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mcu: Move code around in MCU class to keep like code together 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-19 12:10:06 -04:00
parent f1b315e04f
commit cee200e509
1 changed files with 107 additions and 108 deletions
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215
klippy/mcu.py
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@ -395,26 +395,25 @@ class MCU:
self._clocksync = clocksync
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
if self._serialport.startswith("/dev/rpmsg_"):
# Beaglbone PRU
baud = 0
else:
baud = 0
if not self._serialport.startswith("/dev/rpmsg_"):
baud = config.getint('baud', 250000, minval=2400)
self._serial = serialhdl.SerialReader(
printer.reactor, self._serialport, baud)
self._is_shutdown = False
self._shutdown_msg = ""
# Restarts
self._restart_method = 'command'
if baud:
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice(
'restart_method', rmethods, 'arduino')
# Config building
self._reset_cmd = self._config_reset_cmd = None
self._emergency_stop_cmd = None
self._is_shutdown = False
self._shutdown_msg = ""
if printer.bglogger is not None:
printer.bglogger.set_rollover_info("mcu", None)
# Config building
pins.get_printer_pins(printer).register_chip("mcu", self)
self._emergency_stop_cmd = None
self._reset_cmd = self._config_reset_cmd = None
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
@ -434,6 +433,7 @@ class MCU:
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
# Serial callbacks
def handle_mcu_stats(self, params):
count = params['count']
tick_sum = params['sum']
@ -462,26 +462,6 @@ class MCU:
self._printer.request_exit('firmware_restart')
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
raise error("Attempt firmware restart failed")
def connect(self):
if self.is_fileoutput():
self._connect_file()
else:
if (self._restart_method == 'rpi_usb'
and not os.path.exists(self._serialport)):
# Try toggling usb power
self._check_restart("enable power")
self._serial.connect()
self._clocksync.connect(self._serial)
self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
self._emergency_stop_cmd = self.lookup_command("emergency_stop")
self._reset_cmd = self.try_lookup_command("reset")
self._config_reset_cmd = self.try_lookup_command("config_reset")
self.register_msg(self.handle_shutdown, 'shutdown')
self.register_msg(self.handle_shutdown, 'is_shutdown')
self.register_msg(self.handle_mcu_stats, 'stats')
self._build_config()
self._send_config()
def _connect_file(self, pace=False):
# In a debugging mode. Open debug output file and read data dictionary
out_fname = self._printer.get_start_args().get('debugoutput')
@ -497,61 +477,6 @@ class MCU:
def dummy_estimated_print_time(eventtime):
return 0.
self.estimated_print_time = dummy_estimated_print_time
def check_active(self, print_time, eventtime):
if self._clocksync.is_active(eventtime):
return
logging.info("Timeout with firmware (eventtime=%f)", eventtime)
self._printer.note_mcu_error("Lost communication with firmware")
def disconnect(self):
self._serial.disconnect()
if self._steppersync is not None:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def stats(self, eventtime):
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
return ' '.join([self._serial.stats(eventtime),
self._clocksync.stats(eventtime), msg])
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):
reactor = self._printer.reactor
if self._restart_method == 'rpi_usb':
logging.info("Attempting a microcontroller reset via rpi usb power")
self.disconnect()
chelper.run_hub_ctrl(0)
reactor.pause(reactor.monotonic() + 2.000)
chelper.run_hub_ctrl(1)
return
if self._restart_method == 'command':
eventtime = reactor.monotonic()
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or not self._clocksync.is_active(eventtime)):
logging.info("Unable to issue reset command")
return
if self._reset_cmd is None:
# Attempt reset via config_reset command
logging.info("Attempting a microcontroller config_reset command")
self._is_shutdown = True
self.force_shutdown()
reactor.pause(reactor.monotonic() + 0.015)
self.send(self._config_reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
return
# Attempt reset via reset command
logging.info("Attempting a microcontroller reset command")
self.send(self._reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
return
# Attempt reset via arduino mechanism
logging.info("Attempting a microcontroller reset")
self.disconnect()
serialhdl.arduino_reset(self._serialport, reactor)
def is_fileoutput(self):
return self._printer.get_start_args().get('debugoutput') is not None
# Configuration phase
def _add_custom(self):
for line in self._custom.split('\n'):
line = line.strip()
@ -629,6 +554,26 @@ class MCU:
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
for c in self._init_cmds:
self.send(self.create_command(c))
def connect(self):
if self.is_fileoutput():
self._connect_file()
else:
if (self._restart_method == 'rpi_usb'
and not os.path.exists(self._serialport)):
# Try toggling usb power
self._check_restart("enable power")
self._serial.connect()
self._clocksync.connect(self._serial)
self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
self._emergency_stop_cmd = self.lookup_command("emergency_stop")
self._reset_cmd = self.try_lookup_command("reset")
self._config_reset_cmd = self.try_lookup_command("config_reset")
self.register_msg(self.handle_shutdown, 'shutdown')
self.register_msg(self.handle_shutdown, 'is_shutdown')
self.register_msg(self.handle_mcu_stats, 'stats')
self._build_config()
self._send_config()
# Config creation helpers
def setup_pin(self, pin_params):
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
@ -649,12 +594,27 @@ class MCU:
self._init_cmds.append(cmd)
else:
self._config_cmds.append(cmd)
def register_msg(self, cb, msg, oid=None):
self._serial.register_callback(cb, msg, oid)
def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot
def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue)
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_max_stepper_error(self):
return self._max_stepper_error
# Wrapper functions
def send(self, cmd, minclock=0, reqclock=0, cq=None):
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 register_msg(self, cb, msg, oid=None):
self._serial.register_callback(cb, msg, oid)
def alloc_command_queue(self):
return self._serial.alloc_command_queue()
def create_command(self, msg):
return self._serial.msgparser.create_command(msg)
def lookup_command(self, msgformat):
return self._serial.msgparser.lookup_command(msgformat)
def try_lookup_command(self, msgformat):
@ -662,17 +622,8 @@ class MCU:
return self._serial.msgparser.lookup_command(msgformat)
except self._serial.msgparser.error as e:
return None
def create_command(self, msg):
return self._serial.msgparser.create_command(msg)
def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5)
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
def print_time_to_clock(self, print_time):
return self._clocksync.print_time_to_clock(print_time)
def clock_to_print_time(self, clock):
@ -683,15 +634,15 @@ class MCU:
return self._clocksync.get_adjusted_freq()
def clock32_to_clock64(self, clock32):
return self._clocksync.clock32_to_clock64(clock32)
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_max_stepper_error(self):
return self._max_stepper_error
# Move command queuing
def send(self, cmd, minclock=0, reqclock=0, cq=None):
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 pause(self, waketime):
return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
# Misc external commands
def is_fileoutput(self):
return self._printer.get_start_args().get('debugoutput') is not None
def is_shutdown(self):
return self._is_shutdown
def flush_moves(self, print_time):
if self._steppersync is None:
return
@ -699,10 +650,58 @@ class MCU:
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
if ret:
raise error("Internal error in stepcompress")
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
def check_active(self, print_time, eventtime):
if self._clocksync.is_active(eventtime):
return
logging.info("Timeout with firmware (eventtime=%f)", eventtime)
self._printer.note_mcu_error("Lost communication with firmware")
def stats(self, eventtime):
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
return ' '.join([self._serial.stats(eventtime),
self._clocksync.stats(eventtime), msg])
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):
reactor = self._printer.reactor
if self._restart_method == 'rpi_usb':
logging.info("Attempting a microcontroller reset via rpi usb power")
self.disconnect()
chelper.run_hub_ctrl(0)
reactor.pause(reactor.monotonic() + 2.000)
chelper.run_hub_ctrl(1)
return
if self._restart_method == 'command':
eventtime = reactor.monotonic()
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or not self._clocksync.is_active(eventtime)):
logging.info("Unable to issue reset command")
return
if self._reset_cmd is None:
# Attempt reset via config_reset command
logging.info("Attempting a microcontroller config_reset command")
self._is_shutdown = True
self.force_shutdown()
reactor.pause(reactor.monotonic() + 0.015)
self.send(self._config_reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
return
# Attempt reset via reset command
logging.info("Attempting a microcontroller reset command")
self.send(self._reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
return
# Attempt reset via arduino mechanism
logging.info("Attempting a microcontroller reset")
self.disconnect()
serialhdl.arduino_reset(self._serialport, reactor)
def disconnect(self):
self._serial.disconnect()
if self._steppersync is not None:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def __del__(self):
self.disconnect()