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Diffstat (limited to 'klippy/chelper.py')
| -rw-r--r-- | klippy/chelper.py | 137 |
1 files changed, 0 insertions, 137 deletions
diff --git a/klippy/chelper.py b/klippy/chelper.py deleted file mode 100644 index 7d950ab8..00000000 --- a/klippy/chelper.py +++ /dev/null @@ -1,137 +0,0 @@ -# Wrapper around C helper code -# -# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> -# -# This file may be distributed under the terms of the GNU GPLv3 license. -import os, logging -import cffi - - -###################################################################### -# c_helper.so compiling -###################################################################### - -COMPILE_CMD = "gcc -Wall -g -O2 -shared -fPIC -o %s %s" -SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c'] -DEST_LIB = "c_helper.so" -OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h'] - -defs_stepcompress = """ - struct stepcompress *stepcompress_alloc(uint32_t max_error - , uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid - , uint32_t invert_sdir, uint32_t oid); - void stepcompress_free(struct stepcompress *sc); - int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); - int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock); - int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len); - - int32_t stepcompress_push(struct stepcompress *sc, double step_clock - , int32_t sdir); - int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset - , double step_offset, double steps, double start_sv, double accel); - int32_t stepcompress_push_delta(struct stepcompress *sc - , double clock_offset, double move_sd, double start_sv, double accel - , double height, double startxy_sd, double arm_d, double movez_r); - - struct steppersync *steppersync_alloc(struct serialqueue *sq - , struct stepcompress **sc_list, int sc_num, int move_num); - void steppersync_free(struct steppersync *ss); - void steppersync_set_time(struct steppersync *ss - , double time_offset, double mcu_freq); - int steppersync_flush(struct steppersync *ss, uint64_t move_clock); -""" - -defs_serialqueue = """ - #define MESSAGE_MAX 64 - struct pull_queue_message { - uint8_t msg[MESSAGE_MAX]; - int len; - double sent_time, receive_time; - }; - - struct serialqueue *serialqueue_alloc(int serial_fd, int write_only); - void serialqueue_exit(struct serialqueue *sq); - void serialqueue_free(struct serialqueue *sq); - struct command_queue *serialqueue_alloc_commandqueue(void); - void serialqueue_free_commandqueue(struct command_queue *cq); - void serialqueue_send(struct serialqueue *sq, struct command_queue *cq - , uint8_t *msg, int len, uint64_t min_clock, uint64_t req_clock); - void serialqueue_encode_and_send(struct serialqueue *sq - , struct command_queue *cq, uint32_t *data, int len - , uint64_t min_clock, uint64_t req_clock); - void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm); - void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust); - void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq - , double last_clock_time, uint64_t last_clock); - void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len); - int serialqueue_extract_old(struct serialqueue *sq, int sentq - , struct pull_queue_message *q, int max); -""" - -defs_pyhelper = """ - void set_python_logging_callback(void (*func)(const char *)); - double get_monotonic(void); -""" - -# Return the list of file modification times -def get_mtimes(srcdir, filelist): - out = [] - for filename in filelist: - pathname = os.path.join(srcdir, filename) - try: - t = os.path.getmtime(pathname) - except os.error: - continue - out.append(t) - return out - -# Check if the code needs to be compiled -def check_build_code(srcdir, target, sources, cmd, other_files=[]): - src_times = get_mtimes(srcdir, sources + other_files) - obj_times = get_mtimes(srcdir, [target]) - if not obj_times or max(src_times) > min(obj_times): - logging.info("Building C code module %s", target) - srcfiles = [os.path.join(srcdir, fname) for fname in sources] - destlib = os.path.join(srcdir, target) - os.system(cmd % (destlib, ' '.join(srcfiles))) - -FFI_main = None -FFI_lib = None -pyhelper_logging_callback = None - -# Return the Foreign Function Interface api to the caller -def get_ffi(): - global FFI_main, FFI_lib, pyhelper_logging_callback - if FFI_lib is None: - srcdir = os.path.dirname(os.path.realpath(__file__)) - check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD - , OTHER_FILES) - FFI_main = cffi.FFI() - FFI_main.cdef(defs_stepcompress) - FFI_main.cdef(defs_serialqueue) - FFI_main.cdef(defs_pyhelper) - FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB)) - # Setup error logging - def logging_callback(msg): - logging.error(FFI_main.string(msg)) - pyhelper_logging_callback = FFI_main.callback( - "void(const char *)", logging_callback) - FFI_lib.set_python_logging_callback(pyhelper_logging_callback) - return FFI_main, FFI_lib - - -###################################################################### -# hub-ctrl hub power controller -###################################################################### - -HC_COMPILE_CMD = "gcc -Wall -g -O2 -o %s %s -lusb" -HC_SOURCE_FILES = ['hub-ctrl.c'] -HC_SOURCE_DIR = '../lib/hub-ctrl' -HC_TARGET = "hub-ctrl" -HC_CMD = "sudo %s/hub-ctrl -h 0 -P 2 -p %d" - -def run_hub_ctrl(enable_power): - srcdir = os.path.dirname(os.path.realpath(__file__)) - hubdir = os.path.join(srcdir, HC_SOURCE_DIR) - check_build_code(hubdir, HC_TARGET, HC_SOURCE_FILES, HC_COMPILE_CMD) - os.system(HC_CMD % (hubdir, enable_power)) |