122 lines
5.1 KiB
Python
122 lines
5.1 KiB
Python
# Wrapper around C helper code
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#
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# Copyright (C) 2016 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 os, logging
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import cffi
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COMPILE_CMD = "gcc -Wall -g -O -shared -fPIC -o %s %s"
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SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c']
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DEST_LIB = "c_helper.so"
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OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h']
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defs_stepcompress = """
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struct stepcompress *stepcompress_alloc(uint32_t max_error
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, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
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, uint32_t invert_sdir, uint32_t oid);
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void stepcompress_free(struct stepcompress *sc);
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void stepcompress_push(struct stepcompress *sc, double step_clock
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, int32_t sdir);
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int32_t stepcompress_push_factor(struct stepcompress *sc
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, double steps, double step_offset
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, double clock_offset, double factor);
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int32_t stepcompress_push_sqrt(struct stepcompress *sc
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, double steps, double step_offset
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, double clock_offset, double sqrt_offset, double factor);
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int32_t stepcompress_push_delta_const(struct stepcompress *sc
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, double clock_offset, double dist, double start_pos
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, double inv_velocity, double step_dist, double height
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, double closestxy_d, double closest_height2, double movez_r);
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int32_t stepcompress_push_delta_accel(struct stepcompress *sc
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, double clock_offset, double dist, double start_pos
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, double accel_multiplier, double step_dist, double height
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, double closestxy_d, double closest_height2, double movez_r);
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void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
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void stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
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void stepcompress_queue_msg(struct stepcompress *sc
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, uint32_t *data, int len);
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uint32_t stepcompress_get_errors(struct stepcompress *sc);
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struct steppersync *steppersync_alloc(struct serialqueue *sq
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, struct stepcompress **sc_list, int sc_num, int move_num);
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void steppersync_free(struct steppersync *ss);
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void steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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"""
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defs_serialqueue = """
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#define MESSAGE_MAX 64
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struct pull_queue_message {
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uint8_t msg[MESSAGE_MAX];
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int len;
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double sent_time, receive_time;
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};
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struct serialqueue *serialqueue_alloc(int serial_fd, int write_only);
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void serialqueue_exit(struct serialqueue *sq);
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void serialqueue_free(struct serialqueue *sq);
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struct command_queue *serialqueue_alloc_commandqueue(void);
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void serialqueue_free_commandqueue(struct command_queue *cq);
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void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
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, uint8_t *msg, int len, uint64_t min_clock, uint64_t req_clock);
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void serialqueue_encode_and_send(struct serialqueue *sq
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, struct command_queue *cq, uint32_t *data, int len
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, uint64_t min_clock, uint64_t req_clock);
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void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
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void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
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void serialqueue_set_clock_est(struct serialqueue *sq, double est_clock
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, double last_ack_time, uint64_t last_ack_clock);
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void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
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int serialqueue_extract_old(struct serialqueue *sq, int sentq
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, struct pull_queue_message *q, int max);
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"""
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defs_pyhelper = """
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void set_python_logging_callback(void (*func)(const char *));
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"""
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# Return the list of file modification times
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def get_mtimes(srcdir, filelist):
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out = []
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for filename in filelist:
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pathname = os.path.join(srcdir, filename)
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try:
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t = os.path.getmtime(pathname)
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except os.error:
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continue
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out.append(t)
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return out
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# Check if the code needs to be compiled
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def check_build_code(srcdir):
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src_times = get_mtimes(srcdir, SOURCE_FILES + OTHER_FILES)
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obj_times = get_mtimes(srcdir, [DEST_LIB])
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if not obj_times or max(src_times) > min(obj_times):
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logging.info("Building C code module")
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srcfiles = [os.path.join(srcdir, fname) for fname in SOURCE_FILES]
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destlib = os.path.join(srcdir, DEST_LIB)
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os.system(COMPILE_CMD % (destlib, ' '.join(srcfiles)))
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FFI_main = None
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FFI_lib = None
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pyhelper_logging_callback = None
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# Return the Foreign Function Interface api to the caller
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def get_ffi():
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global FFI_main, FFI_lib, pyhelper_logging_callback
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if FFI_lib is None:
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srcdir = os.path.dirname(os.path.realpath(__file__))
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check_build_code(srcdir)
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FFI_main = cffi.FFI()
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FFI_main.cdef(defs_stepcompress)
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FFI_main.cdef(defs_serialqueue)
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FFI_main.cdef(defs_pyhelper)
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FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB))
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# Setup error logging
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def logging_callback(msg):
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logging.error(FFI_main.string(msg))
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pyhelper_logging_callback = FFI_main.callback(
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"void(const char *)", logging_callback)
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FFI_lib.set_python_logging_callback(pyhelper_logging_callback)
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return FFI_main, FFI_lib
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