diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 43 |
1 files changed, 38 insertions, 5 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 09f5d232..4be952f2 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -301,6 +301,35 @@ class MCU_adc: if self._callback is not None: self._callback(last_read_time, last_value) +# Class to retry sending of a query command until a given response is received +class RetryAsyncCommand: + TIMEOUT_TIME = 5.0 + RETRY_TIME = 0.500 + def __init__(self, mcu, serial, name, oid=None): + self.reactor = mcu.get_printer().get_reactor() + self.serial = serial + self.name = name + self.oid = oid + self.completion = self.reactor.completion() + self.min_query_time = self.reactor.monotonic() + self.serial.register_response(self.handle_callback, name, oid) + def handle_callback(self, params): + if params['#sent_time'] >= self.min_query_time: + self.min_query_time = self.reactor.NEVER + self.reactor.async_complete(self.completion, params) + def get_response(self, cmd, cmd_queue, minclock=0, minsystime=0.): + first_query_time = query_time = max(self.min_query_time, minsystime) + while 1: + self.serial.raw_send(cmd, minclock, minclock, cmd_queue) + params = self.completion.wait(query_time + self.RETRY_TIME) + if params is not None: + self.serial.register_response(None, self.name, self.oid) + return params + query_time = self.reactor.monotonic() + if query_time > first_query_time + self.TIMEOUT_TIME: + self.serial.register_response(None, self.name, self.oid) + raise error("Timeout on wait for '%s' response" % (self.name,)) + # Wrapper around command sending class CommandWrapper: def __init__(self, mcu, serial, clocksync, cmd, cmd_queue): @@ -314,16 +343,20 @@ class CommandWrapper: self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue) def send_with_response(self, data=(), response=None, response_oid=None, minclock=0): - minsystime = 0. - if minclock: - minsystime = self._clocksync.estimate_clock_systime(minclock) cmd = self._cmd.encode(data) src = serialhdl.SerialRetryCommand(self._serial, response, response_oid) try: - return src.get_response([cmd], self._cmd_queue, - minclock=minclock, minsystime=minsystime) + return src.get_response(cmd, self._cmd_queue, minclock=minclock) except serialhdl.error as e: raise error(str(e)) + def send_with_async_response(self, data=(), + response=None, response_oid=None, minclock=0): + minsystime = 0. + if minclock: + minsystime = self._clocksync.estimate_clock_systime(minclock) + cmd = self._cmd.encode(data) + src = RetryAsyncCommand(self._mcu, self._serial, response, response_oid) + return src.get_response(cmd, self._cmd_queue, minclock, minsystime) class MCU: error = error |