diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 37 |
1 files changed, 22 insertions, 15 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 15f9fcea..c4f9d969 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -581,7 +581,7 @@ class MCU: self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq) for c in self._init_cmds: self.send(self.create_command(c)) - def connect(self): + def _connect(self): if self.is_fileoutput(): self._connect_file() else: @@ -666,9 +666,18 @@ class MCU: def monotonic(self): return self._reactor.monotonic() # Restarts + def _disconnect(self): + self._serial.disconnect() + if self._steppersync is not None: + self._ffi_lib.steppersync_free(self._steppersync) + self._steppersync = None + def _shutdown(self, force=False): + if self._emergency_stop_cmd is None or (self._is_shutdown and not force): + return + self.send(self._emergency_stop_cmd.encode()) def _restart_arduino(self): logging.info("Attempting MCU '%s' reset", self._name) - self.disconnect() + self._disconnect() serialhdl.arduino_reset(self._serialport, self._reactor) def _restart_via_command(self): if ((self._reset_cmd is None and self._config_reset_cmd is None) @@ -679,7 +688,7 @@ class MCU: # Attempt reset via config_reset command logging.info("Attempting MCU '%s' config_reset command", self._name) self._is_shutdown = True - self.do_shutdown(force=True) + self._shutdown(force=True) self._reactor.pause(self._reactor.monotonic() + 0.015) self.send(self._config_reset_cmd.encode()) else: @@ -687,10 +696,10 @@ class MCU: logging.info("Attempting MCU '%s' reset command", self._name) self.send(self._reset_cmd.encode()) self._reactor.pause(self._reactor.monotonic() + 0.015) - self.disconnect() + self._disconnect() def _restart_rpi_usb(self): logging.info("Attempting MCU '%s' reset via rpi usb power", self._name) - self.disconnect() + self._disconnect() chelper.run_hub_ctrl(0) self._reactor.pause(self._reactor.monotonic() + 2.) chelper.run_hub_ctrl(1) @@ -735,17 +744,15 @@ class MCU: self._mcu_tick_stddev) return ' '.join([msg, self._serial.stats(eventtime), self._clocksync.stats(eventtime)]) - def do_shutdown(self, force=False): - if self._emergency_stop_cmd is None or (self._is_shutdown and not force): - return - self.send(self._emergency_stop_cmd.encode()) - def disconnect(self): - self._serial.disconnect() - if self._steppersync is not None: - self._ffi_lib.steppersync_free(self._steppersync) - self._steppersync = None + def printer_state(self, state): + if state == 'connect': + self._connect() + elif state == 'disconnect': + self._disconnect() + elif state == 'shutdown': + self._shutdown() def __del__(self): - self.disconnect() + self._disconnect() Common_MCU_errors = { ("Timer too close", "No next step", "Missed scheduling of next "): """ |