mcu: Eliminate "init callback" phase during connect
It's not necessary to register and execute "init callbacks" when configuring the mcu. Instead, have each mcu object produce its init messages in the build_config() callback. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
ec7990796a
commit
c72ca983ba
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@ -154,7 +154,6 @@ class MCU_endstop:
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self._next_query_clock = self._home_timeout_clock = 0
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self._retry_query_ticks = 0
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self._last_state = {}
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mcu.add_init_callback(self._init_callback)
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self.print_to_mcu_time = mcu.print_to_mcu_time
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self.system_to_mcu_time = mcu.system_to_mcu_time
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def add_stepper(self, stepper):
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@ -164,18 +163,16 @@ class MCU_endstop:
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self._mcu.add_config_cmd(
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"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
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self._oid, self._pin, self._pullup, len(self._steppers)))
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for i, s in enumerate(self._steppers):
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self._mcu.add_config_cmd(
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"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
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self._oid, i, s.get_oid()), is_init=True)
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._home_cmd = self._mcu.lookup_command(
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
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self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
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self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
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, self._oid)
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def _init_callback(self):
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set_cmd = self._mcu.lookup_command(
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"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c")
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for i, s in enumerate(self._steppers):
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msg = set_cmd.encode(self._oid, i, s.get_oid())
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self._mcu.send(msg, cq=self._cmd_queue)
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def home_start(self, mcu_time, rest_time):
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clock = int(mcu_time * self._mcu_freq)
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rest_ticks = int(rest_time * self._mcu_freq)
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@ -346,8 +343,6 @@ class MCU_adc:
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self._inv_max_adc = 0.
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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self._query_cmd = None
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mcu.add_init_callback(self._init_callback)
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def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
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self._sample_time = sample_time
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self._sample_count = sample_count
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@ -357,15 +352,11 @@ class MCU_adc:
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self._report_time = report_time
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self._callback = callback
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def build_config(self):
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if not self._sample_count:
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return
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
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self._oid, self._pin))
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self._query_cmd = self._mcu.lookup_command(
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu")
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def _init_callback(self):
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if not self._sample_count:
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return
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last_clock, last_clock_time = self._mcu.get_last_clock()
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clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
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sample_ticks = int(self._sample_time * self._mcu_freq)
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@ -373,14 +364,15 @@ class MCU_adc:
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max_adc = self._sample_count * mcu_adc_max
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self._inv_max_adc = 1.0 / max_adc
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self._report_clock = int(self._report_time * self._mcu_freq)
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self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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min_sample = int(self._min_sample * max_adc)
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max_sample = min(0xffff, int(math.ceil(self._max_sample * max_adc)))
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msg = self._query_cmd.encode(
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self._oid, clock, sample_ticks, self._sample_count
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, self._report_clock, min_sample, max_sample)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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self._mcu.add_config_cmd(
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"query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d"
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" rest_ticks=%d min_value=%d max_value=%d" % (
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self._oid, clock, sample_ticks, self._sample_count,
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self._report_clock, min_sample, max_sample), is_init=True)
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self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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def _handle_analog_in_state(self, params):
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last_value = params['value'] * self._inv_max_adc
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next_clock = self._mcu.serial.translate_clock(params['next_clock'])
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@ -415,9 +407,9 @@ class MCU:
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pins.get_printer_pins(printer).register_chip("mcu", self)
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self._emergency_stop_cmd = self._reset_cmd = None
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self._oids = []
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self._init_cmds = []
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self._config_cmds = []
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self._config_crc = None
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self._init_callbacks = []
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self._pin_map = config.get('pin_map', None)
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self._custom = config.get('custom', '')
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# Move command queuing
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@ -627,8 +619,8 @@ class MCU:
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stepqueues = tuple(s._stepqueue for s in self._steppers)
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self._steppersync = self._ffi_lib.steppersync_alloc(
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self.serial.serialqueue, stepqueues, len(stepqueues), move_count)
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for cb in self._init_callbacks:
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cb()
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for c in self._init_cmds:
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self.send(self.create_command(c))
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# Config creation helpers
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def setup_pin(self, pin_params):
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pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
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@ -640,10 +632,11 @@ class MCU:
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def create_oid(self, oid):
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self._oids.append(oid)
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return len(self._oids) - 1
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def add_config_cmd(self, cmd):
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self._config_cmds.append(cmd)
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def add_init_callback(self, callback):
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self._init_callbacks.append(callback)
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def add_config_cmd(self, cmd, is_init=False):
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if is_init:
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self._init_cmds.append(cmd)
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else:
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self._config_cmds.append(cmd)
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def register_msg(self, cb, msg, oid=None):
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self.serial.register_callback(cb, msg, oid)
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def register_stepper(self, stepper):
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