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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-10-15 18:52:28 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-10-15 19:01:19 -0400 |
| commit | 368703fd78ae7256d8989acdc164b524e27cd320 (patch) | |
| tree | 76cf2f589744a85d0c1dc6ed2fad1b55e7f1348c | |
| parent | 46355f903eb8d13448633045346051bc68c1279b (diff) | |
| download | kutter-368703fd78ae7256d8989acdc164b524e27cd320.tar.gz kutter-368703fd78ae7256d8989acdc164b524e27cd320.tar.xz kutter-368703fd78ae7256d8989acdc164b524e27cd320.zip | |
delta_calibrate: Perform coordinate descent in a background process
Run the coordinate descent in a background process so that the main
thread does not block.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/delta_calibrate.py | 9 | ||||
| -rw-r--r-- | klippy/mathutil.py | 29 |
2 files changed, 30 insertions, 8 deletions
diff --git a/klippy/extras/delta_calibrate.py b/klippy/extras/delta_calibrate.py index b30ffaf2..db8509a7 100644 --- a/klippy/extras/delta_calibrate.py +++ b/klippy/extras/delta_calibrate.py @@ -216,12 +216,7 @@ class DeltaCalibrate: adj_params += ('arm_a', 'arm_b', 'arm_c') z_weight = len(distances) / (MEASURE_WEIGHT * len(probe_positions)) # Perform coordinate descent - call_count = [0] def delta_errorfunc(params): - call_count[0] += 1 - if not call_count[0] % 1000: - self.gcode.respond_info("Working on calibration...") - self.printer.get_reactor().pause(0.) # Build new delta_params for params under test delta_params = build_delta_params(params) # Calculate z height errors @@ -237,8 +232,8 @@ class DeltaCalibrate: d = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2) total_error += (d - dist)**2 return total_error - new_params = mathutil.coordinate_descent( - adj_params, params, delta_errorfunc) + new_params = mathutil.background_coordinate_descent( + self.printer, adj_params, params, delta_errorfunc) # Log and report results logging.info("Calculated delta_calibrate parameters: %s", new_params) new_delta_params = build_delta_params(new_params) diff --git a/klippy/mathutil.py b/klippy/mathutil.py index 0801eba5..81a949ad 100644 --- a/klippy/mathutil.py +++ b/klippy/mathutil.py @@ -3,7 +3,7 @@ # Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, logging +import math, logging, multiprocessing ###################################################################### @@ -45,6 +45,33 @@ def coordinate_descent(adj_params, params, error_func): logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds) return params +# Helper to run the coordinate descent function in a background +# process so that it does not block the main thread. +def background_coordinate_descent(printer, adj_params, params, error_func): + parent_conn, child_conn = multiprocessing.Pipe() + def wrapper(): + res = coordinate_descent(adj_params, params, error_func) + child_conn.send(res) + child_conn.close() + # Start a process to perform the calculation + calc_proc = multiprocessing.Process(target=wrapper) + calc_proc.daemon = True + calc_proc.start() + # Wait for the process to finish + reactor = printer.get_reactor() + gcode = printer.lookup_object("gcode") + eventtime = last_report_time = reactor.monotonic() + while calc_proc.is_alive(): + if eventtime > last_report_time + 5.: + last_report_time = eventtime + gcode.respond_info("Working on calibration...") + eventtime = reactor.pause(eventtime + .1) + # Return results + res = parent_conn.recv() + calc_proc.join() + parent_conn.close() + return res + ###################################################################### # Trilateration |