diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 5d61d5b1..2b0fe259 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -168,7 +168,7 @@ class MCU_endstop: raise error("Timeout during endstop homing") if self._mcu.is_shutdown: raise error("MCU is shutdown") - last_clock = self._mcu.get_last_clock() + last_clock, last_clock_time = self._mcu.get_last_clock() if last_clock >= self._next_query_clock: self._next_query_clock = last_clock + self._retry_query_ticks msg = self._query_cmd.encode(self._oid) @@ -278,8 +278,8 @@ class MCU_adc: self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc))) self._inv_max_adc = 1.0 / max_adc def _init_callback(self): - cur_clock = self._mcu.get_last_clock() - clock = cur_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX + last_clock, last_clock_time = self._mcu.get_last_clock() + clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX msg = self._query_cmd.encode( self._oid, clock, self._sample_ticks, self._sample_count , self._report_clock, self._min_sample, self._max_sample) @@ -295,6 +295,7 @@ class MCU_adc: self._callback = callback class MCU: + COMM_TIMEOUT = 3.5 def __init__(self, printer, config): self._printer = printer self._config = config @@ -304,6 +305,8 @@ class MCU: self.serial = serialhdl.SerialReader(printer.reactor, serialport, baud) self.is_shutdown = False self._is_fileoutput = False + self._timeout_timer = printer.reactor.register_timer( + self.timeout_handler) # Config building self._emergency_stop_cmd = None self._num_oids = 0 @@ -341,7 +344,10 @@ class MCU: def connect(self): if not self._is_fileoutput: self.serial.connect() + self._printer.reactor.update_timer( + self._timeout_timer, time.time() + self.COMM_TIMEOUT) self._mcu_freq = float(self.serial.msgparser.config['CLOCK_FREQ']) + self._emergency_stop_cmd = self.lookup_command("emergency_stop") self.register_msg(self.handle_shutdown, 'shutdown') self.register_msg(self.handle_shutdown, 'is_shutdown') self.register_msg(self.handle_mcu_stats, 'stats') @@ -355,6 +361,15 @@ class MCU: return 0.250 self.set_print_start_time = dummy_set_print_start_time self.get_print_buffer_time = dummy_get_print_buffer_time + def timeout_handler(self, eventtime): + last_clock, last_clock_time = self.serial.get_last_clock() + timeout = last_clock_time + self.COMM_TIMEOUT + if eventtime < timeout: + return timeout + logging.info("Timeout with firmware (eventtime=%f last_status=%f)" % ( + eventtime, last_clock_time)) + self._printer.note_mcu_error("Lost communication with firmware") + return self._printer.reactor.NEVER def disconnect(self): self.serial.disconnect() if self._steppersync is not None: @@ -386,7 +401,6 @@ class MCU: continue self.add_config_cmd(line) def build_config(self): - self._emergency_stop_cmd = self.lookup_command("emergency_stop") # Build config commands self._add_custom() self._config_cmds.insert(0, "allocate_oids count=%d" % ( |