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mcu: Rename self.ffi_lib to self._ffi_lib 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 10:13:02 -04:00
parent 49bdc6fbd1
commit bfad970e4d
1 changed files with 19 additions and 18 deletions
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37
klippy/mcu.py
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@ -31,7 +31,7 @@ class MCU_stepper:
self._mcu_position_offset = 0 self._mcu_position_offset = 0
self._mcu_freq = self._min_stop_interval = 0. self._mcu_freq = self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None self._reset_cmd = self._get_position_cmd = None
self.ffi_lib = self._stepqueue = None self._ffi_lib = self._stepqueue = None
self.print_to_mcu_time = mcu.print_to_mcu_time self.print_to_mcu_time = mcu.print_to_mcu_time
def set_min_stop_interval(self, min_stop_interval): def set_min_stop_interval(self, min_stop_interval):
self._min_stop_interval = min_stop_interval self._min_stop_interval = min_stop_interval
@ -53,12 +53,12 @@ class MCU_stepper:
"reset_step_clock oid=%c clock=%u") "reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_command( self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c") "stepper_get_position oid=%c")
ffi_main, self.ffi_lib = chelper.get_ffi() ffi_main, self._ffi_lib = chelper.get_ffi()
max_error = int(max_error * self._mcu_freq) max_error = int(max_error * self._mcu_freq)
self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc( self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
max_error, step_cmd.msgid, dir_cmd.msgid, max_error, step_cmd.msgid, dir_cmd.msgid,
self._invert_dir, self._oid), self._invert_dir, self._oid),
self.ffi_lib.stepcompress_free) self._ffi_lib.stepcompress_free)
def get_oid(self): def get_oid(self):
return self._oid return self._oid
def set_position(self, pos): def set_position(self, pos):
@ -67,14 +67,15 @@ class MCU_stepper:
def get_mcu_position(self): def get_mcu_position(self):
return self.commanded_position + self._mcu_position_offset return self.commanded_position + self._mcu_position_offset
def note_homing_start(self, homing_clock): def note_homing_start(self, homing_clock):
ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock) ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
def note_homing_finalized(self): def note_homing_finalized(self):
ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0) ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0) ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
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):
@ -87,17 +88,17 @@ class MCU_stepper:
self._mcu_position_offset = pos - self.commanded_position self._mcu_position_offset = pos - self.commanded_position
def reset_step_clock(self, mcu_time): def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock) ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff) data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
ret = self.ffi_lib.stepcompress_queue_msg( ret = self._ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data)) self._stepqueue, data, len(data))
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
def step(self, mcu_time, sdir): def step(self, mcu_time, sdir):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) ret = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if sdir: if sdir:
@ -107,7 +108,7 @@ class MCU_stepper:
def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor): def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2 mcu_freq2 = self._mcu_freq**2
count = self.ffi_lib.stepcompress_push_sqrt( count = self._ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock self._stepqueue, steps, step_offset, clock
, sqrt_offset * mcu_freq2, factor * mcu_freq2) , sqrt_offset * mcu_freq2, factor * mcu_freq2)
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
@ -116,7 +117,7 @@ class MCU_stepper:
return count return count
def step_factor(self, mcu_time, steps, step_offset, factor): def step_factor(self, mcu_time, steps, step_offset, factor):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
count = self.ffi_lib.stepcompress_push_factor( count = self._ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
if count == STEPCOMPRESS_ERROR_RET: if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
@ -126,7 +127,7 @@ class MCU_stepper:
, inv_velocity, step_dist , inv_velocity, step_dist
, height, closestxy_d, closest_height2, movez_r): , height, closestxy_d, closest_height2, movez_r):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
count = self.ffi_lib.stepcompress_push_delta_const( count = self._ffi_lib.stepcompress_push_delta_const(
self._stepqueue, clock, dist, start_pos self._stepqueue, clock, dist, start_pos
, inv_velocity * self._mcu_freq, step_dist , inv_velocity * self._mcu_freq, step_dist
, height, closestxy_d, closest_height2, movez_r) , height, closestxy_d, closest_height2, movez_r)
@ -139,7 +140,7 @@ class MCU_stepper:
, height, closestxy_d, closest_height2, movez_r): , height, closestxy_d, closest_height2, movez_r):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2 mcu_freq2 = self._mcu_freq**2
count = self.ffi_lib.stepcompress_push_delta_accel( count = self._ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, start_pos self._stepqueue, clock, dist, start_pos
, accel_multiplier * mcu_freq2, step_dist , accel_multiplier * mcu_freq2, step_dist
, height, closestxy_d, closest_height2, movez_r) , height, closestxy_d, closest_height2, movez_r)
@ -399,7 +400,7 @@ class MCU:
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', '')
# 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('max_stepper_error', 0.000025) self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
self._steppers = [] self._steppers = []
self._steppersync = None self._steppersync = None
@ -464,7 +465,7 @@ class MCU:
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):
return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
@ -545,7 +546,7 @@ 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,))
stepqueues = tuple(s._stepqueue for s in self._steppers) stepqueues = tuple(s._stepqueue for s in self._steppers)
self._steppersync = self.ffi_lib.steppersync_alloc( self._steppersync = self._ffi_lib.steppersync_alloc(
self.serial.serialqueue, stepqueues, len(stepqueues), move_count) self.serial.serialqueue, stepqueues, len(stepqueues), move_count)
for cb in self._init_callbacks: for cb in self._init_callbacks:
cb() cb()
@ -609,7 +610,7 @@ class MCU:
return return
mcu_time = print_time + self._print_start_time mcu_time = print_time + self._print_start_time
clock = int(mcu_time * self._mcu_freq) 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")
def pause(self, waketime): def pause(self, waketime):