diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 71 |
1 files changed, 37 insertions, 34 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index e880b183..5badccfb 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -145,11 +145,12 @@ class MCU_endstop: self._pin = pin_params['pin'] self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] + self._reactor = mcu.get_printer().get_reactor() self._oid = self._home_cmd = self._query_cmd = None self._mcu.register_config_callback(self._build_config) - self._min_query_time = 0. + self._min_query_time = self._last_sent_time = 0. self._next_query_print_time = 0. - self._last_state = {} + self._completion = None def get_mcu(self): return self._mcu def add_stepper(self, stepper): @@ -184,8 +185,10 @@ class MCU_endstop: triggered=True): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) - self._min_query_time = self._mcu.monotonic() self._next_query_print_time = print_time + self.RETRY_QUERY + self._min_query_time = self._reactor.monotonic() + self._last_sent_time = 0. + self._completion = self._reactor.completion() self._mcu.register_response(self._handle_end_stop_state, "end_stop_state", self._oid) self._home_cmd.send( @@ -194,41 +197,45 @@ class MCU_endstop: reqclock=clock) for s in self._steppers: s.note_homing_start(clock) - def home_wait(self, home_end_time): - eventtime = self._mcu.monotonic() - try: - while self._check_busy(eventtime, home_end_time): - eventtime = self._mcu.pause(eventtime + 0.1) - finally: - self._mcu.register_response(None, "end_stop_state", self._oid) - def home_finalize(self): - pass def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s", params) - self._last_state = params - def _check_busy(self, eventtime, home_end_time=0.): - # Check if need to send an end_stop_query command - last_sent_time = self._last_state.get('#sent_time', -1.) - if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput(): - if not self._last_state.get('homing', 0): + if params['#sent_time'] >= self._min_query_time: + if params['homing']: + self._last_sent_time = params['#sent_time'] + else: + self._min_query_time = self._reactor.NEVER + self._reactor.async_complete(self._completion, params) + def home_wait(self, home_end_time): + if self._mcu.is_fileoutput(): + self._completion.complete({}) + curtime = self._reactor.monotonic() + while 1: + params = self._completion.wait(curtime + 0.100) + if params is not None: + # Homing completed successfully + self._mcu.register_response(None, "end_stop_state", self._oid) for s in self._steppers: s.note_homing_end(did_trigger=True) - return False - last_sent_print_time = self._mcu.estimated_print_time( - last_sent_time) - if last_sent_print_time > home_end_time: + return + # Check for timeout + last = self._mcu.estimated_print_time(self._last_sent_time) + if last > home_end_time: # Timeout - disable endstop checking + self._mcu.register_response(None, "end_stop_state", self._oid) for s in self._steppers: s.note_homing_end() self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) raise self.TimeoutError("Timeout during endstop homing") - if self._mcu.is_shutdown(): - raise error("MCU is shutdown") - est_print_time = self._mcu.estimated_print_time(eventtime) - if est_print_time >= self._next_query_print_time: - self._next_query_print_time = est_print_time + self.RETRY_QUERY - self._query_cmd.send([self._oid]) - return True + # Check for resend + curtime = self._reactor.monotonic() + est_print_time = self._mcu.estimated_print_time(curtime) + if est_print_time >= self._next_query_print_time: + self._next_query_print_time = est_print_time + self.RETRY_QUERY + self._query_cmd.send([self._oid]) + if self._mcu.is_shutdown(): + raise error("MCU is shutdown") + def home_finalize(self): + pass def query_endstop(self, print_time): clock = self._mcu.print_time_to_clock(print_time) if self._mcu.is_fileoutput(): @@ -691,7 +698,7 @@ class MCU: self._config_cmds.append(cmd) def get_query_slot(self, oid): slot = self.seconds_to_clock(oid * .01) - t = int(self.estimated_print_time(self.monotonic()) + 1.5) + t = int(self.estimated_print_time(self._reactor.monotonic()) + 1.5) return self.print_time_to_clock(t) + slot def register_stepqueue(self, stepqueue): self._stepqueues.append(stepqueue) @@ -736,10 +743,6 @@ class MCU: return self._clocksync.get_adjusted_freq() def clock32_to_clock64(self, clock32): return self._clocksync.clock32_to_clock64(clock32) - def pause(self, waketime): - return self._reactor.pause(waketime) - def monotonic(self): - return self._reactor.monotonic() # Restarts def _disconnect(self): self._serial.disconnect() |