mcu: Support minclock in send_with_response() requests
Enhance send_with_response() so that it supports queries with a minclock. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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e202a8802b
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9feb05ce41
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@ -131,6 +131,9 @@ class ClockSync:
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def get_clock(self, eventtime):
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def get_clock(self, eventtime):
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sample_time, clock, freq = self.clock_est
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sample_time, clock, freq = self.clock_est
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return int(clock + (eventtime - sample_time) * freq)
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return int(clock + (eventtime - sample_time) * freq)
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def estimate_clock_systime(self, reqclock):
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sample_time, clock, freq = self.clock_est
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return float(reqclock - clock)/freq + sample_time
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def estimated_print_time(self, eventtime):
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def estimated_print_time(self, eventtime):
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return self.clock_to_print_time(self.get_clock(eventtime))
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return self.clock_to_print_time(self.get_clock(eventtime))
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# misc commands
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# misc commands
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@ -426,19 +426,25 @@ class MCU_adc:
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# Wrapper around command sending
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# Wrapper around command sending
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class CommandWrapper:
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class CommandWrapper:
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def __init__(self, mcu, serial, cmd, cmd_queue):
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def __init__(self, mcu, serial, clocksync, cmd, cmd_queue):
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self._mcu = mcu
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self._mcu = mcu
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self._serial = serial
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self._serial = serial
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self._clocksync = clocksync
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self._cmd = cmd
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self._cmd = cmd
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self._cmd_queue = cmd_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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def send(self, data=(), minclock=0, reqclock=0):
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cmd = self._cmd.encode(data)
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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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self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
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def send_with_response(self, data=(), response=None, response_oid=None):
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def send_with_response(self, data=(), response=None, response_oid=None,
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minclock=0):
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minsystime = 0.
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if minclock:
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minsystime = self._clocksync.estimate_clock_systime(minclock)
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cmd = self._cmd.encode(data)
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cmd = self._cmd.encode(data)
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try:
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try:
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src = serialhdl.SerialRetryCommand(self._serial, cmd,
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src = serialhdl.SerialRetryCommand(
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response, response_oid)
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self._serial, [cmd], self._cmd_queue, response, response_oid,
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minclock=minclock, minsystime=minsystime)
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return src.get_response()
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return src.get_response()
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except serialhdl.error as e:
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except serialhdl.error as e:
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raise error(str(e))
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raise error(str(e))
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@ -710,7 +716,7 @@ class MCU:
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if cq is None:
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if cq is None:
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cq = self._serial.get_default_command_queue()
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cq = self._serial.get_default_command_queue()
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cmd = self._serial.get_msgparser().lookup_command(msgformat)
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cmd = self._serial.get_msgparser().lookup_command(msgformat)
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return CommandWrapper(self, self._serial, cmd, cq)
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return CommandWrapper(self, self._serial, self._clocksync, cmd, cq)
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def try_lookup_command(self, msgformat):
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def try_lookup_command(self, msgformat):
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try:
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try:
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return self.lookup_command(msgformat)
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return self.lookup_command(msgformat)
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@ -152,7 +152,7 @@ class SerialReader:
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self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)
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self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)
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def send_with_response(self, msg, response):
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def send_with_response(self, msg, response):
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cmd = self.msgparser.create_command(msg)
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cmd = self.msgparser.create_command(msg)
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src = SerialRetryCommand(self, cmd, response)
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src = SerialRetryCommand(self, [cmd], self.default_cmd_queue, response)
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return src.get_response()
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return src.get_response()
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def alloc_command_queue(self):
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def alloc_command_queue(self):
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return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
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return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
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@ -199,17 +199,22 @@ class SerialReader:
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class SerialRetryCommand:
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class SerialRetryCommand:
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TIMEOUT_TIME = 5.0
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TIMEOUT_TIME = 5.0
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RETRY_TIME = 0.500
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RETRY_TIME = 0.500
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def __init__(self, serial, cmd, name, oid=None):
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def __init__(self, serial, cmds, cmd_queue, name, oid=None,
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minclock=0, minsystime=0.):
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self.serial = serial
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self.serial = serial
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self.cmd = cmd
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self.cmds = cmds
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self.cmd_queue = cmd_queue
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self.name = name
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self.name = name
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self.oid = oid
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self.oid = oid
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self.minclock = minclock
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self.response = None
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self.response = None
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reactor = self.serial.reactor
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reactor = self.serial.reactor
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self.mutex = reactor.mutex(is_locked=True)
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self.mutex = reactor.mutex(is_locked=True)
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self.min_query_time = self.serial.reactor.monotonic()
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self.min_query_time = self.serial.reactor.monotonic()
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self.first_query_time = max(self.min_query_time, minsystime)
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self.serial.register_response(self.handle_callback, self.name, self.oid)
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self.serial.register_response(self.handle_callback, self.name, self.oid)
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retry_time = self.send_event(self.min_query_time)
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self.send_event(self.min_query_time)
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retry_time = self.first_query_time + self.RETRY_TIME
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self.send_timer = reactor.register_timer(self.send_event, retry_time)
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self.send_timer = reactor.register_timer(self.send_event, retry_time)
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def unregister(self):
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def unregister(self):
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self.serial.unregister_response(self.name, self.oid)
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self.serial.unregister_response(self.name, self.oid)
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@ -217,12 +222,14 @@ class SerialRetryCommand:
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def send_event(self, eventtime):
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def send_event(self, eventtime):
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if self.response is not None:
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if self.response is not None:
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return self.serial.reactor.NEVER
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return self.serial.reactor.NEVER
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if eventtime > self.min_query_time + self.TIMEOUT_TIME:
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if eventtime > self.first_query_time + self.TIMEOUT_TIME:
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self.unregister()
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self.unregister()
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if self.response is None:
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if self.response is None:
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self.mutex.unlock()
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self.mutex.unlock()
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return self.serial.reactor.NEVER
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return self.serial.reactor.NEVER
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self.serial.raw_send(self.cmd, 0, 0, self.serial.default_cmd_queue)
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for cmd in self.cmds:
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self.serial.raw_send(cmd, self.minclock, self.minclock,
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self.cmd_queue)
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return eventtime + self.RETRY_TIME
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return eventtime + self.RETRY_TIME
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def handle_callback(self, params):
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def handle_callback(self, params):
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last_sent_time = params['#sent_time']
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last_sent_time = params['#sent_time']
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