mcu: Separate trdispatch handling from MCU_endstop class

Create a new TriggerDispatch class to track the low-level handling of
the trdispatch mechanism.

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

1 files changed, 60 insertions, 37 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index e0d580e5..2a01c5a7 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -226,23 +226,17 @@ class MCU_trsync:
 TRSYNC_TIMEOUT = 0.025
 TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
 
-class MCU_endstop:
-    RETRY_QUERY = 1.000
-    def __init__(self, mcu, pin_params):
+class TriggerDispatch:
+    def __init__(self, mcu):
         self._mcu = mcu
-        self._pin = pin_params['pin']
-        self._pullup = pin_params['pullup']
-        self._invert = pin_params['invert']
-        self._oid = self._mcu.create_oid()
-        self._home_cmd = self._query_cmd = None
-        self._mcu.register_config_callback(self._build_config)
         self._trigger_completion = None
-        self._rest_ticks = 0
         ffi_main, ffi_lib = chelper.get_ffi()
         self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
         self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
-    def get_mcu(self):
-        return self._mcu
+    def get_oid(self):
+        return self._trsyncs[0].get_oid()
+    def get_command_queue(self):
+        return self._trsyncs[0].get_command_queue()
     def add_stepper(self, stepper):
         trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
         trsync = trsyncs.get(stepper.get_mcu())
@@ -261,6 +255,51 @@ class MCU_endstop:
                                      " multi-mcu shared axis")
     def get_steppers(self):
         return [s for trsync in self._trsyncs for s in trsync.get_steppers()]
+    def start(self, print_time):
+        reactor = self._mcu.get_printer().get_reactor()
+        self._trigger_completion = reactor.completion()
+        expire_timeout = TRSYNC_TIMEOUT
+        if len(self._trsyncs) == 1:
+            expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
+        for i, trsync in enumerate(self._trsyncs):
+            report_offset = float(i) / len(self._trsyncs)
+            trsync.start(print_time, report_offset,
+                         self._trigger_completion, expire_timeout)
+        etrsync = self._trsyncs[0]
+        ffi_main, ffi_lib = chelper.get_ffi()
+        ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
+        return self._trigger_completion
+    def wait_end(self, end_time):
+        etrsync = self._trsyncs[0]
+        etrsync.set_home_end_time(end_time)
+        if self._mcu.is_fileoutput():
+            self._trigger_completion.complete(True)
+        self._trigger_completion.wait()
+    def stop(self):
+        ffi_main, ffi_lib = chelper.get_ffi()
+        ffi_lib.trdispatch_stop(self._trdispatch)
+        res = [trsync.stop() for trsync in self._trsyncs]
+        if any([r == MCU_trsync.REASON_COMMS_TIMEOUT for r in res]):
+            return MCU_trsync.REASON_COMMS_TIMEOUT
+        return res[0]
+
+class MCU_endstop:
+    def __init__(self, mcu, pin_params):
+        self._mcu = mcu
+        self._pin = pin_params['pin']
+        self._pullup = pin_params['pullup']
+        self._invert = pin_params['invert']
+        self._oid = self._mcu.create_oid()
+        self._home_cmd = self._query_cmd = None
+        self._mcu.register_config_callback(self._build_config)
+        self._rest_ticks = 0
+        self._dispatch = TriggerDispatch(mcu)
+    def get_mcu(self):
+        return self._mcu
+    def add_stepper(self, stepper):
+        self._dispatch.add_stepper(stepper)
+    def get_steppers(self):
+        return self._dispatch.get_steppers()
     def _build_config(self):
         # Setup config
         self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
@@ -270,7 +309,7 @@ class MCU_endstop:
             " rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
             % (self._oid,), on_restart=True)
         # Lookup commands
-        cmd_queue = self._trsyncs[0].get_command_queue()
+        cmd_queue = self._dispatch.get_command_queue()
         self._home_cmd = self._mcu.lookup_command(
             "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
             " rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
@@ -284,36 +323,20 @@ class MCU_endstop:
         clock = self._mcu.print_time_to_clock(print_time)
         rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
         self._rest_ticks = rest_ticks
-        reactor = self._mcu.get_printer().get_reactor()
-        self._trigger_completion = reactor.completion()
-        expire_timeout = TRSYNC_TIMEOUT
-        if len(self._trsyncs) == 1:
-            expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
-        for i, trsync in enumerate(self._trsyncs):
-            report_offset = float(i) / len(self._trsyncs)
-            trsync.start(print_time, report_offset,
-                         self._trigger_completion, expire_timeout)
-        etrsync = self._trsyncs[0]
-        ffi_main, ffi_lib = chelper.get_ffi()
-        ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
+        trigger_completion = self._dispatch.start(print_time)
         self._home_cmd.send(
             [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
              sample_count, rest_ticks, triggered ^ self._invert,
-             etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
-        return self._trigger_completion
+             self._dispatch.get_oid(), MCU_trsync.REASON_ENDSTOP_HIT],
+            reqclock=clock)
+        return trigger_completion
     def home_wait(self, home_end_time):
-        etrsync = self._trsyncs[0]
-        etrsync.set_home_end_time(home_end_time)
-        if self._mcu.is_fileoutput():
-            self._trigger_completion.complete(True)
-        self._trigger_completion.wait()
+        self._dispatch.wait_end(home_end_time)
         self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
-        ffi_main, ffi_lib = chelper.get_ffi()
-        ffi_lib.trdispatch_stop(self._trdispatch)
-        res = [trsync.stop() for trsync in self._trsyncs]
-        if any([r == etrsync.REASON_COMMS_TIMEOUT for r in res]):
+        res = self._dispatch.stop()
+        if res == MCU_trsync.REASON_COMMS_TIMEOUT:
             return -1.
-        if res[0] != etrsync.REASON_ENDSTOP_HIT:
+        if res != MCU_trsync.REASON_ENDSTOP_HIT:
             return 0.
         if self._mcu.is_fileoutput():
             return home_end_time