diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 16 |
1 files changed, 11 insertions, 5 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index b10a9c99..15148a86 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -426,19 +426,25 @@ class MCU_adc: # Wrapper around command sending class CommandWrapper: - def __init__(self, mcu, serial, cmd, cmd_queue): + def __init__(self, mcu, serial, clocksync, cmd, cmd_queue): self._mcu = mcu self._serial = serial + self._clocksync = clocksync self._cmd = cmd self._cmd_queue = cmd_queue def send(self, data=(), minclock=0, reqclock=0): cmd = self._cmd.encode(data) self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue) - def send_with_response(self, data=(), response=None, response_oid=None): + 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) try: - src = serialhdl.SerialRetryCommand(self._serial, cmd, - response, response_oid) + src = serialhdl.SerialRetryCommand( + self._serial, [cmd], self._cmd_queue, response, response_oid, + minclock=minclock, minsystime=minsystime) return src.get_response() except serialhdl.error as e: raise error(str(e)) @@ -710,7 +716,7 @@ class MCU: if cq is None: cq = self._serial.get_default_command_queue() cmd = self._serial.get_msgparser().lookup_command(msgformat) - return CommandWrapper(self, self._serial, cmd, cq) + return CommandWrapper(self, self._serial, self._clocksync, cmd, cq) def try_lookup_command(self, msgformat): try: return self.lookup_command(msgformat) |