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reactor: Use the system monotonic clock instead of the normal system clock 

The normal system clock can have sudden jumps if the system clock is
changed.  Use the system monotonic clock to avoid these sudden changes
in time.

It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity.  This could cause
sudden system clock changes which could lead to Klippy processing
errors.  Using the monotonic clock eliminates these issues.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-06 13:31:34 -05:00
parent c24b7a7ef9
commit 20d0936fa2
10 changed files with 58 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
klippy/chelper.py
View File

@ -71,6 +71,7 @@ defs_serialqueue = """
defs_pyhelper = """ defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *)); void set_python_logging_callback(void (*func)(const char *));
double get_monotonic(void);
""" """
# Return the list of file modification times # Return the list of file modification times

4
klippy/gcode.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections, time import os, re, logging, collections
import homing import homing
# Parse out incoming GCode and find and translate head movements # Parse out incoming GCode and find and translate head movements
@ -179,7 +179,7 @@ class GCodeParser:
def bg_temp(self, heater): def bg_temp(self, heater):
if self.is_fileinput: if self.is_fileinput:
return return
eventtime = time.time() eventtime = self.reactor.monotonic()
while self.is_printer_ready and heater.check_busy(eventtime): while self.is_printer_ready and heater.check_busy(eventtime):
self.toolhead.reset_motor_off_time(eventtime) self.toolhead.reset_motor_off_time(eventtime)
self.respond(self.get_temp()) self.respond(self.get_temp())

6
klippy/klippy.py
View File

@ -195,6 +195,10 @@ class Printer:
self.reactor.unregister_timer(self.connect_timer) self.reactor.unregister_timer(self.connect_timer)
return self.reactor.NEVER return self.reactor.NEVER
def run(self): def run(self):
systime = time.time()
monotime = self.reactor.monotonic()
logging.info("Start printer at %s (%.1f %.1f)" % (
time.asctime(time.localtime(systime)), systime, monotime))
try: try:
self.reactor.run() self.reactor.run()
except: except:
@ -216,7 +220,7 @@ class Printer:
def disconnect(self): def disconnect(self):
try: try:
if self.mcu is not None: if self.mcu is not None:
self.stats(time.time()) self.stats(self.reactor.monotonic())
self.mcu.disconnect() self.mcu.disconnect()
except: except:
logging.exception("Unhandled exception during disconnect") logging.exception("Unhandled exception during disconnect")

14
klippy/mcu.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import sys, zlib, logging, time, math import sys, zlib, logging, math
import serialhdl, pins, chelper import serialhdl, pins, chelper
class error(Exception): class error(Exception):
@ -163,7 +163,7 @@ class MCU_endstop:
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True self._homing = True
self._min_query_time = time.time() self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock + self._retry_query_ticks self._next_query_clock = clock + self._retry_query_ticks
msg = self._home_cmd.encode( msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert) self._oid, clock, rest_ticks, 1 ^ self._invert)
@ -173,7 +173,7 @@ class MCU_endstop:
self._stepper.note_homing_finalized() self._stepper.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq) self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self): def home_wait(self):
eventtime = time.time() eventtime = self._mcu.monotonic()
while self._check_busy(eventtime): while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1) eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params): def _handle_end_stop_state(self, params):
@ -211,10 +211,10 @@ class MCU_endstop:
def query_endstop(self, mcu_time): def query_endstop(self, mcu_time):
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
self._homing = False self._homing = False
self._min_query_time = time.time() self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock self._next_query_clock = clock
def query_endstop_wait(self): def query_endstop_wait(self):
eventtime = time.time() eventtime = self._mcu.monotonic()
while self._check_busy(eventtime): while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1) eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert return self._last_state.get('pin', self._invert) ^ self._invert
@ -377,7 +377,7 @@ class MCU:
if not self._is_fileoutput: if not self._is_fileoutput:
self.serial.connect() self.serial.connect()
self._printer.reactor.update_timer( self._printer.reactor.update_timer(
self._timeout_timer, time.time() + self.COMM_TIMEOUT) self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.serial.msgparser.get_constant_float( self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
'STATS_SUMSQ_BASE') 'STATS_SUMSQ_BASE')
@ -547,5 +547,7 @@ class MCU:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
def pause(self, waketime): def pause(self, waketime):
return self._printer.reactor.pause(waketime) return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
def __del__(self): def __del__(self):
self.disconnect() self.disconnect()

17
klippy/pyhelper.c
View File

@ -9,17 +9,20 @@
#include <stdint.h> // uint8_t #include <stdint.h> // uint8_t
#include <stdio.h> // fprintf #include <stdio.h> // fprintf
#include <string.h> // strerror #include <string.h> // strerror
#include <sys/time.h> // gettimeofday
#include <time.h> // struct timespec #include <time.h> // struct timespec
#include "pyhelper.h" // get_time #include "pyhelper.h" // get_monotonic
// Return the current system time as a double // Return the monotonic system time as a double
double double
get_time(void) get_monotonic(void)
{ {
struct timeval tv; struct timespec ts;
gettimeofday(&tv, NULL); int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
return (double)tv.tv_sec + (double)tv.tv_usec / 1000000.; if (ret) {
report_errno("clock_gettime", ret);
return 0.;
}
return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001;
} }
// Fill a 'struct timespec' with a system time stored in a double // Fill a 'struct timespec' with a system time stored in a double

2
klippy/pyhelper.h
View File

@ -1,7 +1,7 @@
#ifndef PYHELPER_H #ifndef PYHELPER_H
#define PYHELPER_H #define PYHELPER_H
double get_time(void); double get_monotonic(void);
struct timespec fill_time(double time); struct timespec fill_time(double time);
void set_python_logging_callback(void (*func)(const char *)); void set_python_logging_callback(void (*func)(const char *));
void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2))); void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));

24
klippy/reactor.py
View File

@ -3,8 +3,9 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import select, time, math import select, math
import greenlet import greenlet
import chelper
class ReactorTimer: class ReactorTimer:
def __init__(self, callback, waketime): def __init__(self, callback, waketime):
@ -33,6 +34,7 @@ class SelectReactor:
self._process = False self._process = False
self._g_dispatch = None self._g_dispatch = None
self._greenlets = [] self._greenlets = []
self.monotonic = chelper.get_ffi()[1].get_monotonic
# Timers # Timers
def _note_time(self, t): def _note_time(self, t):
nexttime = t.waketime nexttime = t.waketime
@ -67,7 +69,7 @@ class SelectReactor:
self._note_time(t) self._note_time(t)
if eventtime >= self._next_timer: if eventtime >= self._next_timer:
return 0. return 0.
return min(1., max(.001, self._next_timer - time.time())) return min(1., max(.001, self._next_timer - self.monotonic()))
# Greenlets # Greenlets
def pause(self, waketime): def pause(self, waketime):
g = greenlet.getcurrent() g = greenlet.getcurrent()
@ -97,16 +99,16 @@ class SelectReactor:
def _dispatch_loop(self): def _dispatch_loop(self):
self._process = True self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent() self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time() eventtime = self.monotonic()
while self._process: while self._process:
timeout = self._check_timers(eventtime) timeout = self._check_timers(eventtime)
res = select.select(self._fds, [], [], timeout) res = select.select(self._fds, [], [], timeout)
eventtime = time.time() eventtime = self.monotonic()
for fd in res[0]: for fd in res[0]:
fd.callback(eventtime) fd.callback(eventtime)
if g_dispatch is not self._g_dispatch: if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch) self._end_greenlet(g_dispatch)
eventtime = time.time() eventtime = self.monotonic()
break break
self._g_dispatch = None self._g_dispatch = None
def run(self): def run(self):
@ -137,16 +139,16 @@ class PollReactor(SelectReactor):
def _dispatch_loop(self): def _dispatch_loop(self):
self._process = True self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent() self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time() eventtime = self.monotonic()
while self._process: while self._process:
timeout = self._check_timers(eventtime) timeout = self._check_timers(eventtime)
res = self._poll.poll(int(math.ceil(timeout * 1000.))) res = self._poll.poll(int(math.ceil(timeout * 1000.)))
eventtime = time.time() eventtime = self.monotonic()
for fd, event in res: for fd, event in res:
self._fds[fd](eventtime) self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch: if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch) self._end_greenlet(g_dispatch)
eventtime = time.time() eventtime = self.monotonic()
break break
self._g_dispatch = None self._g_dispatch = None
@ -172,16 +174,16 @@ class EPollReactor(SelectReactor):
def _dispatch_loop(self): def _dispatch_loop(self):
self._process = True self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent() self._g_dispatch = g_dispatch = greenlet.getcurrent()
eventtime = time.time() eventtime = self.monotonic()
while self._process: while self._process:
timeout = self._check_timers(eventtime) timeout = self._check_timers(eventtime)
res = self._epoll.poll(timeout) res = self._epoll.poll(timeout)
eventtime = time.time() eventtime = self.monotonic()
for fd, event in res: for fd, event in res:
self._fds[fd](eventtime) self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch: if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch) self._end_greenlet(g_dispatch)
eventtime = time.time() eventtime = self.monotonic()
break break
self._g_dispatch = None self._g_dispatch = None

16
klippy/serialhdl.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import time, logging, threading import logging, threading
import serial import serial
import msgproto, chelper, util import msgproto, chelper, util
@ -60,7 +60,7 @@ class SerialReader:
# Initial connection # Initial connection
logging.info("Starting serial connect") logging.info("Starting serial connect")
while 1: while 1:
starttime = time.time() starttime = self.reactor.monotonic()
try: try:
self.ser = serial.Serial(self.serialport, self.baud, timeout=0) self.ser = serial.Serial(self.serialport, self.baud, timeout=0)
except OSError, e: except OSError, e:
@ -106,7 +106,7 @@ class SerialReader:
est_clock = float(self.msgparser.config['CLOCK_FREQ']) est_clock = float(self.msgparser.config['CLOCK_FREQ'])
self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1) self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1)
self.est_clock = est_clock self.est_clock = est_clock
self.last_ack_time = time.time() self.last_ack_time = self.reactor.monotonic()
self.last_ack_clock = 0 self.last_ack_clock = 0
self.ffi_lib.serialqueue_set_clock_est( self.ffi_lib.serialqueue_set_clock_est(
self.serialqueue, self.est_clock, self.last_ack_time self.serialqueue, self.est_clock, self.last_ack_time
@ -232,7 +232,7 @@ class SerialRetryCommand:
self.cmd = cmd self.cmd = cmd
self.name = name self.name = name
self.response = None self.response = None
self.min_query_time = time.time() self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name) self.serial.register_callback(self.handle_callback, self.name)
self.send_timer = self.serial.reactor.register_timer( self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW) self.send_event, self.serial.reactor.NOW)
@ -246,7 +246,7 @@ class SerialRetryCommand:
if last_sent_time >= self.min_query_time: if last_sent_time >= self.min_query_time:
self.response = params self.response = params
def get_response(self): def get_response(self):
eventtime = time.time() eventtime = self.serial.reactor.monotonic()
while self.response is None: while self.response is None:
eventtime = self.serial.reactor.pause(eventtime + 0.05) eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback(self.name) self.serial.unregister_callback(self.name)
@ -267,7 +267,7 @@ class SerialBootStrap:
self.send_timer = self.serial.reactor.register_timer( self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW) self.send_event, self.serial.reactor.NOW)
def get_identify_data(self, timeout): def get_identify_data(self, timeout):
eventtime = time.time() eventtime = self.serial.reactor.monotonic()
while not self.is_done and eventtime <= timeout: while not self.is_done and eventtime <= timeout:
eventtime = self.serial.reactor.pause(eventtime + 0.05) eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback('identify_response') self.serial.unregister_callback('identify_response')
@ -305,10 +305,10 @@ def stk500v2_leave(ser, reactor):
ser.read(1) ser.read(1)
# Send stk500v2 leave programmer sequence # Send stk500v2 leave programmer sequence
ser.baudrate = 115200 ser.baudrate = 115200
reactor.pause(time.time() + 0.100) reactor.pause(reactor.monotonic() + 0.100)
ser.read(4096) ser.read(4096)
ser.write('\x1b\x01\x00\x01\x0e\x11\x04') ser.write('\x1b\x01\x00\x01\x0e\x11\x04')
reactor.pause(time.time() + 0.050) reactor.pause(reactor.monotonic() + 0.050)
res = ser.read(4096) res = ser.read(4096)
logging.debug("Got %s from stk500v2" % (repr(res),)) logging.debug("Got %s from stk500v2" % (repr(res),))
ser.baudrate = origbaud ser.baudrate = origbaud

6
klippy/serialqueue.c
View File

@ -23,7 +23,7 @@
#include <termios.h> // tcflush #include <termios.h> // tcflush
#include <unistd.h> // pipe #include <unistd.h> // pipe
#include "list.h" // list_add_tail #include "list.h" // list_add_tail
#include "pyhelper.h" // get_time #include "pyhelper.h" // get_monotonic
#include "serialqueue.h" // struct queue_message #include "serialqueue.h" // struct queue_message
@ -149,11 +149,11 @@ static void
pollreactor_run(struct pollreactor *pr) pollreactor_run(struct pollreactor *pr)
{ {
pr->must_exit = 0; pr->must_exit = 0;
double eventtime = get_time(); double eventtime = get_monotonic();
while (! pr->must_exit) { while (! pr->must_exit) {
int timeout = pollreactor_check_timers(pr, eventtime); int timeout = pollreactor_check_timers(pr, eventtime);
int ret = poll(pr->fds, pr->num_fds, timeout); int ret = poll(pr->fds, pr->num_fds, timeout);
eventtime = get_time(); eventtime = get_monotonic();
if (ret > 0) { if (ret > 0) {
int i; int i;
for (i=0; i<pr->num_fds; i++) for (i=0; i<pr->num_fds; i++)

13
klippy/toolhead.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, time import math, logging
import cartesian, delta, extruder import cartesian, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in # Common suffixes: _d is distance (in mm), _v is velocity (in
@ -210,7 +210,7 @@ class ToolHead:
def get_next_move_time(self): def get_next_move_time(self):
if not self.print_time: if not self.print_time:
self.print_time = self.buffer_time_low + STALL_TIME self.print_time = self.buffer_time_low + STALL_TIME
curtime = time.time() curtime = self.reactor.monotonic()
self.printer.mcu.set_print_start_time(curtime) self.printer.mcu.set_print_start_time(curtime)
self.reactor.update_timer(self.flush_timer, self.reactor.NOW) self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
return self.print_time return self.print_time
@ -224,15 +224,16 @@ class ToolHead:
self.printer.mcu.flush_moves(self.print_time) self.printer.mcu.flush_moves(self.print_time)
self.print_time = 0. self.print_time = 0.
self.need_check_stall = -1. self.need_check_stall = -1.
self.reset_motor_off_time(time.time()) self.reset_motor_off_time(self.reactor.monotonic())
self.reactor.update_timer(self.flush_timer, self.motor_off_time) self.reactor.update_timer(self.flush_timer, self.motor_off_time)
def _check_stall(self): def _check_stall(self):
if not self.print_time: if not self.print_time:
# XXX - find better way to flush initial move_queue items # XXX - find better way to flush initial move_queue items
if self.move_queue.queue: if self.move_queue.queue:
self.reactor.update_timer(self.flush_timer, time.time() + 0.100) self.reactor.update_timer(
self.flush_timer, self.reactor.monotonic() + 0.100)
return return
eventtime = time.time() eventtime = self.reactor.monotonic()
while 1: while 1:
buffer_time = self.printer.mcu.get_print_buffer_time( buffer_time = self.printer.mcu.get_print_buffer_time(
eventtime, self.print_time) eventtime, self.print_time)
@ -310,7 +311,7 @@ class ToolHead:
logging.debug('; Max time of %f' % (last_move_time,)) logging.debug('; Max time of %f' % (last_move_time,))
def wait_moves(self): def wait_moves(self):
self.move_queue.flush() self.move_queue.flush()
eventtime = time.time() eventtime = self.reactor.monotonic()
while self.print_time: while self.print_time:
eventtime = self.reactor.pause(eventtime + 0.100) eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self): def query_endstops(self):