buildcommands: Extend number of available mcu messages from 96 to 128

Some internal code treats the message ids as encoded "variable length
quantities", while other internal code assumes the message id is
always one byte long.  Continue using this scheme, but convert the VLQ
users to use the name "msgtag" while the 1-byte users use "msgid".
Increase the number of available msgids from 96 to 127 - the higher
values get encoded as negative "msgtags".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/chelper/__init__.py

@@ -1,6 +1,6 @@
 # Wrapper around C helper code
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# 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
@@ -31,8 +31,8 @@ OTHER_FILES = [
 defs_stepcompress = """
     struct stepcompress *stepcompress_alloc(uint32_t oid);
     void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-        , uint32_t invert_sdir, uint32_t queue_step_msgid
+        , uint32_t invert_sdir, int32_t queue_step_msgtag
-        , uint32_t set_next_step_dir_msgid);
+        , 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_queue_msg(struct stepcompress *sc

klippy/chelper/stepcompress.c

@@ -1,6 +1,6 @@
 // Stepper pulse schedule compression
 //
-// Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -36,7 +36,8 @@ struct stepcompress {
     // Message generation
     uint64_t last_step_clock;
     struct list_head msg_queue;
-    uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
+    uint32_t oid;
+    int32_t queue_step_msgtag, set_next_step_dir_msgtag;
     int sdir, invert_sdir;
     // Step+dir+step filter
     uint64_t next_step_clock;
@@ -244,13 +245,13 @@ stepcompress_alloc(uint32_t oid)
 // Fill message id information
 void __visible
 stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-                  , uint32_t invert_sdir, uint32_t queue_step_msgid
+                  , uint32_t invert_sdir, int32_t queue_step_msgtag
-                  , uint32_t set_next_step_dir_msgid)
+                  , int32_t set_next_step_dir_msgtag)
 {
     sc->max_error = max_error;
     sc->invert_sdir = !!invert_sdir;
-    sc->queue_step_msgid = queue_step_msgid;
+    sc->queue_step_msgtag = queue_step_msgtag;
-    sc->set_next_step_dir_msgid = set_next_step_dir_msgid;
+    sc->set_next_step_dir_msgtag = set_next_step_dir_msgtag;
 }
 
 // Free memory associated with a 'stepcompress' object
@@ -307,7 +308,7 @@ queue_flush(struct stepcompress *sc, uint64_t move_clock)
             return ret;
 
         uint32_t msg[5] = {
-            sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
+            sc->queue_step_msgtag, sc->oid, move.interval, move.count, move.add
         };
         struct queue_message *qm = message_alloc_and_encode(msg, 5);
         qm->min_clock = qm->req_clock = sc->last_step_clock;
@@ -331,7 +332,7 @@ static int
 stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
 {
     uint32_t msg[5] = {
-        sc->queue_step_msgid, sc->oid, abs_step_clock - sc->last_step_clock,
+        sc->queue_step_msgtag, sc->oid, abs_step_clock - sc->last_step_clock,
         1, 0
     };
     struct queue_message *qm = message_alloc_and_encode(msg, 5);
@@ -353,7 +354,7 @@ set_next_step_dir(struct stepcompress *sc, int sdir)
     if (ret)
         return ret;
     uint32_t msg[3] = {
-        sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
+        sc->set_next_step_dir_msgtag, sc->oid, sdir ^ sc->invert_sdir
     };
     struct queue_message *qm = message_alloc_and_encode(msg, 3);
     qm->req_clock = sc->last_step_clock;

klippy/chelper/stepcompress.h

@@ -7,8 +7,8 @@
 
 struct stepcompress *stepcompress_alloc(uint32_t oid);
 void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
-                       , uint32_t invert_sdir, uint32_t queue_step_msgid
+                       , uint32_t invert_sdir, int32_t queue_step_msgtag
-                       , uint32_t set_next_step_dir_msgid);
+                       , int32_t set_next_step_dir_msgtag);
 void stepcompress_free(struct stepcompress *sc);
 uint32_t stepcompress_get_oid(struct stepcompress *sc);
 int stepcompress_get_step_dir(struct stepcompress *sc);

klippy/console.py

@@ -138,7 +138,7 @@ class KeyboardReader:
     def command_LIST(self, parts):
         self.update_evals(self.reactor.monotonic())
         mp = self.ser.get_msgparser()
-        cmds = [msgformat for msgid, msgtype, msgformat in mp.get_messages()
+        cmds = [msgformat for msgtag, msgtype, msgformat in mp.get_messages()
                 if msgtype == 'command']
         out = "Available mcu commands:"
         out += "\n  ".join([""] + sorted(cmds))

klippy/mcu.py

@@ -694,9 +694,9 @@ class MCU:
             return self.lookup_command(msgformat)
         except self._serial.get_msgparser().error as e:
             return None
-    def lookup_command_id(self, msgformat):
+    def lookup_command_tag(self, msgformat):
         all_msgs = self._serial.get_msgparser().get_messages()
-        return {msgfmt: msgid for msgid, msgtype, msgfmt in all_msgs}[msgformat]
+        return {fmt: msgtag for msgtag, msgtype, fmt in all_msgs}[msgformat]
     def get_enumerations(self):
         return self._serial.get_msgparser().get_enumerations()
     def get_constants(self):

klippy/msgproto.py

@@ -357,14 +357,17 @@ class MessageParser:
                 start_value, count = value
                 for i in range(count):
                     enums[enum_root + str(start_enum + i)] = start_value + i
-    def _init_messages(self, messages, command_ids=[], output_ids=[]):
+    def _init_messages(self, messages, command_tags=[], output_tags=[]):
-        for msgformat, msgid in messages.items():
+        for msgformat, msgtag in messages.items():
             msgtype = 'response'
-            if msgid in command_ids:
+            if msgtag in command_tags:
                 msgtype = 'command'
-            elif msgid in output_ids:
+            elif msgtag in output_tags:
                 msgtype = 'output'
-            self.messages.append((msgid, msgtype, msgformat))
+            self.messages.append((msgtag, msgtype, msgformat))
+            if msgtag < -32 or msgtag > 95:
+                raise error("Multi-byte msgtag not supported")
+            msgid = msgtag & 0x7f
             if msgtype == 'output':
                 self.messages_by_id[msgid] = OutputFormat(msgid, msgformat)
             else:

klippy/stepper.py

@@ -1,6 +1,6 @@
 # Printer stepper support
 #
-# Copyright (C) 2016-2019  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging, collections
@@ -33,7 +33,7 @@ class MCU_stepper:
         self._invert_dir = dir_pin_params['invert']
         self._mcu_position_offset = self._tag_position = 0.
         self._min_stop_interval = 0.
-        self._reset_cmd_id = self._get_position_cmd = None
+        self._reset_cmd_tag = self._get_position_cmd = None
         self._active_callbacks = []
         ffi_main, self._ffi_lib = chelper.get_ffi()
         self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
@@ -78,18 +78,18 @@ class MCU_stepper:
                 self._invert_step))
         self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
                                  % (self._oid,), on_restart=True)
-        step_cmd_id = self._mcu.lookup_command_id(
+        step_cmd_tag = self._mcu.lookup_command_tag(
             "queue_step oid=%c interval=%u count=%hu add=%hi")
-        dir_cmd_id = self._mcu.lookup_command_id(
+        dir_cmd_tag = self._mcu.lookup_command_tag(
             "set_next_step_dir oid=%c dir=%c")
-        self._reset_cmd_id = self._mcu.lookup_command_id(
+        self._reset_cmd_tag = self._mcu.lookup_command_tag(
             "reset_step_clock oid=%c clock=%u")
         self._get_position_cmd = self._mcu.lookup_query_command(
             "stepper_get_position oid=%c",
             "stepper_position oid=%c pos=%i", oid=self._oid)
         self._ffi_lib.stepcompress_fill(
             self._stepqueue, self._mcu.seconds_to_clock(max_error),
-            self._invert_dir, step_cmd_id, dir_cmd_id)
+            self._invert_dir, step_cmd_tag, dir_cmd_tag)
     def get_oid(self):
         return self._oid
     def get_step_dist(self):
@@ -132,9 +132,9 @@ class MCU_stepper:
         ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
         if ret:
             raise error("Internal error in stepcompress")
-        data = (self._reset_cmd_id, self._oid, 0)
+        data = (self._reset_cmd_tag, self._oid, 0)
-        ret = self._ffi_lib.stepcompress_queue_msg(
+        ret = self._ffi_lib.stepcompress_queue_msg(self._stepqueue, data,
-            self._stepqueue, data, len(data))
+                                                   len(data))
         if ret:
             raise error("Internal error in stepcompress")
         if not did_trigger or self._mcu.is_fileoutput():

scripts/buildcommands.py

@@ -286,22 +286,25 @@ class HandleCommandGeneration:
             if msg not in self.msg_to_id:
                 msgid += 1
                 self.msg_to_id[msg] = msgid
-        if msgid >= 96:
+        if msgid >= 128:
             # The mcu currently assumes all message ids encode to one byte
             error("Too many message ids")
     def update_data_dictionary(self, data):
-        command_ids = [self.msg_to_id[msg]
+        # Handle message ids over 96 (they are decoded as negative numbers)
-                       for msgname, msg in self.messages_by_name.items()
+        msg_to_tag = {msg: msgid if msgid < 96 else msgid - 128
-                       if msgname in self.commands]
+                      for msg, msgid in self.msg_to_id.items()}
-        response_ids = [self.msg_to_id[msg]
+        command_tags = [msg_to_tag[msg]
                         for msgname, msg in self.messages_by_name.items()
-                        if msgname not in self.commands]
+                        if msgname in self.commands]
-        data['commands'] = { msg: msgid for msg, msgid in self.msg_to_id.items()
+        response_tags = [msg_to_tag[msg]
-                             if msgid in command_ids }
+                         for msgname, msg in self.messages_by_name.items()
-        data['responses'] = {msg: msgid for msg, msgid in self.msg_to_id.items()
+                         if msgname not in self.commands]
-                             if msgid in response_ids }
+        data['commands'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
-        output = { msg: msgid for msg, msgid in self.msg_to_id.items()
+                             if msgtag in command_tags }
-                   if msgid not in command_ids and msgid not in response_ids }
+        data['responses'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
+                              if msgtag in response_tags }
+        output = {msg: msgtag for msg, msgtag in msg_to_tag.items()
+                  if msgtag not in command_tags and msgtag not in response_tags}
         if output:
             data['output'] = output
     def build_parser(self, msgid, msgformat, msgtype):