diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 38 |
1 files changed, 35 insertions, 3 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 9864474d..ec490e65 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -21,11 +21,14 @@ class MCU_stepper: self._step_dist = 0. self._min_stop_interval = 0. self._reset_cmd_id = self._get_position_cmd = None + self._active_callbacks = [] ffi_main, self._ffi_lib = chelper.get_ffi() self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid), self._ffi_lib.stepcompress_free) self._mcu.register_stepqueue(self._stepqueue) self._stepper_kinematics = self._itersolve_gen_steps = None + self._itersolve_generate_steps = self._itersolve_check_active = None + self._trapq = ffi_main.NULL self.set_ignore_move(False) def get_mcu(self): return self._mcu @@ -95,12 +98,16 @@ class MCU_stepper: sk, self._stepqueue, self._step_dist) return old_sk def set_ignore_move(self, ignore_move): - was_ignore = (self._itersolve_gen_steps - is not self._ffi_lib.itersolve_gen_steps) + fl = self._ffi_lib + was_ignore = self._itersolve_gen_steps is not fl.itersolve_gen_steps if ignore_move: self._itersolve_gen_steps = (lambda *args: 0) + self._itersolve_generate_steps = (lambda *args: 0) + self._itersolve_check_active = (lambda *args: 0.) else: - self._itersolve_gen_steps = self._ffi_lib.itersolve_gen_steps + self._itersolve_gen_steps = fl.itersolve_gen_steps + self._itersolve_generate_steps = fl.itersolve_generate_steps + self._itersolve_check_active = fl.itersolve_check_active return was_ignore def note_homing_end(self, did_trigger=False): ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) @@ -124,6 +131,31 @@ class MCU_stepper: ret = self._itersolve_gen_steps(self._stepper_kinematics, cmove) if ret: raise error("Internal error in stepcompress") + def set_trapq(self, tq): + if tq is None: + ffi_main, self._ffi_lib = chelper.get_ffi() + tq = ffi_main.NULL + self._ffi_lib.itersolve_set_trapq(self._stepper_kinematics, tq) + old_tq = self._trapq + self._trapq = tq + return old_tq + def add_active_callback(self, cb): + self._active_callbacks.append(cb) + def generate_steps(self, flush_time): + # Check for activity if necessary + if self._active_callbacks: + ret = self._itersolve_check_active(self._stepper_kinematics, + flush_time) + if ret: + cbs = self._active_callbacks + self._active_callbacks = [] + for cb in cbs: + cb(ret) + # Generate steps + ret = self._itersolve_generate_steps(self._stepper_kinematics, + flush_time) + if ret: + raise error("Internal error in stepcompress") class MCU_endstop: class TimeoutError(Exception): |