mcu: Move code around in MCU class to keep like code together
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
f1b315e04f
commit
cee200e509
215
klippy/mcu.py
215
klippy/mcu.py
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@ -395,26 +395,25 @@ class MCU:
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self._clocksync = clocksync
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# Serial port
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self._serialport = config.get('serial', '/dev/ttyS0')
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if self._serialport.startswith("/dev/rpmsg_"):
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# Beaglbone PRU
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baud = 0
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else:
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baud = 0
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if not self._serialport.startswith("/dev/rpmsg_"):
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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._is_shutdown = False
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self._shutdown_msg = ""
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# Restarts
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self._restart_method = 'command'
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if baud:
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rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
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self._restart_method = config.getchoice(
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'restart_method', rmethods, 'arduino')
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# Config building
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self._reset_cmd = self._config_reset_cmd = None
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self._emergency_stop_cmd = None
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self._is_shutdown = 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("mcu", None)
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# Config building
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pins.get_printer_pins(printer).register_chip("mcu", self)
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self._emergency_stop_cmd = None
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self._reset_cmd = self._config_reset_cmd = None
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self._oid_count = 0
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self._config_objects = []
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self._init_cmds = []
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@ -434,6 +433,7 @@ class MCU:
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self._mcu_tick_avg = 0.
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self._mcu_tick_stddev = 0.
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self._mcu_tick_awake = 0.
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# Serial callbacks
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def handle_mcu_stats(self, params):
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count = params['count']
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tick_sum = params['sum']
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@ -462,26 +462,6 @@ class MCU:
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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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raise error("Attempt firmware restart failed")
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def connect(self):
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if self.is_fileoutput():
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self._connect_file()
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else:
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if (self._restart_method == 'rpi_usb'
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and not os.path.exists(self._serialport)):
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# Try toggling usb power
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self._check_restart("enable power")
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self._serial.connect()
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self._clocksync.connect(self._serial)
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self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
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self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
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self._emergency_stop_cmd = self.lookup_command("emergency_stop")
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self._reset_cmd = self.try_lookup_command("reset")
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self._config_reset_cmd = self.try_lookup_command("config_reset")
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_mcu_stats, 'stats')
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self._build_config()
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self._send_config()
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def _connect_file(self, pace=False):
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# In a debugging mode. Open debug output file and read data dictionary
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out_fname = self._printer.get_start_args().get('debugoutput')
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@ -497,61 +477,6 @@ class MCU:
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def dummy_estimated_print_time(eventtime):
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return 0.
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self.estimated_print_time = dummy_estimated_print_time
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def check_active(self, print_time, eventtime):
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if self._clocksync.is_active(eventtime):
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return
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logging.info("Timeout with firmware (eventtime=%f)", eventtime)
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self._printer.note_mcu_error("Lost communication with firmware")
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def disconnect(self):
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self._serial.disconnect()
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if self._steppersync is not None:
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self._ffi_lib.steppersync_free(self._steppersync)
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self._steppersync = None
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def stats(self, eventtime):
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msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
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self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
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return ' '.join([self._serial.stats(eventtime),
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self._clocksync.stats(eventtime), msg])
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def force_shutdown(self):
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self.send(self._emergency_stop_cmd.encode())
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def microcontroller_restart(self):
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reactor = self._printer.reactor
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if self._restart_method == 'rpi_usb':
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logging.info("Attempting a microcontroller reset via rpi usb power")
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self.disconnect()
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chelper.run_hub_ctrl(0)
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reactor.pause(reactor.monotonic() + 2.000)
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chelper.run_hub_ctrl(1)
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return
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if self._restart_method == 'command':
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eventtime = reactor.monotonic()
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if ((self._reset_cmd is None and self._config_reset_cmd is None)
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or not self._clocksync.is_active(eventtime)):
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logging.info("Unable to issue reset command")
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return
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if self._reset_cmd is None:
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# Attempt reset via config_reset command
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logging.info("Attempting a microcontroller config_reset command")
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self._is_shutdown = True
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self.force_shutdown()
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reactor.pause(reactor.monotonic() + 0.015)
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self.send(self._config_reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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self.disconnect()
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return
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# Attempt reset via reset command
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logging.info("Attempting a microcontroller reset command")
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self.send(self._reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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self.disconnect()
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return
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# Attempt reset via arduino mechanism
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logging.info("Attempting a microcontroller reset")
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self.disconnect()
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serialhdl.arduino_reset(self._serialport, reactor)
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def is_fileoutput(self):
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return self._printer.get_start_args().get('debugoutput') is not None
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# Configuration phase
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def _add_custom(self):
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for line in self._custom.split('\n'):
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line = line.strip()
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@ -629,6 +554,26 @@ class MCU:
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self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
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for c in self._init_cmds:
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self.send(self.create_command(c))
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def connect(self):
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if self.is_fileoutput():
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self._connect_file()
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else:
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if (self._restart_method == 'rpi_usb'
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and not os.path.exists(self._serialport)):
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# Try toggling usb power
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self._check_restart("enable power")
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self._serial.connect()
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self._clocksync.connect(self._serial)
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self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
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self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
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self._emergency_stop_cmd = self.lookup_command("emergency_stop")
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self._reset_cmd = self.try_lookup_command("reset")
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self._config_reset_cmd = self.try_lookup_command("config_reset")
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_mcu_stats, 'stats')
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self._build_config()
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self._send_config()
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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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@ -649,12 +594,27 @@ class MCU:
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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 get_query_slot(self, oid):
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slot = self.seconds_to_clock(oid * .01)
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t = int(self.estimated_print_time(self.monotonic()) + 1.5)
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return self.print_time_to_clock(t) + slot
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def register_stepqueue(self, stepqueue):
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self._stepqueues.append(stepqueue)
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def seconds_to_clock(self, time):
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return int(time * self._mcu_freq)
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def get_max_stepper_error(self):
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return self._max_stepper_error
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# Wrapper functions
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def send(self, cmd, minclock=0, reqclock=0, cq=None):
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self._serial.send(cmd, minclock, reqclock, cq=cq)
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def send_with_response(self, cmd, name, oid=None):
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return self._serial.send_with_response(cmd, name, oid)
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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 alloc_command_queue(self):
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return self._serial.alloc_command_queue()
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def create_command(self, msg):
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return self._serial.msgparser.create_command(msg)
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def lookup_command(self, msgformat):
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return self._serial.msgparser.lookup_command(msgformat)
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def try_lookup_command(self, msgformat):
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@ -662,17 +622,8 @@ class MCU:
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return self._serial.msgparser.lookup_command(msgformat)
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except self._serial.msgparser.error as e:
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return None
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def create_command(self, msg):
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return self._serial.msgparser.create_command(msg)
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def get_query_slot(self, oid):
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slot = self.seconds_to_clock(oid * .01)
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t = int(self.estimated_print_time(self.monotonic()) + 1.5)
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return self.print_time_to_clock(t) + slot
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def is_shutdown(self):
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return self._is_shutdown
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def get_constant_float(self, name):
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return self._serial.msgparser.get_constant_float(name)
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# Clock syncing
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def print_time_to_clock(self, print_time):
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return self._clocksync.print_time_to_clock(print_time)
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def clock_to_print_time(self, clock):
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@ -683,15 +634,15 @@ class MCU:
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return self._clocksync.get_adjusted_freq()
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def clock32_to_clock64(self, clock32):
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return self._clocksync.clock32_to_clock64(clock32)
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def seconds_to_clock(self, time):
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return int(time * self._mcu_freq)
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def get_max_stepper_error(self):
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return self._max_stepper_error
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# Move command queuing
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def send(self, cmd, minclock=0, reqclock=0, cq=None):
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self._serial.send(cmd, minclock, reqclock, cq=cq)
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def send_with_response(self, cmd, name, oid=None):
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return self._serial.send_with_response(cmd, name, oid)
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def pause(self, waketime):
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return self._printer.reactor.pause(waketime)
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def monotonic(self):
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return self._printer.reactor.monotonic()
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# Misc external commands
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def is_fileoutput(self):
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return self._printer.get_start_args().get('debugoutput') is not None
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def is_shutdown(self):
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return self._is_shutdown
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def flush_moves(self, print_time):
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if self._steppersync is None:
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return
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@ -699,10 +650,58 @@ class MCU:
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ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
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if ret:
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raise error("Internal error in stepcompress")
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def pause(self, waketime):
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return self._printer.reactor.pause(waketime)
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def monotonic(self):
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return self._printer.reactor.monotonic()
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def check_active(self, print_time, eventtime):
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if self._clocksync.is_active(eventtime):
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return
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logging.info("Timeout with firmware (eventtime=%f)", eventtime)
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self._printer.note_mcu_error("Lost communication with firmware")
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def stats(self, eventtime):
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msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
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self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
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return ' '.join([self._serial.stats(eventtime),
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self._clocksync.stats(eventtime), msg])
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def force_shutdown(self):
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self.send(self._emergency_stop_cmd.encode())
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def microcontroller_restart(self):
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reactor = self._printer.reactor
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if self._restart_method == 'rpi_usb':
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logging.info("Attempting a microcontroller reset via rpi usb power")
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self.disconnect()
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chelper.run_hub_ctrl(0)
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reactor.pause(reactor.monotonic() + 2.000)
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chelper.run_hub_ctrl(1)
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return
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if self._restart_method == 'command':
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eventtime = reactor.monotonic()
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if ((self._reset_cmd is None and self._config_reset_cmd is None)
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or not self._clocksync.is_active(eventtime)):
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logging.info("Unable to issue reset command")
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return
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if self._reset_cmd is None:
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# Attempt reset via config_reset command
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logging.info("Attempting a microcontroller config_reset command")
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self._is_shutdown = True
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self.force_shutdown()
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reactor.pause(reactor.monotonic() + 0.015)
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self.send(self._config_reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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self.disconnect()
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return
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# Attempt reset via reset command
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logging.info("Attempting a microcontroller reset command")
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self.send(self._reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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self.disconnect()
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return
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# Attempt reset via arduino mechanism
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logging.info("Attempting a microcontroller reset")
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self.disconnect()
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serialhdl.arduino_reset(self._serialport, reactor)
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def disconnect(self):
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self._serial.disconnect()
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if self._steppersync is not None:
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self._ffi_lib.steppersync_free(self._steppersync)
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self._steppersync = None
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def __del__(self):
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self.disconnect()
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