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klipper-dgus/klippy/chelper/__init__.py

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# Wrapper around C helper code
#
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
import cffi
######################################################################
# c_helper.so compiling
######################################################################
GCC_CMD = "gcc"
COMPILE_ARGS = ("-Wall -g -O2 -shared -fPIC"
" -flto -fwhole-program -fno-use-linker-plugin"
" -o %s %s")
SSE_FLAGS = "-mfpmath=sse -msse2"
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
'kin_shaper.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h',
'trapq.h',
]
defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
, uint32_t invert_sdir, int32_t queue_step_msgtag
, int32_t set_next_step_dir_msgtag);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_last_position(struct stepcompress *sc
, int64_t last_position);
int64_t stepcompress_find_past_position(struct stepcompress *sc
, uint64_t clock);
int stepcompress_queue_msg(struct stepcompress *sc
, uint32_t *data, int len);
struct steppersync *steppersync_alloc(struct serialqueue *sq
, struct stepcompress **sc_list, int sc_num, int move_num);
void steppersync_free(struct steppersync *ss);
void steppersync_set_time(struct steppersync *ss
, double time_offset, double mcu_freq);
int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
"""
defs_itersolve = """
int32_t itersolve_generate_steps(struct stepper_kinematics *sk
, double flush_time);
double itersolve_check_active(struct stepper_kinematics *sk
, double flush_time);
int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
"""
defs_trapq = """
void trapq_append(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_r_x, double axes_r_y, double axes_r_z
, double start_v, double cruise_v, double accel);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_free_moves(struct trapq *tq, double print_time);
"""
defs_kin_cartesian = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
"""
defs_kin_corexy = """
struct stepper_kinematics *corexy_stepper_alloc(char type);
"""
defs_kin_corexz = """
struct stepper_kinematics *corexz_stepper_alloc(char type);
"""
defs_kin_delta = """
struct stepper_kinematics *delta_stepper_alloc(double arm2
, double tower_x, double tower_y);
"""
defs_kin_polar = """
struct stepper_kinematics *polar_stepper_alloc(char type);
"""
defs_kin_rotary_delta = """
struct stepper_kinematics *rotary_delta_stepper_alloc(
double shoulder_radius, double shoulder_height
, double angle, double upper_arm, double lower_arm);
"""
defs_kin_winch = """
struct stepper_kinematics *winch_stepper_alloc(double anchor_x
, double anchor_y, double anchor_z);
"""
defs_kin_extruder = """
struct stepper_kinematics *extruder_stepper_alloc(void);
void extruder_set_smooth_time(struct stepper_kinematics *sk
, double smooth_time);
"""
defs_kin_shaper = """
enum INPUT_SHAPER_TYPE {
INPUT_SHAPER_ZV = 0,
INPUT_SHAPER_ZVD = 1,
INPUT_SHAPER_MZV = 2,
INPUT_SHAPER_EI = 3,
INPUT_SHAPER_2HUMP_EI = 4,
INPUT_SHAPER_3HUMP_EI = 5,
};
double input_shaper_get_step_generation_window(int shaper_type
, double shaper_freq, double damping_ratio);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int shaper_type_x, int shaper_type_y
, double shaper_freq_x, double shaper_freq_y
, double damping_ratio_x, double damping_ratio_y);
int input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
struct stepper_kinematics * input_shaper_alloc(void);
"""
defs_serialqueue = """
#define MESSAGE_MAX 64
struct pull_queue_message {
uint8_t msg[MESSAGE_MAX];
int len;
double sent_time, receive_time;
uint64_t notify_id;
};
struct serialqueue *serialqueue_alloc(int serial_fd, char serial_fd_type
, int client_id);
void serialqueue_exit(struct serialqueue *sq);
void serialqueue_free(struct serialqueue *sq);
struct command_queue *serialqueue_alloc_commandqueue(void);
void serialqueue_free_commandqueue(struct command_queue *cq);
void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
, uint8_t *msg, int len, uint64_t min_clock, uint64_t req_clock
, uint64_t notify_id);
void serialqueue_pull(struct serialqueue *sq
, struct pull_queue_message *pqm);
void serialqueue_set_baud_adjust(struct serialqueue *sq
, double baud_adjust);
void serialqueue_set_receive_window(struct serialqueue *sq
, int receive_window);
void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
, double last_clock_time, uint64_t last_clock);
void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
int serialqueue_extract_old(struct serialqueue *sq, int sentq
, struct pull_queue_message *q, int max);
"""
defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *));
double get_monotonic(void);
"""
defs_std = """
void free(void*);
"""
defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
]
# Update filenames to an absolute path
def get_abs_files(srcdir, filelist):
return [os.path.join(srcdir, fname) for fname in filelist]
# Return the list of file modification times
def get_mtimes(filelist):
out = []
for filename in filelist:
try:
t = os.path.getmtime(filename)
except os.error:
continue
out.append(t)
return out
# Check if the code needs to be compiled
def check_build_code(sources, target):
src_times = get_mtimes(sources)
obj_times = get_mtimes([target])
return not obj_times or max(src_times) > min(obj_times)
# Check if the current gcc version supports a particular command-line option
def check_gcc_option(option):
cmd = "%s %s -S -o /dev/null -xc /dev/null > /dev/null 2>&1" % (
GCC_CMD, option)
res = os.system(cmd)
return res == 0
# Check if the current gcc version supports a particular command-line option
def do_build_code(cmd):
res = os.system(cmd)
if res:
msg = "Unable to build C code module (error=%s)" % (res,)
logging.error(msg)
raise Exception(msg)
FFI_main = None
FFI_lib = None
pyhelper_logging_callback = None
# Hepler invoked from C errorf() code to log errors
def logging_callback(msg):
logging.error(FFI_main.string(msg))
# Return the Foreign Function Interface api to the caller
def get_ffi():
global FFI_main, FFI_lib, pyhelper_logging_callback
if FFI_lib is None:
srcdir = os.path.dirname(os.path.realpath(__file__))
srcfiles = get_abs_files(srcdir, SOURCE_FILES)
ofiles = get_abs_files(srcdir, OTHER_FILES)
destlib = get_abs_files(srcdir, [DEST_LIB])[0]
if check_build_code(srcfiles+ofiles+[__file__], destlib):
if check_gcc_option(SSE_FLAGS):
cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
else:
cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
logging.info("Building C code module %s", DEST_LIB)
do_build_code(cmd % (destlib, ' '.join(srcfiles)))
FFI_main = cffi.FFI()
for d in defs_all:
FFI_main.cdef(d)
FFI_lib = FFI_main.dlopen(destlib)
# Setup error logging
pyhelper_logging_callback = FFI_main.callback("void func(const char *)",
logging_callback)
FFI_lib.set_python_logging_callback(pyhelper_logging_callback)
return FFI_main, FFI_lib
######################################################################
# hub-ctrl hub power controller
######################################################################
HC_COMPILE_CMD = "gcc -Wall -g -O2 -o %s %s -lusb"
HC_SOURCE_FILES = ['hub-ctrl.c']
HC_SOURCE_DIR = '../../lib/hub-ctrl'
HC_TARGET = "hub-ctrl"
HC_CMD = "sudo %s/hub-ctrl -h 0 -P 2 -p %d"
def run_hub_ctrl(enable_power):
srcdir = os.path.dirname(os.path.realpath(__file__))
hubdir = os.path.join(srcdir, HC_SOURCE_DIR)
srcfiles = get_abs_files(hubdir, HC_SOURCE_FILES)
destlib = get_abs_files(hubdir, [HC_TARGET])[0]
if check_build_code(srcfiles, destlib):
logging.info("Building C code module %s", HC_TARGET)
do_build_code(HC_COMPILE_CMD % (destlib, ' '.join(srcfiles)))
os.system(HC_CMD % (hubdir, enable_power))
if __name__ == '__main__':
get_ffi()
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