mcu: Code movement in mcu.py
This is code movement and comment updates only - no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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0a645e4916
commit
69dcda1696
161
klippy/mcu.py
161
klippy/mcu.py
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@ -1,6 +1,6 @@
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# Interface to Klipper micro-controller code
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2023 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, os, zlib, logging, math
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@ -9,6 +9,90 @@ import serialhdl, msgproto, pins, chelper, clocksync
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class error(Exception):
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pass
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######################################################################
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# Command transmit helper classes
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######################################################################
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# Class to retry sending of a query command until a given response is received
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class RetryAsyncCommand:
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TIMEOUT_TIME = 5.0
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RETRY_TIME = 0.500
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def __init__(self, serial, name, oid=None):
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self.serial = serial
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self.name = name
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self.oid = oid
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self.reactor = serial.get_reactor()
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self.completion = self.reactor.completion()
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self.min_query_time = self.reactor.monotonic()
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self.serial.register_response(self.handle_callback, name, oid)
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def handle_callback(self, params):
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if params['#sent_time'] >= self.min_query_time:
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self.min_query_time = self.reactor.NEVER
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self.reactor.async_complete(self.completion, params)
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def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
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cmd, = cmds
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self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
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first_query_time = query_time = self.reactor.monotonic()
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while 1:
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params = self.completion.wait(query_time + self.RETRY_TIME)
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if params is not None:
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self.serial.register_response(None, self.name, self.oid)
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return params
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query_time = self.reactor.monotonic()
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if query_time > first_query_time + self.TIMEOUT_TIME:
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self.serial.register_response(None, self.name, self.oid)
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raise serialhdl.error("Timeout on wait for '%s' response"
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% (self.name,))
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self.serial.raw_send(cmd, minclock, minclock, cmd_queue)
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# Wrapper around query commands
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class CommandQueryWrapper:
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def __init__(self, serial, msgformat, respformat, oid=None,
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cmd_queue=None, is_async=False, error=serialhdl.error):
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self._serial = serial
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self._cmd = serial.get_msgparser().lookup_command(msgformat)
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serial.get_msgparser().lookup_command(respformat)
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self._response = respformat.split()[0]
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self._oid = oid
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self._error = error
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self._xmit_helper = serialhdl.SerialRetryCommand
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if is_async:
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self._xmit_helper = RetryAsyncCommand
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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def _do_send(self, cmds, minclock, reqclock):
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xh = self._xmit_helper(self._serial, self._response, self._oid)
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reqclock = max(minclock, reqclock)
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try:
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return xh.get_response(cmds, self._cmd_queue, minclock, reqclock)
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except serialhdl.error as e:
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raise self._error(str(e))
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def send(self, data=(), minclock=0, reqclock=0):
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return self._do_send([self._cmd.encode(data)], minclock, reqclock)
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def send_with_preface(self, preface_cmd, preface_data=(), data=(),
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minclock=0, reqclock=0):
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cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)]
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return self._do_send(cmds, minclock, reqclock)
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# Wrapper around command sending
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class CommandWrapper:
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def __init__(self, serial, msgformat, cmd_queue=None):
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self._serial = serial
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self._cmd = serial.get_msgparser().lookup_command(msgformat)
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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def send(self, data=(), minclock=0, reqclock=0):
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cmd = self._cmd.encode(data)
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self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
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######################################################################
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# Wrapper classes for MCU pins
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######################################################################
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class MCU_trsync:
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REASON_ENDSTOP_HIT = 1
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REASON_COMMS_TIMEOUT = 2
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@ -456,79 +540,10 @@ class MCU_adc:
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if self._callback is not None:
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self._callback(last_read_time, last_value)
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# Class to retry sending of a query command until a given response is received
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class RetryAsyncCommand:
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TIMEOUT_TIME = 5.0
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RETRY_TIME = 0.500
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def __init__(self, serial, name, oid=None):
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self.serial = serial
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self.name = name
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self.oid = oid
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self.reactor = serial.get_reactor()
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self.completion = self.reactor.completion()
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self.min_query_time = self.reactor.monotonic()
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self.serial.register_response(self.handle_callback, name, oid)
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def handle_callback(self, params):
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if params['#sent_time'] >= self.min_query_time:
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self.min_query_time = self.reactor.NEVER
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self.reactor.async_complete(self.completion, params)
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def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
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cmd, = cmds
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self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
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first_query_time = query_time = self.reactor.monotonic()
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while 1:
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params = self.completion.wait(query_time + self.RETRY_TIME)
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if params is not None:
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self.serial.register_response(None, self.name, self.oid)
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return params
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query_time = self.reactor.monotonic()
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if query_time > first_query_time + self.TIMEOUT_TIME:
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self.serial.register_response(None, self.name, self.oid)
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raise serialhdl.error("Timeout on wait for '%s' response"
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% (self.name,))
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self.serial.raw_send(cmd, minclock, minclock, cmd_queue)
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# Wrapper around query commands
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class CommandQueryWrapper:
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def __init__(self, serial, msgformat, respformat, oid=None,
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cmd_queue=None, is_async=False, error=serialhdl.error):
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self._serial = serial
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self._cmd = serial.get_msgparser().lookup_command(msgformat)
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serial.get_msgparser().lookup_command(respformat)
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self._response = respformat.split()[0]
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self._oid = oid
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self._error = error
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self._xmit_helper = serialhdl.SerialRetryCommand
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if is_async:
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self._xmit_helper = RetryAsyncCommand
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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def _do_send(self, cmds, minclock, reqclock):
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xh = self._xmit_helper(self._serial, self._response, self._oid)
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reqclock = max(minclock, reqclock)
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try:
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return xh.get_response(cmds, self._cmd_queue, minclock, reqclock)
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except serialhdl.error as e:
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raise self._error(str(e))
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def send(self, data=(), minclock=0, reqclock=0):
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return self._do_send([self._cmd.encode(data)], minclock, reqclock)
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def send_with_preface(self, preface_cmd, preface_data=(), data=(),
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minclock=0, reqclock=0):
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cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)]
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return self._do_send(cmds, minclock, reqclock)
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# Wrapper around command sending
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class CommandWrapper:
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def __init__(self, serial, msgformat, cmd_queue=None):
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self._serial = serial
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self._cmd = serial.get_msgparser().lookup_command(msgformat)
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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def send(self, data=(), minclock=0, reqclock=0):
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cmd = self._cmd.encode(data)
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self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
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######################################################################
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# Main MCU class
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######################################################################
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class MCU:
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error = error
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