mirror of https://github.com/Desuuuu/klipper.git
98 lines
3.8 KiB
Python
98 lines
3.8 KiB
Python
# Wrapper around C helper code
|
|
#
|
|
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import os, logging
|
|
import cffi
|
|
|
|
COMPILE_CMD = "gcc -Wall -g -O -shared -fPIC -o %s %s"
|
|
SOURCE_FILES = ['stepcompress.c', 'serialqueue.c']
|
|
DEST_LIB = "c_helper.so"
|
|
OTHER_FILES = ['list.h', 'serialqueue.h']
|
|
|
|
defs_stepcompress = """
|
|
struct stepcompress *stepcompress_alloc(uint32_t max_error
|
|
, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
|
|
, uint32_t invert_sdir, uint32_t oid);
|
|
void stepcompress_push(struct stepcompress *sc, double step_clock
|
|
, int32_t sdir);
|
|
int32_t stepcompress_push_factor(struct stepcompress *sc
|
|
, double steps, double step_offset
|
|
, double clock_offset, double factor);
|
|
int32_t stepcompress_push_sqrt(struct stepcompress *sc
|
|
, double steps, double step_offset
|
|
, double clock_offset, double sqrt_offset, double factor);
|
|
void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
|
|
void stepcompress_queue_msg(struct stepcompress *sc
|
|
, uint32_t *data, int len);
|
|
uint32_t stepcompress_get_errors(struct stepcompress *sc);
|
|
|
|
struct steppersync *steppersync_alloc(struct serialqueue *sq
|
|
, struct stepcompress **sc_list, int sc_num, int move_num);
|
|
void steppersync_flush(struct steppersync *ss, uint64_t move_clock);
|
|
"""
|
|
|
|
defs_serialqueue = """
|
|
#define MESSAGE_MAX 64
|
|
struct pull_queue_message {
|
|
uint8_t msg[MESSAGE_MAX];
|
|
int len;
|
|
double sent_time, receive_time;
|
|
};
|
|
|
|
struct serialqueue *serialqueue_alloc(int serial_fd, int write_only);
|
|
void serialqueue_exit(struct serialqueue *sq);
|
|
struct command_queue *serialqueue_alloc_commandqueue(void);
|
|
void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
|
|
, uint8_t *msg, int len, uint64_t min_clock, uint64_t req_clock);
|
|
void serialqueue_encode_and_send(struct serialqueue *sq
|
|
, struct command_queue *cq, uint32_t *data, int len
|
|
, uint64_t min_clock, uint64_t req_clock);
|
|
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_clock_est(struct serialqueue *sq, double est_clock
|
|
, double last_ack_time, uint64_t last_ack_clock);
|
|
void serialqueue_flush_ready(struct serialqueue *sq);
|
|
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);
|
|
"""
|
|
|
|
# Return the list of file modification times
|
|
def get_mtimes(srcdir, filelist):
|
|
out = []
|
|
for filename in filelist:
|
|
pathname = os.path.join(srcdir, filename)
|
|
try:
|
|
t = os.path.getmtime(pathname)
|
|
except os.error:
|
|
continue
|
|
out.append(t)
|
|
return out
|
|
|
|
# Check if the code needs to be compiled
|
|
def check_build_code(srcdir):
|
|
src_times = get_mtimes(srcdir, SOURCE_FILES + OTHER_FILES)
|
|
obj_times = get_mtimes(srcdir, [DEST_LIB])
|
|
if not obj_times or max(src_times) > min(obj_times):
|
|
logging.info("Building C code module")
|
|
srcfiles = [os.path.join(srcdir, fname) for fname in SOURCE_FILES]
|
|
destlib = os.path.join(srcdir, DEST_LIB)
|
|
os.system(COMPILE_CMD % (destlib, ' '.join(srcfiles)))
|
|
|
|
FFI_main = None
|
|
FFI_lib = None
|
|
|
|
# Return the Foreign Function Interface api to the caller
|
|
def get_ffi():
|
|
global FFI_main, FFI_lib
|
|
if FFI_lib is None:
|
|
srcdir = os.path.dirname(os.path.realpath(__file__))
|
|
check_build_code(srcdir)
|
|
FFI_main = cffi.FFI()
|
|
FFI_main.cdef(defs_stepcompress)
|
|
FFI_main.cdef(defs_serialqueue)
|
|
FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB))
|
|
return FFI_main, FFI_lib
|