for cmd in self._config_cmds: for cmd in self._config_cmds:
@ -593,7 +589,7 @@ class MCU:
config_params = { config_params = {
'is_config': 0, 'move_count': 500, 'crc': self._config_crc} 'is_config': 0, 'move_count': 500, 'crc': self._config_crc}
else: else:
config_params = self.serial.send_with_response(msg, 'config') config_params = self.send_with_response(msg, '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':
# Only configure mcu after usb power reset # Only configure mcu after usb power reset
@ -603,9 +599,9 @@ class MCU:
for c in self._config_cmds: for c in self._config_cmds:
self.send(self.create_command(c)) self.send(self.create_command(c))
if not self.is_fileoutput(): if not self.is_fileoutput():
config_params = self.serial.send_with_response(msg, 'config') config_params = self.send_with_response(msg, 'config')
if not config_params['is_config']: if not config_params['is_config']:
if self.is_shutdown: if self._is_shutdown:
raise error("Firmware error during config: %s" % ( raise error("Firmware error during config: %s" % (
self._shutdown_msg,)) self._shutdown_msg,))
raise error("Unable to configure printer") raise error("Unable to configure printer")
@ -619,7 +615,7 @@ class MCU:
move_count = config_params['move_count'] move_count = config_params['move_count']
logging.info("Configured (%d moves)" % (move_count,)) logging.info("Configured (%d moves)" % (move_count,))
if self._printer.bglogger is not None: if self._printer.bglogger is not None:
msgparser = self.serial.msgparser msgparser = self._serial.msgparser
info = [ info = [
"Configured (%d moves)" % (move_count,), "Configured (%d moves)" % (move_count,),
"Loaded %d commands (%s)" % ( "Loaded %d commands (%s)" % (
@ -628,7 +624,7 @@ class MCU:
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))] ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
self._printer.bglogger.set_rollover_info("mcu", "\n".join(info)) self._printer.bglogger.set_rollover_info("mcu", "\n".join(info))
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),
move_count) move_count)
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq) self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
for c in self._init_cmds: for c in self._init_cmds:
@ -654,24 +650,28 @@ class MCU:
else: else:
self._config_cmds.append(cmd) self._config_cmds.append(cmd)
def register_msg(self, cb, msg, oid=None): def register_msg(self, cb, msg, oid=None):
self.serial.register_callback(cb, msg, oid) self._serial.register_callback(cb, msg, oid)
def register_stepqueue(self, stepqueue): def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue) self._stepqueues.append(stepqueue)
def alloc_command_queue(self): def alloc_command_queue(self):
return self.serial.alloc_command_queue() return self._serial.alloc_command_queue()
def lookup_command(self, msgformat): def lookup_command(self, msgformat):
return self.serial.msgparser.lookup_command(msgformat) return self._serial.msgparser.lookup_command(msgformat)
def try_lookup_command(self, msgformat): def try_lookup_command(self, msgformat):
try: try:
return self.serial.msgparser.lookup_command(msgformat) return self._serial.msgparser.lookup_command(msgformat)
except self.serial.msgparser.error as e: except self._serial.msgparser.error as e:
return None return None
def create_command(self, msg): def create_command(self, msg):
return self.serial.msgparser.create_command(msg) return self._serial.msgparser.create_command(msg)
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.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot return self.print_time_to_clock(t) + slot
def is_shutdown(self):
return self._is_shutdown
def get_constant_float(self, name):
return self._serial.msgparser.get_constant_float(name)
# Clock syncing # Clock syncing
def print_time_to_clock(self, print_time): def print_time_to_clock(self, print_time):
return int(print_time * self._mcu_freq) return int(print_time * self._mcu_freq)
@ -689,7 +689,9 @@ class MCU:
return self._max_stepper_error return self._max_stepper_error
# Move command queuing # Move command queuing
def send(self, cmd, minclock=0, reqclock=0, cq=None): def send(self, cmd, minclock=0, reqclock=0, cq=None):
self.serial.send(cmd, minclock, reqclock, cq=cq) self._serial.send(cmd, minclock, reqclock, cq=cq)
def send_with_response(self, cmd, name, oid=None):
return self._serial.send_with_response(cmd, name, oid)
def flush_moves(self, print_time): def flush_moves(self, print_time):
if self._steppersync is None: if self._steppersync is None:
return return