bulk_sensor: Refactor ChipClockUpdater constructor

Build the clock_sync and struct.Struct() in the ChipClockUpdater
constructor.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

5 files changed, 31 insertions, 45 deletions

diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py
index 623b8e50..07973894 100644
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@@ -184,9 +184,6 @@ def read_axes_map(config):
         raise config.error("Invalid axes_map parameter")
     return [am[a.strip()] for a in axes_map]
 
-BYTES_PER_SAMPLE = 5
-SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
-
 BATCH_UPDATES = 0.100
 
 # Printer class that controls ADXL345 chip
@@ -211,9 +208,8 @@ class ADXL345:
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
         # Clock tracking
         chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
-        self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
-                                                          BYTES_PER_SAMPLE)
+        self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
+                                                          "BBBBB")
         self.last_error_count = 0
         # Process messages in batches
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -227,8 +223,8 @@ class ADXL345:
         cmdqueue = self.spi.get_command_queue()
         self.query_adxl345_cmd = self.mcu.lookup_command(
             "query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.clock_updater.setup_query_command(
-            self.mcu, "query_adxl345_status oid=%c", oid=self.oid, cq=cmdqueue)
+        self.clock_updater.setup_query_command("query_adxl345_status oid=%c",
+                                               oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -249,7 +245,7 @@ class ADXL345:
     # Measurement decoding
     def _extract_samples(self, raw_samples):
         # Convert messages to samples
-        samples = self.clock_updater.extract_samples("BBBBB", raw_samples)
+        samples = self.clock_updater.extract_samples(raw_samples)
         # Convert samples
         (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
         count = 0
diff --git a/klippy/extras/bulk_sensor.py b/klippy/extras/bulk_sensor.py
index cb4c17ac..d514bc91 100644
--- a/klippy/extras/bulk_sensor.py
+++ b/klippy/extras/bulk_sensor.py
@@ -202,15 +202,17 @@ MAX_BULK_MSG_SIZE = 52
 
 # Handle common periodic chip status query responses
 class ChipClockUpdater:
-    def __init__(self, clock_sync, bytes_per_sample):
-        self.clock_sync = clock_sync
-        self.bytes_per_sample = bytes_per_sample
-        self.samples_per_block = MAX_BULK_MSG_SIZE // bytes_per_sample
+    def __init__(self, mcu, chip_clock_smooth, unpack_fmt):
+        self.mcu = mcu
+        self.clock_sync = ClockSyncRegression(mcu, chip_clock_smooth)
+        unpack = struct.Struct(unpack_fmt)
+        self.unpack_from = unpack.unpack_from
+        self.bytes_per_sample = unpack.size
+        self.samples_per_block = MAX_BULK_MSG_SIZE // self.bytes_per_sample
         self.last_sequence = self.max_query_duration = 0
         self.last_overflows = 0
-        self.mcu = self.oid = self.query_status_cmd = None
-    def setup_query_command(self, mcu, msgformat, oid, cq):
-        self.mcu = mcu
+        self.oid = self.query_status_cmd = None
+    def setup_query_command(self, msgformat, oid, cq):
         self.oid = oid
         self.query_status_cmd = self.mcu.lookup_query_command(
             msgformat, "sensor_bulk_status oid=%c clock=%u query_ticks=%u"
@@ -256,11 +258,11 @@ class ChipClockUpdater:
         else:
             self.clock_sync.update(avg_mcu_clock, chip_clock)
     # Convert a list of sensor_bulk_data responses into list of samples
-    def extract_samples(self, unpack_fmt, raw_samples):
-        unpack_from = struct.Struct(unpack_fmt).unpack_from
+    def extract_samples(self, raw_samples):
         # Load variables to optimize inner loop below
         last_sequence = self.get_last_sequence()
         time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
+        unpack_from = self.unpack_from
         bytes_per_sample = self.bytes_per_sample
         samples_per_block = self.samples_per_block
         # Process every message in raw_samples
diff --git a/klippy/extras/ldc1612.py b/klippy/extras/ldc1612.py
index e2f502d1..4b8a3f72 100644
--- a/klippy/extras/ldc1612.py
+++ b/klippy/extras/ldc1612.py
@@ -10,9 +10,6 @@ MIN_MSG_TIME = 0.100
 
 BATCH_UPDATES = 0.100
 
-BYTES_PER_SAMPLE = 4
-SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
-
 LDC1612_ADDR = 0x2a
 
 LDC1612_FREQ = 12000000
@@ -98,9 +95,8 @@ class LDC1612:
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
         # Clock tracking
         chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
-        self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
-                                                          BYTES_PER_SAMPLE)
+        self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
+                                                          ">I")
         self.last_error_count = 0
         # Process messages in batches
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -114,8 +110,8 @@ class LDC1612:
         cmdqueue = self.i2c.get_command_queue()
         self.query_ldc1612_cmd = self.mcu.lookup_command(
             "query_ldc1612 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.clock_updater.setup_query_command(
-            self.mcu, "query_ldc1612_status oid=%c", oid=self.oid, cq=cmdqueue)
+        self.clock_updater.setup_query_command("query_ldc1612_status oid=%c",
+                                               oid=self.oid, cq=cmdqueue)
         self.ldc1612_setup_home_cmd = self.mcu.lookup_command(
             "ldc1612_setup_home oid=%c clock=%u threshold=%u"
             " trsync_oid=%c trigger_reason=%c", cq=cmdqueue)
@@ -150,7 +146,7 @@ class LDC1612:
     # Measurement decoding
     def _extract_samples(self, raw_samples):
         # Convert messages to samples
-        samples = self.clock_updater.extract_samples(">I", raw_samples)
+        samples = self.clock_updater.extract_samples(raw_samples)
         # Convert samples
         freq_conv = float(LDC1612_FREQ) / (1<<28)
         count = 0
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py
index a40e7056..96b7db76 100644
--- a/klippy/extras/lis2dw.py
+++ b/klippy/extras/lis2dw.py
@@ -30,9 +30,6 @@ LIS2DW_DEV_ID = 0x44
 FREEFALL_ACCEL = 9.80665
 SCALE = FREEFALL_ACCEL * 1.952 / 4
 
-BYTES_PER_SAMPLE = 6
-SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
-
 BATCH_UPDATES = 0.100
 
 # Printer class that controls LIS2DW chip
@@ -55,9 +52,8 @@ class LIS2DW:
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
         # Clock tracking
         chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
-        self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
-                                                          BYTES_PER_SAMPLE)
+        self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
+                                                          "<hhh")
         self.last_error_count = 0
         # Process messages in batches
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -72,8 +68,8 @@ class LIS2DW:
         cmdqueue = self.spi.get_command_queue()
         self.query_lis2dw_cmd = self.mcu.lookup_command(
             "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.clock_updater.setup_query_command(
-            self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue)
+        self.clock_updater.setup_query_command("query_lis2dw_status oid=%c",
+                                               oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -94,7 +90,7 @@ class LIS2DW:
     # Measurement decoding
     def _extract_samples(self, raw_samples):
         # Convert messages to samples
-        samples = self.clock_updater.extract_samples("<hhh", raw_samples)
+        samples = self.clock_updater.extract_samples(raw_samples)
         # Convert samples
         (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
         count = 0
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py
index 492131ae..abc7911a 100644
--- a/klippy/extras/mpu9250.py
+++ b/klippy/extras/mpu9250.py
@@ -52,9 +52,6 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL
 
 FIFO_SIZE = 512
 
-BYTES_PER_SAMPLE = 6
-SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
-
 BATCH_UPDATES = 0.100
 
 # Printer class that controls MPU9250 chip
@@ -77,9 +74,8 @@ class MPU9250:
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
         # Clock tracking
         chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
-        self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
-                                                          BYTES_PER_SAMPLE)
+        self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
+                                                          ">hhh")
         self.last_error_count = 0
         # Process messages in batches
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -97,8 +93,8 @@ class MPU9250:
                            % (self.oid,), on_restart=True)
         self.query_mpu9250_cmd = self.mcu.lookup_command(
             "query_mpu9250 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.clock_updater.setup_query_command(
-            self.mcu, "query_mpu9250_status oid=%c", oid=self.oid, cq=cmdqueue)
+        self.clock_updater.setup_query_command("query_mpu9250_status oid=%c",
+                                               oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
         params = self.i2c.i2c_read([reg], 1)
         return bytearray(params['response'])[0]
@@ -111,7 +107,7 @@ class MPU9250:
     # Measurement decoding
     def _extract_samples(self, raw_samples):
         # Convert messages to samples
-        samples = self.clock_updater.extract_samples(">hhh", raw_samples)
+        samples = self.clock_updater.extract_samples(raw_samples)
         # Convert samples
         (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
         count = 0