bulk_sensor: Add new BulkDataQueue class
Move the bulk sample queue collection to a new helper class in bulk_sensor.py. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
978c294741
commit
e67cbbe5c1
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@ -3,7 +3,7 @@
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# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, time, collections, threading, multiprocessing, os
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import logging, time, collections, multiprocessing, os
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from . import bus, motion_report, bulk_sensor
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# ADXL345 registers
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@ -195,9 +195,6 @@ class ADXL345:
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self.data_rate = config.getint('rate', 3200)
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if self.data_rate not in QUERY_RATES:
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raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Setup mcu sensor_adxl345 bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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self.mcu = mcu = self.spi.get_mcu()
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@ -209,7 +206,7 @@ class ADXL345:
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mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "adxl345_data", oid)
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# Clock tracking
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self.last_sequence = self.max_query_duration = 0
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self.last_limit_count = self.last_error_count = 0
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@ -250,9 +247,6 @@ class ADXL345:
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# Measurement collection
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def is_measuring(self):
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return self.query_rate > 0
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def _handle_adxl345_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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@ -335,10 +329,8 @@ class ADXL345:
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self.set_reg(REG_FIFO_CTL, 0x00)
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self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
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self.set_reg(REG_FIFO_CTL, SET_FIFO_CTL)
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# Setup samples
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with self.lock:
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self.raw_samples = []
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# Start bulk reading
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self.bulk_queue.clear_samples()
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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reqclock = self.mcu.print_time_to_clock(print_time)
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@ -360,15 +352,12 @@ class ADXL345:
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# Halt bulk reading
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params = self.query_adxl345_end_cmd.send([self.oid, 0, 0])
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self.query_rate = 0
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with self.lock:
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self.raw_samples = []
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self.bulk_queue.clear_samples()
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logging.info("ADXL345 finished '%s' measurements", self.name)
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# API interface
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def _api_update(self, eventtime):
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self._update_clock()
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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raw_samples = self.bulk_queue.pull_samples()
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if not raw_samples:
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return {}
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samples = self._extract_samples(raw_samples)
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@ -3,8 +3,8 @@
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# Copyright (C) 2021,2022 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, math, threading
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from . import bus, motion_report
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import logging, math
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from . import bus, motion_report, bulk_sensor
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MIN_MSG_TIME = 0.100
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TCODE_ERROR = 0xff
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@ -417,9 +417,6 @@ class Angle:
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# Measurement conversion
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self.start_clock = self.time_shift = self.sample_ticks = 0
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self.last_sequence = self.last_angle = 0
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Sensor type
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sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D,
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"tle5012b": HelperTLE5012B }
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@ -439,8 +436,7 @@ class Angle:
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"query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_spi_angle_data,
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"spi_angle_data", oid)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "spi_angle_data", oid)
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# API server endpoints
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self.api_dump = motion_report.APIDumpHelper(
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self.printer, self._api_update, self._api_startstop, 0.100)
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@ -464,9 +460,6 @@ class Angle:
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# Measurement collection
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def is_measuring(self):
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return self.start_clock != 0
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def _handle_spi_angle_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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sample_ticks = self.sample_ticks
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@ -524,9 +517,7 @@ class Angle:
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def _api_update(self, eventtime):
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if self.sensor_helper.is_tcode_absolute:
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self.sensor_helper.update_clock()
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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raw_samples = self.bulk_queue.pull_samples()
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if not raw_samples:
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return {}
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samples, error_count = self._extract_samples(raw_samples)
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@ -541,8 +532,7 @@ class Angle:
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logging.info("Starting angle '%s' measurements", self.name)
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self.sensor_helper.start()
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# Start bulk reading
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with self.lock:
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self.raw_samples = []
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self.bulk_queue.clear_samples()
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self.last_sequence = 0
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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@ -557,8 +547,7 @@ class Angle:
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# Halt bulk reading
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params = self.query_spi_angle_end_cmd.send([self.oid, 0, 0, 0])
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self.start_clock = 0
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with self.lock:
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self.raw_samples = []
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self.bulk_queue.clear_samples()
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self.sensor_helper.last_temperature = None
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logging.info("Stopped angle '%s' measurements", self.name)
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def _api_startstop(self, is_start):
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@ -3,6 +3,26 @@
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# Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import threading
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# Helper class to store incoming messages in a queue
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class BulkDataQueue:
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def __init__(self, mcu, msg_name, oid):
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Register callback with mcu
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mcu.register_response(self._handle_data, msg_name, oid)
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def _handle_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def pull_samples(self):
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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return raw_samples
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def clear_samples(self):
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self.pull_samples()
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# Helper class for chip clock synchronization via linear regression
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class ClockSyncRegression:
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@ -4,7 +4,7 @@
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# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, time, threading, multiprocessing, os
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import logging
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from . import bus, motion_report, adxl345, bulk_sensor
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# LIS2DW registers
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@ -50,9 +50,6 @@ class LIS2DW:
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raise config.error("Invalid lis2dw axes_map parameter")
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self.axes_map = [am[a.strip()] for a in axes_map]
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self.data_rate = 1600
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Setup mcu sensor_lis2dw bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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self.mcu = mcu = self.spi.get_mcu()
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@ -64,7 +61,7 @@ class LIS2DW:
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mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_lis2dw_data, "lis2dw_data", oid)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", oid)
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# Clock tracking
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self.last_sequence = self.max_query_duration = 0
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self.last_limit_count = self.last_error_count = 0
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@ -106,9 +103,6 @@ class LIS2DW:
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# Measurement collection
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def is_measuring(self):
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return self.query_rate > 0
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def _handle_lis2dw_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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@ -198,10 +192,8 @@ class LIS2DW:
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# High-Performance Mode (14-bit resolution)
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self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
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# Setup samples
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with self.lock:
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self.raw_samples = []
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# Start bulk reading
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self.bulk_queue.clear_samples()
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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reqclock = self.mcu.print_time_to_clock(print_time)
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@ -223,16 +215,13 @@ class LIS2DW:
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# Halt bulk reading
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params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0])
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self.query_rate = 0
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with self.lock:
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self.raw_samples = []
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self.bulk_queue.clear_samples()
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logging.info("LIS2DW finished '%s' measurements", self.name)
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self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
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# API interface
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def _api_update(self, eventtime):
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self._update_clock()
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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raw_samples = self.bulk_queue.pull_samples()
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if not raw_samples:
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return {}
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samples = self._extract_samples(raw_samples)
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@ -4,7 +4,7 @@
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# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, time, threading, multiprocessing, os
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import logging, time
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from . import bus, motion_report, adxl345, bulk_sensor
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MPU9250_ADDR = 0x68
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@ -69,9 +69,6 @@ class MPU9250:
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self.data_rate = config.getint('rate', 4000)
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if self.data_rate not in SAMPLE_RATE_DIVS:
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raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Setup mcu sensor_mpu9250 bulk query code
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self.i2c = bus.MCU_I2C_from_config(config,
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default_addr=MPU9250_ADDR,
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@ -81,7 +78,7 @@ class MPU9250:
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self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
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self.query_mpu9250_status_cmd = None
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
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# Clock tracking
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self.last_sequence = self.max_query_duration = 0
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self.last_limit_count = self.last_error_count = 0
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@ -120,9 +117,6 @@ class MPU9250:
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# Measurement collection
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def is_measuring(self):
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return self.query_rate > 0
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def _handle_mpu9250_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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@ -210,10 +204,8 @@ class MPU9250:
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self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
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self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
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# Setup samples
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with self.lock:
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self.raw_samples = []
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# Start bulk reading
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self.bulk_queue.clear_samples()
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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reqclock = self.mcu.print_time_to_clock(print_time)
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@ -235,8 +227,7 @@ class MPU9250:
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# Halt bulk reading
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params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0])
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self.query_rate = 0
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with self.lock:
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self.raw_samples = []
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self.bulk_queue.clear_samples()
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logging.info("MPU9250 finished '%s' measurements", self.name)
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self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
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self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
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@ -244,9 +235,7 @@ class MPU9250:
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# API interface
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def _api_update(self, eventtime):
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self._update_clock()
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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raw_samples = self.bulk_queue.pull_samples()
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if not raw_samples:
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return {}
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samples = self._extract_samples(raw_samples)
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