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stepper: Don't cache ffi_lib object in the stepper 

It's easier to just call chelper.get_ffi() if the ffi_lib object is
needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-18 15:39:55 -05:00
parent 81da5379d4
commit ba940da9b5
1 changed files with 25 additions and 20 deletions
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45
klippy/stepper.py
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@ -35,13 +35,13 @@ class MCU_stepper:
self._min_stop_interval = 0. self._min_stop_interval = 0.
self._reset_cmd_tag = self._get_position_cmd = None self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = [] self._active_callbacks = []
ffi_main, self._ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid), self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
self._ffi_lib.stepcompress_free) ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue) self._mcu.register_stepqueue(self._stepqueue)
self._stepper_kinematics = None self._stepper_kinematics = None
self._itersolve_generate_steps = self._ffi_lib.itersolve_generate_steps self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
self._itersolve_check_active = self._ffi_lib.itersolve_check_active self._itersolve_check_active = ffi_lib.itersolve_check_active
self._trapq = ffi_main.NULL self._trapq = ffi_main.NULL
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
@ -87,9 +87,10 @@ class MCU_stepper:
self._get_position_cmd = self._mcu.lookup_query_command( self._get_position_cmd = self._mcu.lookup_query_command(
"stepper_get_position oid=%c", "stepper_get_position oid=%c",
"stepper_position oid=%c pos=%i", oid=self._oid) "stepper_position oid=%c pos=%i", oid=self._oid)
self._ffi_lib.stepcompress_fill( ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue, self._mcu.seconds_to_clock(max_error), ffi_lib.stepcompress_fill(self._stepqueue,
self._invert_dir, step_cmd_tag, dir_cmd_tag) self._mcu.seconds_to_clock(max_error),
self._invert_dir, step_cmd_tag, dir_cmd_tag)
def get_oid(self): def get_oid(self):
return self._oid return self._oid
def get_step_dist(self): def get_step_dist(self):
@ -100,16 +101,19 @@ class MCU_stepper:
def is_dir_inverted(self): def is_dir_inverted(self):
return self._invert_dir return self._invert_dir
def calc_position_from_coord(self, coord): def calc_position_from_coord(self, coord):
return self._ffi_lib.itersolve_calc_position_from_coord( ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.itersolve_calc_position_from_coord(
self._stepper_kinematics, coord[0], coord[1], coord[2]) self._stepper_kinematics, coord[0], coord[1], coord[2])
def set_position(self, coord): def set_position(self, coord):
opos = self.get_commanded_position() opos = self.get_commanded_position()
sk = self._stepper_kinematics sk = self._stepper_kinematics
self._ffi_lib.itersolve_set_position(sk, coord[0], coord[1], coord[2]) ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.itersolve_set_position(sk, coord[0], coord[1], coord[2])
self._mcu_position_offset += opos - self.get_commanded_position() self._mcu_position_offset += opos - self.get_commanded_position()
def get_commanded_position(self): def get_commanded_position(self):
sk = self._stepper_kinematics sk = self._stepper_kinematics
return self._ffi_lib.itersolve_get_commanded_pos(sk) ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.itersolve_get_commanded_pos(sk)
def get_mcu_position(self): def get_mcu_position(self):
mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset
mcu_pos = mcu_pos_dist / self._step_dist mcu_pos = mcu_pos_dist / self._step_dist
@ -124,17 +128,18 @@ class MCU_stepper:
old_sk = self._stepper_kinematics old_sk = self._stepper_kinematics
self._stepper_kinematics = sk self._stepper_kinematics = sk
if sk is not None: if sk is not None:
self._ffi_lib.itersolve_set_stepcompress(sk, self._stepqueue, ffi_main, ffi_lib = chelper.get_ffi()
self._step_dist) ffi_lib.itersolve_set_stepcompress(sk, self._stepqueue,
self._step_dist)
self.set_trapq(self._trapq) self.set_trapq(self._trapq)
return old_sk return old_sk
def note_homing_end(self, did_trigger=False): def note_homing_end(self, did_trigger=False):
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) ffi_main, ffi_lib = chelper.get_ffi()
ret = ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
data = (self._reset_cmd_tag, self._oid, 0) data = (self._reset_cmd_tag, self._oid, 0)
ret = self._ffi_lib.stepcompress_queue_msg(self._stepqueue, data, ret = ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
len(data))
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput(): if not did_trigger or self._mcu.is_fileoutput():
@ -145,10 +150,10 @@ class MCU_stepper:
mcu_pos_dist = -mcu_pos_dist mcu_pos_dist = -mcu_pos_dist
self._mcu_position_offset = mcu_pos_dist - self.get_commanded_position() self._mcu_position_offset = mcu_pos_dist - self.get_commanded_position()
def set_trapq(self, tq): def set_trapq(self, tq):
ffi_main, ffi_lib = chelper.get_ffi()
if tq is None: if tq is None:
ffi_main, self._ffi_lib = chelper.get_ffi()
tq = ffi_main.NULL tq = ffi_main.NULL
self._ffi_lib.itersolve_set_trapq(self._stepper_kinematics, tq) ffi_lib.itersolve_set_trapq(self._stepper_kinematics, tq)
old_tq = self._trapq old_tq = self._trapq
self._trapq = tq self._trapq = tq
return old_tq return old_tq
@ -170,8 +175,8 @@ class MCU_stepper:
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
def is_active_axis(self, axis): def is_active_axis(self, axis):
return self._ffi_lib.itersolve_is_active_axis( ffi_main, ffi_lib = chelper.get_ffi()
self._stepper_kinematics, axis) return ffi_lib.itersolve_is_active_axis(self._stepper_kinematics, axis)
# Helper code to build a stepper object from a config section # Helper code to build a stepper object from a config section
def PrinterStepper(config, units_in_radians=False): def PrinterStepper(config, units_in_radians=False):