klippy: Add access methods and avoid peeking into the printer classes
Add get_reactor(), lookup_object(), lookup_module_objects(), and set_rollover_info() to the main Printer class so that callers do not need to peek into the class' members. Similarly, add get_printer() and get_name() methods to the ConfigWrapper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
f0a754e496
commit
81013ba5c8
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@ -1,6 +1,6 @@
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# Code to configure miscellaneous chips
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#
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# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2017,2018 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 pins, mcu
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@ -22,7 +22,7 @@ PIN_MIN_TIME = 0.100
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class PrinterPin:
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def __init__(self, printer, config):
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self.printer = printer
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self.is_pwm = 'pwm' in config.section.split()[0]
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self.is_pwm = 'pwm' in config.get_name().split()[0]
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if self.is_pwm:
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self.mcu_pin = pins.setup_pin(printer, 'pwm', config.get('pin'))
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hard_pwm = config.getint('hard_pwm', None, minval=1)
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@ -40,7 +40,7 @@ class PrinterPin:
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self.last_value_time = 0.
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self.last_value = config.getfloat(
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'value', 0., minval=0., maxval=self.scale) / self.scale
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self.is_static = config.section.startswith('static_')
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self.is_static = config.get_name().startswith('static_')
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if self.is_static:
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self.mcu_pin.setup_start_value(
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self.last_value, self.last_value, True)
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@ -48,13 +48,13 @@ class PrinterPin:
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shutdown_value = config.getfloat(
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'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
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self.mcu_pin.setup_start_value(self.last_value, shutdown_value)
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self.gcode = printer.objects['gcode']
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self.gcode = printer.lookup_object('gcode')
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self.gcode.register_command("SET_PIN", self.cmd_SET_PIN,
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desc=self.cmd_SET_PIN_help)
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cmd_SET_PIN_help = "Set the value of an output pin"
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def cmd_SET_PIN(self, params):
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pin_name = self.gcode.get_str('PIN', params)
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pin = self.printer.objects.get('pin ' + pin_name)
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pin = self.printer.lookup_object('pin ' + pin_name, None)
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if pin is not self:
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if pin is None:
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raise self.gcode.error("Pin not configured")
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@ -64,7 +64,7 @@ class PrinterPin:
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value = self.gcode.get_float('VALUE', params) / self.scale
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if value == self.last_value:
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return
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print_time = self.printer.objects['toolhead'].get_last_move_time()
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
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if self.is_pwm:
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if value < 0. or value > 1.:
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@ -89,7 +89,7 @@ class PrinterMultiPin:
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self.mcu_pins = []
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def setup_pin(self, pin_params):
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pin_name = pin_params['pin']
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pin = self.printer.objects.get('multi_pin ' + pin_name)
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pin = self.printer.lookup_object('multi_pin ' + pin_name, None)
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if pin is not self:
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if pin is None:
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raise pins.error("multi_pin %s not configured" % (pin_name,))
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@ -147,7 +147,7 @@ class PrinterServo:
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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self.last_value = self.last_value_time = 0.
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self.gcode = printer.objects['gcode']
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self.gcode = printer.lookup_object('gcode')
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self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
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desc=self.cmd_SET_SERVO_help)
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def set_pwm(self, print_time, value):
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@ -167,12 +167,12 @@ class PrinterServo:
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cmd_SET_SERVO_help = "Set servo angle"
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def cmd_SET_SERVO(self, params):
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servo_name = self.gcode.get_str('SERVO', params)
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servo = self.printer.objects.get('servo ' + servo_name)
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servo = self.printer.lookup_object('servo ' + servo_name, None)
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if servo is not self:
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if servo is None:
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raise self.gcode.error("Servo not configured")
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return servo.cmd_SET_SERVO(params)
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print_time = self.printer.objects['toolhead'].get_last_move_time()
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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if 'WIDTH' in params:
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self.set_pulse_width(print_time,
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self.gcode.get_float('WIDTH', params))
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@ -1,6 +1,6 @@
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# Code for handling printer nozzle extruders
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#
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# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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 math, logging
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@ -24,7 +24,7 @@ class PrinterExtruder:
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'max_extrude_cross_section', 4. * self.nozzle_diameter**2
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, above=0.)
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self.max_extrude_ratio = max_cross_section / self.filament_area
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toolhead = printer.objects['toolhead']
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toolhead = printer.lookup_object('toolhead')
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_e_velocity = config.getfloat(
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'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
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@ -248,17 +248,17 @@ def add_printer_objects(printer, config):
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def get_printer_extruders(printer):
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out = []
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for i in range(99):
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extruder = printer.objects.get('extruder%d' % (i,))
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extruder = printer.lookup_object('extruder%d' % (i,), None)
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if extruder is None:
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break
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out.append(extruder)
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return out
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def get_printer_heater(printer, name):
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if name == 'heater_bed' and name in printer.objects:
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return printer.objects[name]
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if name == 'heater_bed':
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return printer.lookup_object(name)
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if name == 'extruder':
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name = 'extruder0'
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if name.startswith('extruder') and name in printer.objects:
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return printer.objects[name].get_heater()
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if name.startswith('extruder'):
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return printer.lookup_object(name).get_heater()
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raise printer.config_error("Unknown heater '%s'" % (name,))
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@ -1,6 +1,6 @@
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# Printer fan support
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#
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# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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 extruder, pins
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@ -35,7 +35,7 @@ class PrinterFan:
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class PrinterHeaterFan:
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def __init__(self, printer, config):
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self.fan = PrinterFan(printer, config)
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self.mcu = printer.objects['mcu']
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self.mcu = printer.lookup_object('mcu')
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heater = config.get("heater", "extruder0")
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self.heater = extruder.get_printer_heater(printer, heater)
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self.heater_temp = config.getfloat("heater_temp", 50.0)
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@ -43,7 +43,8 @@ class PrinterHeaterFan:
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self.fan_speed = config.getfloat(
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"fan_speed", max_power, minval=0., maxval=max_power)
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self.fan.mcu_fan.setup_start_value(0., max_power)
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printer.reactor.register_timer(self.callback, printer.reactor.NOW)
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reactor = printer.get_reactor()
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reactor.register_timer(self.callback, reactor.NOW)
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def callback(self, eventtime):
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current_temp, target_temp = self.heater.get_temp(eventtime)
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if not current_temp and not target_temp and not self.fan.last_fan_time:
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@ -1,6 +1,6 @@
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# Parse gcode commands
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#
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# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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 os, re, logging, collections
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@ -17,7 +17,7 @@ class GCodeParser:
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self.printer = printer
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self.fd = fd
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# Input handling
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self.reactor = printer.reactor
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self.reactor = printer.get_reactor()
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self.is_processing_data = False
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self.is_fileinput = not not printer.get_start_args().get("debuginput")
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self.fd_handle = None
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@ -72,14 +72,14 @@ class GCodeParser:
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self.is_printer_ready = True
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self.gcode_handlers = self.ready_gcode_handlers
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# Lookup printer components
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self.toolhead = self.printer.objects.get('toolhead')
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self.toolhead = self.printer.lookup_object('toolhead')
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extruders = extruder.get_printer_extruders(self.printer)
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if extruders:
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self.extruder = extruders[0]
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self.toolhead.set_extruder(self.extruder)
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self.heaters = [ e.get_heater() for e in extruders ]
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self.heaters.append(self.printer.objects.get('heater_bed'))
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self.fan = self.printer.objects.get('fan')
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self.heaters.append(self.printer.lookup_object('heater_bed', None))
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self.fan = self.printer.lookup_object('fan', None)
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if self.is_fileinput and self.fd_handle is None:
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self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
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def reset_last_position(self):
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@ -1,6 +1,6 @@
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# Printer heater support
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#
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# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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 math, logging, threading
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@ -106,7 +106,7 @@ class PrinterHeater:
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error = error
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def __init__(self, printer, config):
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self.printer = printer
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self.name = config.section
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self.name = config.get_name()
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sensor_params = config.getchoice('sensor_type', Sensors)
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self.sensor = sensor_params['class'](config, sensor_params)
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self.min_temp = config.getfloat('min_temp', minval=0.)
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@ -326,7 +326,7 @@ class ControlAutoTune:
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midpoint_pos = sorted(cycle_times)[len(cycle_times)/2][1]
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Kp, Ki, Kd = self.calc_pid(midpoint_pos)
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logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd)
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gcode = self.heater.printer.objects['gcode']
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gcode = self.heater.printer.lookup_object('gcode')
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gcode.respond_info(
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"PID parameters: pid_Kp=%.3f pid_Ki=%.3f pid_Kd=%.3f\n"
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"To use these parameters, update the printer config file with\n"
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@ -1,7 +1,7 @@
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#!/usr/bin/env python2
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# Main code for host side printer firmware
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#
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# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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, optparse, ConfigParser, logging, time, threading
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@ -52,8 +52,12 @@ class ConfigWrapper:
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def __init__(self, printer, section):
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self.printer = printer
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self.section = section
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def get_wrapper(self, parser, option, default
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, minval=None, maxval=None, above=None, below=None):
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def get_printer(self):
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return self.printer
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def get_name(self):
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return self.section
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def _get_wrapper(self, parser, option, default,
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minval=None, maxval=None, above=None, below=None):
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if (default is not self.sentinel
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and not self.printer.fileconfig.has_option(self.section, option)):
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return default
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@ -84,17 +88,17 @@ class ConfigWrapper:
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option, self.section, below))
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return v
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def get(self, option, default=sentinel):
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return self.get_wrapper(self.printer.fileconfig.get, option, default)
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return self._get_wrapper(self.printer.fileconfig.get, option, default)
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def getint(self, option, default=sentinel, minval=None, maxval=None):
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return self.get_wrapper(
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return self._get_wrapper(
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self.printer.fileconfig.getint, option, default, minval, maxval)
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def getfloat(self, option, default=sentinel
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, minval=None, maxval=None, above=None, below=None):
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return self.get_wrapper(
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return self._get_wrapper(
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self.printer.fileconfig.getfloat, option, default
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, minval, maxval, above, below)
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def getboolean(self, option, default=sentinel):
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return self.get_wrapper(
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return self._get_wrapper(
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self.printer.fileconfig.getboolean, option, default)
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def getchoice(self, option, choices, default=sentinel):
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c = self.get(option, default)
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@ -144,6 +148,31 @@ class Printer:
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self.mcus = []
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def get_start_args(self):
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return self.start_args
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def get_reactor(self):
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return self.reactor
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def get_state_message(self):
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return self.state_message
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def add_object(self, name, obj):
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if obj in self.objects:
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raise self.config_error(
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"Printer object '%s' already created" % (name,))
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self.objects[name] = obj
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def lookup_object(self, name, default=ConfigWrapper.sentinel):
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if name in self.objects:
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return self.objects[name]
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if default is ConfigWrapper.sentinel:
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raise self.config_error("Unknown config object '%s'" % (name,))
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return default
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def lookup_module_objects(self, module_name):
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prefix = module_name + ' '
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objs = [self.objects[n]
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for n in sorted(self.objects) if n.startswith(prefix)]
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if module_name in self.objects:
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return [self.objects[module_name]] + objs
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return objs
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def set_rollover_info(self, name, info):
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if self.bglogger is not None:
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self.bglogger.set_rollover_info(name, info)
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def _stats(self, eventtime, force_output=False):
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toolhead = self.objects.get('toolhead')
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if toolhead is None:
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@ -158,8 +187,6 @@ class Printer:
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out.append(m.stats(eventtime))
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logging.info("Stats %.1f: %s", eventtime, ' '.join(out))
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return eventtime + 1.
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def add_object(self, name, obj):
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self.objects[name] = obj
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def _load_config(self):
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self.fileconfig = ConfigParser.RawConfigParser()
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config_file = self.start_args['config_file']
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@ -173,7 +200,7 @@ class Printer:
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config = ConfigWrapper(self, 'printer')
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for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
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m.add_printer_objects(self, config)
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self.mcus = mcu.get_printer_mcus(self)
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self.mcus = self.lookup_module_objects('mcu')
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# Validate that there are no undefined parameters in the config file
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valid_sections = { s: 1 for s, o in self.all_config_options }
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for section in self.fileconfig.sections():
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@ -237,8 +264,6 @@ class Printer:
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except:
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logging.exception("Unhandled exception during post run")
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return run_result
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def get_state_message(self):
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return self.state_message
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def invoke_shutdown(self, msg):
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if self.is_shutdown:
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return
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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) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2016-2018 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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@ -409,7 +409,8 @@ class MCU:
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def __init__(self, printer, config, clocksync):
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self._printer = printer
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self._clocksync = clocksync
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self._name = config.section
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self._reactor = printer.get_reactor()
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self._name = config.get_name()
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if self._name.startswith('mcu '):
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self._name = self._name[4:]
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# Serial port
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@ -419,7 +420,7 @@ class MCU:
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or self._serialport.startswith("/tmp/klipper_host_")):
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baud = config.getint('baud', 250000, minval=2400)
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self._serial = serialhdl.SerialReader(
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printer.reactor, self._serialport, baud)
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self._reactor, self._serialport, baud)
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# Restarts
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self._restart_method = 'command'
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if baud:
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@ -430,8 +431,7 @@ class MCU:
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self._emergency_stop_cmd = None
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self._is_shutdown = self._is_timeout = False
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self._shutdown_msg = ""
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if printer.bglogger is not None:
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printer.bglogger.set_rollover_info(self._name, None)
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printer.set_rollover_info(self._name, None)
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# Config building
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pins.get_printer_pins(printer).register_chip(self._name, self)
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self._oid_count = 0
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@ -482,7 +482,7 @@ class MCU:
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logging.info("Attempting automated MCU '%s' restart: %s",
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self._name, reason)
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self._printer.request_exit('firmware_restart')
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self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
|
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self._reactor.pause(self._reactor.monotonic() + 2.000)
|
||||
raise error("Attempt MCU '%s' restart failed" % (self._name,))
|
||||
def _connect_file(self, pace=False):
|
||||
# In a debugging mode. Open debug output file and read data dictionary
|
||||
|
|
@ -566,7 +566,6 @@ class MCU:
|
|||
raise error("MCU '%s' CRC does not match config" % (self._name,))
|
||||
move_count = config_params['move_count']
|
||||
logging.info("Configured MCU '%s' (%d moves)", self._name, move_count)
|
||||
if self._printer.bglogger is not None:
|
||||
msgparser = self._serial.msgparser
|
||||
info = [
|
||||
"Configured MCU '%s' (%d moves)" % (self._name, move_count),
|
||||
|
|
@ -575,7 +574,7 @@ class MCU:
|
|||
msgparser.version, msgparser.build_versions),
|
||||
"MCU '%s' config: %s" % (self._name, " ".join(
|
||||
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
|
||||
self._printer.bglogger.set_rollover_info(self._name, "\n".join(info))
|
||||
self._printer.set_rollover_info(self._name, "\n".join(info))
|
||||
self._steppersync = self._ffi_lib.steppersync_alloc(
|
||||
self._serial.serialqueue, self._stepqueues, len(self._stepqueues),
|
||||
move_count)
|
||||
|
|
@ -663,18 +662,17 @@ class MCU:
|
|||
def clock32_to_clock64(self, clock32):
|
||||
return self._clocksync.clock32_to_clock64(clock32)
|
||||
def pause(self, waketime):
|
||||
return self._printer.reactor.pause(waketime)
|
||||
return self._reactor.pause(waketime)
|
||||
def monotonic(self):
|
||||
return self._printer.reactor.monotonic()
|
||||
return self._reactor.monotonic()
|
||||
# Restarts
|
||||
def _restart_arduino(self):
|
||||
logging.info("Attempting MCU '%s' reset", self._name)
|
||||
self.disconnect()
|
||||
serialhdl.arduino_reset(self._serialport, self._printer.reactor)
|
||||
serialhdl.arduino_reset(self._serialport, self._reactor)
|
||||
def _restart_via_command(self):
|
||||
reactor = self._printer.reactor
|
||||
if ((self._reset_cmd is None and self._config_reset_cmd is None)
|
||||
or not self._clocksync.is_active(reactor.monotonic())):
|
||||
or not self._clocksync.is_active(self._reactor.monotonic())):
|
||||
logging.info("Unable to issue reset command on MCU '%s'", self._name)
|
||||
return
|
||||
if self._reset_cmd is None:
|
||||
|
|
@ -682,19 +680,19 @@ class MCU:
|
|||
logging.info("Attempting MCU '%s' config_reset command", self._name)
|
||||
self._is_shutdown = True
|
||||
self.do_shutdown(force=True)
|
||||
reactor.pause(reactor.monotonic() + 0.015)
|
||||
self._reactor.pause(self._reactor.monotonic() + 0.015)
|
||||
self.send(self._config_reset_cmd.encode())
|
||||
else:
|
||||
# Attempt reset via reset command
|
||||
logging.info("Attempting MCU '%s' reset command", self._name)
|
||||
self.send(self._reset_cmd.encode())
|
||||
reactor.pause(reactor.monotonic() + 0.015)
|
||||
self._reactor.pause(self._reactor.monotonic() + 0.015)
|
||||
self.disconnect()
|
||||
def _restart_rpi_usb(self):
|
||||
logging.info("Attempting MCU '%s' reset via rpi usb power", self._name)
|
||||
self.disconnect()
|
||||
chelper.run_hub_ctrl(0)
|
||||
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.)
|
||||
self._reactor.pause(self._reactor.monotonic() + 2.)
|
||||
chelper.run_hub_ctrl(1)
|
||||
def microcontroller_restart(self):
|
||||
if self._restart_method == 'rpi_usb':
|
||||
|
|
@ -773,20 +771,14 @@ def error_help(msg):
|
|||
return ""
|
||||
|
||||
def add_printer_objects(printer, config):
|
||||
mainsync = clocksync.ClockSync(printer.reactor)
|
||||
reactor = printer.get_reactor()
|
||||
mainsync = clocksync.ClockSync(reactor)
|
||||
printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync))
|
||||
for s in config.get_prefix_sections('mcu '):
|
||||
printer.add_object(s.section, MCU(
|
||||
printer, s, clocksync.SecondarySync(printer.reactor, mainsync)))
|
||||
|
||||
def get_printer_mcus(printer):
|
||||
return [printer.objects[n] for n in sorted(printer.objects)
|
||||
if n.startswith('mcu')]
|
||||
printer, s, clocksync.SecondarySync(reactor, mainsync)))
|
||||
|
||||
def get_printer_mcu(printer, name):
|
||||
mcu_name = name
|
||||
if name != 'mcu':
|
||||
mcu_name = 'mcu ' + name
|
||||
if mcu_name not in printer.objects:
|
||||
raise printer.config_error("Unknown MCU %s" % (name,))
|
||||
return printer.objects[mcu_name]
|
||||
if name == 'mcu':
|
||||
return printer.lookup_object(name)
|
||||
return printer.lookup_object('mcu ' + name)
|
||||
|
|
|
|||
|
|
@ -234,7 +234,7 @@ def add_printer_objects(printer, config):
|
|||
printer.add_object('pins', PrinterPins())
|
||||
|
||||
def get_printer_pins(printer):
|
||||
return printer.objects['pins']
|
||||
return printer.lookup_object('pins')
|
||||
|
||||
def setup_pin(printer, pin_type, pin_desc):
|
||||
return get_printer_pins(printer).setup_pin(pin_type, pin_desc)
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@ def lookup_enable_pin(printer, pin):
|
|||
# Code storing the definitions for a stepper motor
|
||||
class PrinterStepper:
|
||||
def __init__(self, printer, config):
|
||||
self.name = config.section
|
||||
self.name = config.get_name()
|
||||
if self.name.startswith('stepper_'):
|
||||
self.name = self.name[8:]
|
||||
self.need_motor_enable = True
|
||||
|
|
@ -101,7 +101,7 @@ class PrinterHomingStepper(PrinterStepper):
|
|||
else:
|
||||
raise config.error(
|
||||
"Unable to infer homing_positive_dir in section '%s'" % (
|
||||
config.section,))
|
||||
config.get_name(),))
|
||||
# Endstop stepper phase position tracking
|
||||
self.homing_stepper_phases = config.getint(
|
||||
'homing_stepper_phases', None, minval=0)
|
||||
|
|
@ -169,9 +169,9 @@ class PrinterMultiStepper(PrinterHomingStepper):
|
|||
self.extras = []
|
||||
self.all_step_const = [self.step_const]
|
||||
for i in range(1, 99):
|
||||
if not config.has_section(config.section + str(i)):
|
||||
if not config.has_section(config.get_name() + str(i)):
|
||||
break
|
||||
extraconfig = config.getsection(config.section + str(i))
|
||||
extraconfig = config.getsection(config.get_name() + str(i))
|
||||
extra = PrinterStepper(printer, extraconfig)
|
||||
self.extras.append(extra)
|
||||
self.all_step_const.append(extra.step_const)
|
||||
|
|
@ -202,6 +202,6 @@ class PrinterMultiStepper(PrinterHomingStepper):
|
|||
return self.endstops
|
||||
|
||||
def LookupMultiHomingStepper(printer, config):
|
||||
if not config.has_section(config.section + '1'):
|
||||
if not config.has_section(config.get_name() + '1'):
|
||||
return PrinterHomingStepper(printer, config)
|
||||
return PrinterMultiStepper(printer, config)
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
# Code for coordinating events on the printer toolhead
|
||||
#
|
||||
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
|
||||
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
import math, logging
|
||||
|
|
@ -183,8 +183,8 @@ STALL_TIME = 0.100
|
|||
class ToolHead:
|
||||
def __init__(self, printer, config):
|
||||
self.printer = printer
|
||||
self.reactor = printer.reactor
|
||||
self.all_mcus = mcu.get_printer_mcus(printer)
|
||||
self.reactor = printer.get_reactor()
|
||||
self.all_mcus = printer.lookup_module_objects('mcu')
|
||||
self.mcu = self.all_mcus[0]
|
||||
self.max_velocity = config.getfloat('max_velocity', above=0.)
|
||||
self.max_accel = config.getfloat('max_accel', above=0.)
|
||||
|
|
|
|||
Loading…
Reference in New Issue