serialhdl: Add a wrapper around the results of lookup_command()

Add a lookup_command() method to the SerialReader class that provides
a wrapper that stores the serial and commandqueue references.  This
makes it easier to run the send() method.

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

1 files changed, 20 insertions, 16 deletions

diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py
index aa1d14fd..320a5701 100644
--- a/klippy/extras/replicape.py
+++ b/klippy/extras/replicape.py
@@ -32,7 +32,6 @@ class pca9685_pwm:
         self._is_static = False
         self._last_clock = 0
         self._pwm_max = 0.
-        self._cmd_queue = self._mcu.alloc_command_queue()
         self._set_cmd = None
     def get_mcu(self):
         return self._mcu
@@ -73,17 +72,17 @@ class pca9685_pwm:
                 self._start_value * self._pwm_max,
                 self._shutdown_value * self._pwm_max,
                 self._mcu.seconds_to_clock(self._max_duration)))
+        cmd_queue = self._mcu.alloc_command_queue()
         self._set_cmd = self._mcu.lookup_command(
-            "schedule_pca9685_out oid=%c clock=%u value=%hu")
+            "schedule_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
     def set_pwm(self, print_time, value):
         clock = self._mcu.print_time_to_clock(print_time)
         if self._invert:
             value = 1. - value
         value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
         self._replicape.note_pwm_enable(print_time, self._channel, value)
-        msg = self._set_cmd.encode(self._oid, clock, value)
-        self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
-                      , cq=self._cmd_queue)
+        self._set_cmd.send([self._oid, clock, value],
+                           minclock=self._last_clock, reqclock=clock)
         self._last_clock = clock
     def set_digital(self, print_time, value):
         if value:
@@ -137,6 +136,8 @@ class Replicape:
             "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
             "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
         # Setup stepper config
+        self.send_spi_cmd = None
+        self.last_stepper_time = 0.
         self.stepper_dacs = {}
         shift_registers = [1, 0, 0, 1, 1]
         for port, name in enumerate('xyzeh'):
@@ -159,9 +160,7 @@ class Replicape:
             self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
             self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
         self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
-        self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
-            REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
-            "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
+        self.sr_disabled = tuple(reversed(shift_registers))
         if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
             # Enable xyz steppers
             shift_registers[0] &= ~1
@@ -171,11 +170,15 @@ class Replicape:
         if (config.getboolean('standstill_power_down', False)
             and self.stepper_dacs):
             shift_registers[4] &= ~1
-        self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
+        self.sr_enabled = tuple(reversed(shift_registers))
+        self.host_mcu.add_config_object(self)
+        self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
             REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
-            "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
-        self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
-        self.last_stepper_time = 0.
+            "".join(["%02x" % (x,) for x in self.sr_disabled])))
+    def build_config(self):
+        cmd_queue = self.host_mcu.alloc_command_queue()
+        self.send_spi_cmd = self.host_mcu.lookup_command(
+            "send_spi bus=%u dev=%u msg=%*s", cq=cmd_queue)
     def note_pwm_start_value(self, channel, start_value, shutdown_value):
         self.mcu_pwm_start_value |= not not start_value
         self.mcu_pwm_shutdown_value |= not not shutdown_value
@@ -200,16 +203,17 @@ class Replicape:
         on_dacs = [1 for c in self.stepper_dacs.keys()
                    if self.enabled_channels[c]]
         if not on_dacs:
-            cmd = self.disable_stepper_cmd
+            sr = self.sr_disabled
         elif is_enable and len(on_dacs) == 1:
-            cmd = self.enable_stepper_cmd
+            sr = self.sr_enabled
         else:
             return
         print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
         clock = self.host_mcu.print_time_to_clock(print_time)
         # XXX - the send_spi message should be scheduled
-        self.host_mcu.send(self.host_mcu.create_command(cmd),
-                           minclock=clock, reqclock=clock)
+        self.send_spi_cmd.send([REPLICAPE_SHIFT_REGISTER_BUS,
+                                REPLICAPE_SHIFT_REGISTER_DEVICE, sr],
+                               minclock=clock, reqclock=clock)
     def setup_pin(self, pin_params):
         pin = pin_params['pin']
         if pin not in self.pins: