diff options
| -rw-r--r-- | klippy/chelper.py | 1 | ||||
| -rw-r--r-- | klippy/gcode.py | 4 | ||||
| -rw-r--r-- | klippy/klippy.py | 6 | ||||
| -rw-r--r-- | klippy/mcu.py | 14 | ||||
| -rw-r--r-- | klippy/pyhelper.c | 17 | ||||
| -rw-r--r-- | klippy/pyhelper.h | 2 | ||||
| -rw-r--r-- | klippy/reactor.py | 24 | ||||
| -rw-r--r-- | klippy/serialhdl.py | 16 | ||||
| -rw-r--r-- | klippy/serialqueue.c | 6 | ||||
| -rw-r--r-- | klippy/toolhead.py | 13 |
10 files changed, 58 insertions, 45 deletions
diff --git a/klippy/chelper.py b/klippy/chelper.py index b7baf061..ed494456 100644 --- a/klippy/chelper.py +++ b/klippy/chelper.py @@ -71,6 +71,7 @@ defs_serialqueue = """ defs_pyhelper = """ void set_python_logging_callback(void (*func)(const char *)); + double get_monotonic(void); """ # Return the list of file modification times diff --git a/klippy/gcode.py b/klippy/gcode.py index 407390e1..8b33e26a 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import os, re, logging, collections, time +import os, re, logging, collections import homing # Parse out incoming GCode and find and translate head movements @@ -179,7 +179,7 @@ class GCodeParser: def bg_temp(self, heater): if self.is_fileinput: return - eventtime = time.time() + eventtime = self.reactor.monotonic() while self.is_printer_ready and heater.check_busy(eventtime): self.toolhead.reset_motor_off_time(eventtime) self.respond(self.get_temp()) diff --git a/klippy/klippy.py b/klippy/klippy.py index 517bdf22..eac85829 100644 --- a/klippy/klippy.py +++ b/klippy/klippy.py @@ -195,6 +195,10 @@ class Printer: self.reactor.unregister_timer(self.connect_timer) return self.reactor.NEVER def run(self): + systime = time.time() + monotime = self.reactor.monotonic() + logging.info("Start printer at %s (%.1f %.1f)" % ( + time.asctime(time.localtime(systime)), systime, monotime)) try: self.reactor.run() except: @@ -216,7 +220,7 @@ class Printer: def disconnect(self): try: if self.mcu is not None: - self.stats(time.time()) + self.stats(self.reactor.monotonic()) self.mcu.disconnect() except: logging.exception("Unhandled exception during disconnect") diff --git a/klippy/mcu.py b/klippy/mcu.py index 4fadc13d..f6a21746 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import sys, zlib, logging, time, math +import sys, zlib, logging, math import serialhdl, pins, chelper class error(Exception): @@ -163,7 +163,7 @@ class MCU_endstop: clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock + self._retry_query_ticks msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) @@ -173,7 +173,7 @@ class MCU_endstop: self._stepper.note_homing_finalized() self._home_timeout_clock = int(mcu_time * self._mcu_freq) def home_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) def _handle_end_stop_state(self, params): @@ -211,10 +211,10 @@ class MCU_endstop: def query_endstop(self, mcu_time): clock = int(mcu_time * self._mcu_freq) self._homing = False - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock def query_endstop_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) return self._last_state.get('pin', self._invert) ^ self._invert @@ -377,7 +377,7 @@ class MCU: if not self._is_fileoutput: self.serial.connect() self._printer.reactor.update_timer( - self._timeout_timer, time.time() + self.COMM_TIMEOUT) + self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT) self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._stats_sumsq_base = self.serial.msgparser.get_constant_float( 'STATS_SUMSQ_BASE') @@ -547,5 +547,7 @@ class MCU: raise error("Internal error in stepcompress") def pause(self, waketime): return self._printer.reactor.pause(waketime) + def monotonic(self): + return self._printer.reactor.monotonic() def __del__(self): self.disconnect() diff --git a/klippy/pyhelper.c b/klippy/pyhelper.c index 2716b9b7..410fd764 100644 --- a/klippy/pyhelper.c +++ b/klippy/pyhelper.c @@ -9,17 +9,20 @@ #include <stdint.h> // uint8_t #include <stdio.h> // fprintf #include <string.h> // strerror -#include <sys/time.h> // gettimeofday #include <time.h> // struct timespec -#include "pyhelper.h" // get_time +#include "pyhelper.h" // get_monotonic -// Return the current system time as a double +// Return the monotonic system time as a double double -get_time(void) +get_monotonic(void) { - struct timeval tv; - gettimeofday(&tv, NULL); - return (double)tv.tv_sec + (double)tv.tv_usec / 1000000.; + struct timespec ts; + int ret = clock_gettime(CLOCK_MONOTONIC, &ts); + if (ret) { + report_errno("clock_gettime", ret); + return 0.; + } + return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001; } // Fill a 'struct timespec' with a system time stored in a double diff --git a/klippy/pyhelper.h b/klippy/pyhelper.h index bca65fd2..1042214b 100644 --- a/klippy/pyhelper.h +++ b/klippy/pyhelper.h @@ -1,7 +1,7 @@ #ifndef PYHELPER_H #define PYHELPER_H -double get_time(void); +double get_monotonic(void); struct timespec fill_time(double time); void set_python_logging_callback(void (*func)(const char *)); void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2))); diff --git a/klippy/reactor.py b/klippy/reactor.py index 1adf09a8..1fd8426a 100644 --- a/klippy/reactor.py +++ b/klippy/reactor.py @@ -3,8 +3,9 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import select, time, math +import select, math import greenlet +import chelper class ReactorTimer: def __init__(self, callback, waketime): @@ -33,6 +34,7 @@ class SelectReactor: self._process = False self._g_dispatch = None self._greenlets = [] + self.monotonic = chelper.get_ffi()[1].get_monotonic # Timers def _note_time(self, t): nexttime = t.waketime @@ -67,7 +69,7 @@ class SelectReactor: self._note_time(t) if eventtime >= self._next_timer: return 0. - return min(1., max(.001, self._next_timer - time.time())) + return min(1., max(.001, self._next_timer - self.monotonic())) # Greenlets def pause(self, waketime): g = greenlet.getcurrent() @@ -97,16 +99,16 @@ class SelectReactor: def _dispatch_loop(self): self._process = True self._g_dispatch = g_dispatch = greenlet.getcurrent() - eventtime = time.time() + eventtime = self.monotonic() while self._process: timeout = self._check_timers(eventtime) res = select.select(self._fds, [], [], timeout) - eventtime = time.time() + eventtime = self.monotonic() for fd in res[0]: fd.callback(eventtime) if g_dispatch is not self._g_dispatch: self._end_greenlet(g_dispatch) - eventtime = time.time() + eventtime = self.monotonic() break self._g_dispatch = None def run(self): @@ -137,16 +139,16 @@ class PollReactor(SelectReactor): def _dispatch_loop(self): self._process = True self._g_dispatch = g_dispatch = greenlet.getcurrent() - eventtime = time.time() + eventtime = self.monotonic() while self._process: timeout = self._check_timers(eventtime) res = self._poll.poll(int(math.ceil(timeout * 1000.))) - eventtime = time.time() + eventtime = self.monotonic() for fd, event in res: self._fds[fd](eventtime) if g_dispatch is not self._g_dispatch: self._end_greenlet(g_dispatch) - eventtime = time.time() + eventtime = self.monotonic() break self._g_dispatch = None @@ -172,16 +174,16 @@ class EPollReactor(SelectReactor): def _dispatch_loop(self): self._process = True self._g_dispatch = g_dispatch = greenlet.getcurrent() - eventtime = time.time() + eventtime = self.monotonic() while self._process: timeout = self._check_timers(eventtime) res = self._epoll.poll(timeout) - eventtime = time.time() + eventtime = self.monotonic() for fd, event in res: self._fds[fd](eventtime) if g_dispatch is not self._g_dispatch: self._end_greenlet(g_dispatch) - eventtime = time.time() + eventtime = self.monotonic() break self._g_dispatch = None diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py index 143fd138..b943f2da 100644 --- a/klippy/serialhdl.py +++ b/klippy/serialhdl.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import time, logging, threading +import logging, threading import serial import msgproto, chelper, util @@ -60,7 +60,7 @@ class SerialReader: # Initial connection logging.info("Starting serial connect") while 1: - starttime = time.time() + starttime = self.reactor.monotonic() try: self.ser = serial.Serial(self.serialport, self.baud, timeout=0) except OSError, e: @@ -106,7 +106,7 @@ class SerialReader: est_clock = float(self.msgparser.config['CLOCK_FREQ']) self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1) self.est_clock = est_clock - self.last_ack_time = time.time() + self.last_ack_time = self.reactor.monotonic() self.last_ack_clock = 0 self.ffi_lib.serialqueue_set_clock_est( self.serialqueue, self.est_clock, self.last_ack_time @@ -232,7 +232,7 @@ class SerialRetryCommand: self.cmd = cmd self.name = name self.response = None - self.min_query_time = time.time() + self.min_query_time = self.serial.reactor.monotonic() self.serial.register_callback(self.handle_callback, self.name) self.send_timer = self.serial.reactor.register_timer( self.send_event, self.serial.reactor.NOW) @@ -246,7 +246,7 @@ class SerialRetryCommand: if last_sent_time >= self.min_query_time: self.response = params def get_response(self): - eventtime = time.time() + eventtime = self.serial.reactor.monotonic() while self.response is None: eventtime = self.serial.reactor.pause(eventtime + 0.05) self.serial.unregister_callback(self.name) @@ -267,7 +267,7 @@ class SerialBootStrap: self.send_timer = self.serial.reactor.register_timer( self.send_event, self.serial.reactor.NOW) def get_identify_data(self, timeout): - eventtime = time.time() + eventtime = self.serial.reactor.monotonic() while not self.is_done and eventtime <= timeout: eventtime = self.serial.reactor.pause(eventtime + 0.05) self.serial.unregister_callback('identify_response') @@ -305,10 +305,10 @@ def stk500v2_leave(ser, reactor): ser.read(1) # Send stk500v2 leave programmer sequence ser.baudrate = 115200 - reactor.pause(time.time() + 0.100) + reactor.pause(reactor.monotonic() + 0.100) ser.read(4096) ser.write('\x1b\x01\x00\x01\x0e\x11\x04') - reactor.pause(time.time() + 0.050) + reactor.pause(reactor.monotonic() + 0.050) res = ser.read(4096) logging.debug("Got %s from stk500v2" % (repr(res),)) ser.baudrate = origbaud diff --git a/klippy/serialqueue.c b/klippy/serialqueue.c index 6cdd9f77..2286912a 100644 --- a/klippy/serialqueue.c +++ b/klippy/serialqueue.c @@ -23,7 +23,7 @@ #include <termios.h> // tcflush #include <unistd.h> // pipe #include "list.h" // list_add_tail -#include "pyhelper.h" // get_time +#include "pyhelper.h" // get_monotonic #include "serialqueue.h" // struct queue_message @@ -149,11 +149,11 @@ static void pollreactor_run(struct pollreactor *pr) { pr->must_exit = 0; - double eventtime = get_time(); + double eventtime = get_monotonic(); while (! pr->must_exit) { int timeout = pollreactor_check_timers(pr, eventtime); int ret = poll(pr->fds, pr->num_fds, timeout); - eventtime = get_time(); + eventtime = get_monotonic(); if (ret > 0) { int i; for (i=0; i<pr->num_fds; i++) diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 3f039411..75ffe52b 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, logging, time +import math, logging import cartesian, delta, extruder # Common suffixes: _d is distance (in mm), _v is velocity (in @@ -210,7 +210,7 @@ class ToolHead: def get_next_move_time(self): if not self.print_time: self.print_time = self.buffer_time_low + STALL_TIME - curtime = time.time() + curtime = self.reactor.monotonic() self.printer.mcu.set_print_start_time(curtime) self.reactor.update_timer(self.flush_timer, self.reactor.NOW) return self.print_time @@ -224,15 +224,16 @@ class ToolHead: self.printer.mcu.flush_moves(self.print_time) self.print_time = 0. self.need_check_stall = -1. - self.reset_motor_off_time(time.time()) + self.reset_motor_off_time(self.reactor.monotonic()) self.reactor.update_timer(self.flush_timer, self.motor_off_time) def _check_stall(self): if not self.print_time: # XXX - find better way to flush initial move_queue items if self.move_queue.queue: - self.reactor.update_timer(self.flush_timer, time.time() + 0.100) + self.reactor.update_timer( + self.flush_timer, self.reactor.monotonic() + 0.100) return - eventtime = time.time() + eventtime = self.reactor.monotonic() while 1: buffer_time = self.printer.mcu.get_print_buffer_time( eventtime, self.print_time) @@ -310,7 +311,7 @@ class ToolHead: logging.debug('; Max time of %f' % (last_move_time,)) def wait_moves(self): self.move_queue.flush() - eventtime = time.time() + eventtime = self.reactor.monotonic() while self.print_time: eventtime = self.reactor.pause(eventtime + 0.100) def query_endstops(self): |