From abb79103162af2b7437c7a82f1c88d7fb1abfb68 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Sun, 14 Apr 2024 12:33:22 -0400
Subject: bulk_sensor: Rework ChipClockUpdater class into FixedFreqReader

Move the sensor_bulk_data message queuing into the class, and then
rename that class.  This simplifies the users of the code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
 klippy/extras/lis2dw.py | 30 ++++++++++--------------------
 1 file changed, 10 insertions(+), 20 deletions(-)

(limited to 'klippy/extras/lis2dw.py')

diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py
index 96b7db76..3f17c1f4 100644
--- a/klippy/extras/lis2dw.py
+++ b/klippy/extras/lis2dw.py
@@ -49,11 +49,9 @@ class LIS2DW:
         mcu.add_config_cmd("query_lis2dw oid=%d rest_ticks=0"
                            % (oid,), on_restart=True)
         mcu.register_config_callback(self._build_config)
-        self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
-        # Clock tracking
+        # Bulk sample message reading
         chip_smooth = self.data_rate * BATCH_UPDATES * 2
-        self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
-                                                          "<hhh")
+        self.ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth, "<hhh")
         self.last_error_count = 0
         # Process messages in batches
         self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -68,8 +66,8 @@ class LIS2DW:
         cmdqueue = self.spi.get_command_queue()
         self.query_lis2dw_cmd = self.mcu.lookup_command(
             "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.clock_updater.setup_query_command("query_lis2dw_status oid=%c",
-                                               oid=self.oid, cq=cmdqueue)
+        self.ffreader.setup_query_command("query_lis2dw_status oid=%c",
+                                          oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -88,10 +86,7 @@ class LIS2DW:
         self.batch_bulk.add_client(aqh.handle_batch)
         return aqh
     # Measurement decoding
-    def _extract_samples(self, raw_samples):
-        # Convert messages to samples
-        samples = self.clock_updater.extract_samples(raw_samples)
-        # Convert samples
+    def _convert_samples(self, samples):
         (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
         count = 0
         for ptime, rx, ry, rz in samples:
@@ -101,7 +96,6 @@ class LIS2DW:
             z = round(raw_xyz[z_pos] * z_scale, 6)
             samples[count] = (round(ptime, 6), x, y, z)
             count += 1
-        return samples
     # Start, stop, and process message batches
     def _start_measurements(self):
         # In case of miswiring, testing LIS2DW device ID prevents treating
@@ -125,31 +119,27 @@ class LIS2DW:
         self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
 
         # Start bulk reading
-        self.bulk_queue.clear_samples()
         rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
         self.query_lis2dw_cmd.send([self.oid, rest_ticks])
         self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
         logging.info("LIS2DW starting '%s' measurements", self.name)
         # Initialize clock tracking
-        self.clock_updater.note_start()
+        self.ffreader.note_start()
         self.last_error_count = 0
     def _finish_measurements(self):
         # Halt bulk reading
         self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
         self.query_lis2dw_cmd.send_wait_ack([self.oid, 0])
-        self.bulk_queue.clear_samples()
+        self.ffreader.note_end()
         logging.info("LIS2DW finished '%s' measurements", self.name)
         self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
     def _process_batch(self, eventtime):
-        self.clock_updater.update_clock()
-        raw_samples = self.bulk_queue.pull_samples()
-        if not raw_samples:
-            return {}
-        samples = self._extract_samples(raw_samples)
+        samples = self.ffreader.pull_samples()
+        self._convert_samples(samples)
         if not samples:
             return {}
         return {'data': samples, 'errors': self.last_error_count,
-                'overflows': self.clock_updater.get_last_overflows()}
+                'overflows': self.ffreader.get_last_overflows()}
 
 def load_config(config):
     return LIS2DW(config)
-- 
cgit v1.2.3-70-g09d2