diff --git a/klippy/chelper.py b/klippy/chelper.py
index b7baf0610..ed4944566 100644
--- a/klippy/chelper.py
+++ b/klippy/chelper.py
@@ -71,6 +71,7 @@ defs_serialqueue = """
defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *));
+ double get_monotonic(void);
"""
# Return the list of file modification times
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 407390e19..8b33e26a7 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import os, re, logging, collections, time
+import os, re, logging, collections
import homing
# Parse out incoming GCode and find and translate head movements
@@ -179,7 +179,7 @@ class GCodeParser:
def bg_temp(self, heater):
if self.is_fileinput:
return
- eventtime = time.time()
+ eventtime = self.reactor.monotonic()
while self.is_printer_ready and heater.check_busy(eventtime):
self.toolhead.reset_motor_off_time(eventtime)
self.respond(self.get_temp())
diff --git a/klippy/klippy.py b/klippy/klippy.py
index 517bdf225..eac85829b 100644
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -195,6 +195,10 @@ class Printer:
self.reactor.unregister_timer(self.connect_timer)
return self.reactor.NEVER
def run(self):
+ systime = time.time()
+ monotime = self.reactor.monotonic()
+ logging.info("Start printer at %s (%.1f %.1f)" % (
+ time.asctime(time.localtime(systime)), systime, monotime))
try:
self.reactor.run()
except:
@@ -216,7 +220,7 @@ class Printer:
def disconnect(self):
try:
if self.mcu is not None:
- self.stats(time.time())
+ self.stats(self.reactor.monotonic())
self.mcu.disconnect()
except:
logging.exception("Unhandled exception during disconnect")
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 4fadc13dd..f6a217466 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import sys, zlib, logging, time, math
+import sys, zlib, logging, math
import serialhdl, pins, chelper
class error(Exception):
@@ -163,7 +163,7 @@ class MCU_endstop:
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True
- self._min_query_time = time.time()
+ self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock + self._retry_query_ticks
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
@@ -173,7 +173,7 @@ class MCU_endstop:
self._stepper.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
- eventtime = time.time()
+ eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
@@ -211,10 +211,10 @@ class MCU_endstop:
def query_endstop(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
self._homing = False
- self._min_query_time = time.time()
+ self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock
def query_endstop_wait(self):
- eventtime = time.time()
+ eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
@@ -377,7 +377,7 @@ class MCU:
if not self._is_fileoutput:
self.serial.connect()
self._printer.reactor.update_timer(
- self._timeout_timer, time.time() + self.COMM_TIMEOUT)
+ self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
'STATS_SUMSQ_BASE')
@@ -547,5 +547,7 @@ class MCU:
raise error("Internal error in stepcompress")
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
+ def monotonic(self):
+ return self._printer.reactor.monotonic()
def __del__(self):
self.disconnect()
diff --git a/klippy/pyhelper.c b/klippy/pyhelper.c
index 2716b9b7d..410fd764e 100644
--- a/klippy/pyhelper.c
+++ b/klippy/pyhelper.c
@@ -9,17 +9,20 @@
#include <stdint.h> // uint8_t
#include <stdio.h> // fprintf
#include <string.h> // strerror
-#include <sys/time.h> // gettimeofday
#include <time.h> // struct timespec
-#include "pyhelper.h" // get_time
+#include "pyhelper.h" // get_monotonic
-// Return the current system time as a double
+// Return the monotonic system time as a double
double
-get_time(void)
+get_monotonic(void)
{
- struct timeval tv;
- gettimeofday(&tv, NULL);
- return (double)tv.tv_sec + (double)tv.tv_usec / 1000000.;
+ struct timespec ts;
+ int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
+ if (ret) {
+ report_errno("clock_gettime", ret);
+ return 0.;
+ }
+ return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001;
}
// Fill a 'struct timespec' with a system time stored in a double
diff --git a/klippy/pyhelper.h b/klippy/pyhelper.h
index bca65fd29..1042214b4 100644
--- a/klippy/pyhelper.h
+++ b/klippy/pyhelper.h
@@ -1,7 +1,7 @@
#ifndef PYHELPER_H
#define PYHELPER_H
-double get_time(void);
+double get_monotonic(void);
struct timespec fill_time(double time);
void set_python_logging_callback(void (*func)(const char *));
void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));
diff --git a/klippy/reactor.py b/klippy/reactor.py
index 1adf09a8d..1fd8426ab 100644
--- a/klippy/reactor.py
+++ b/klippy/reactor.py
@@ -3,8 +3,9 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import select, time, math
+import select, math
import greenlet
+import chelper
class ReactorTimer:
def __init__(self, callback, waketime):
@@ -33,6 +34,7 @@ class SelectReactor:
self._process = False
self._g_dispatch = None
self._greenlets = []
+ self.monotonic = chelper.get_ffi()[1].get_monotonic
# Timers
def _note_time(self, t):
nexttime = t.waketime
@@ -67,7 +69,7 @@ class SelectReactor:
self._note_time(t)
if eventtime >= self._next_timer:
return 0.
- return min(1., max(.001, self._next_timer - time.time()))
+ return min(1., max(.001, self._next_timer - self.monotonic()))
# Greenlets
def pause(self, waketime):
g = greenlet.getcurrent()
@@ -97,16 +99,16 @@ class SelectReactor:
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
- eventtime = time.time()
+ eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = select.select(self._fds, [], [], timeout)
- eventtime = time.time()
+ eventtime = self.monotonic()
for fd in res[0]:
fd.callback(eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
- eventtime = time.time()
+ eventtime = self.monotonic()
break
self._g_dispatch = None
def run(self):
@@ -137,16 +139,16 @@ class PollReactor(SelectReactor):
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
- eventtime = time.time()
+ eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._poll.poll(int(math.ceil(timeout * 1000.)))
- eventtime = time.time()
+ eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
- eventtime = time.time()
+ eventtime = self.monotonic()
break
self._g_dispatch = None
@@ -172,16 +174,16 @@ class EPollReactor(SelectReactor):
def _dispatch_loop(self):
self._process = True
self._g_dispatch = g_dispatch = greenlet.getcurrent()
- eventtime = time.time()
+ eventtime = self.monotonic()
while self._process:
timeout = self._check_timers(eventtime)
res = self._epoll.poll(timeout)
- eventtime = time.time()
+ eventtime = self.monotonic()
for fd, event in res:
self._fds[fd](eventtime)
if g_dispatch is not self._g_dispatch:
self._end_greenlet(g_dispatch)
- eventtime = time.time()
+ eventtime = self.monotonic()
break
self._g_dispatch = None
diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py
index 143fd138e..b943f2dab 100644
--- a/klippy/serialhdl.py
+++ b/klippy/serialhdl.py
@@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import time, logging, threading
+import logging, threading
import serial
import msgproto, chelper, util
@@ -60,7 +60,7 @@ class SerialReader:
# Initial connection
logging.info("Starting serial connect")
while 1:
- starttime = time.time()
+ starttime = self.reactor.monotonic()
try:
self.ser = serial.Serial(self.serialport, self.baud, timeout=0)
except OSError, e:
@@ -106,7 +106,7 @@ class SerialReader:
est_clock = float(self.msgparser.config['CLOCK_FREQ'])
self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1)
self.est_clock = est_clock
- self.last_ack_time = time.time()
+ self.last_ack_time = self.reactor.monotonic()
self.last_ack_clock = 0
self.ffi_lib.serialqueue_set_clock_est(
self.serialqueue, self.est_clock, self.last_ack_time
@@ -232,7 +232,7 @@ class SerialRetryCommand:
self.cmd = cmd
self.name = name
self.response = None
- self.min_query_time = time.time()
+ self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name)
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
@@ -246,7 +246,7 @@ class SerialRetryCommand:
if last_sent_time >= self.min_query_time:
self.response = params
def get_response(self):
- eventtime = time.time()
+ eventtime = self.serial.reactor.monotonic()
while self.response is None:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback(self.name)
@@ -267,7 +267,7 @@ class SerialBootStrap:
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def get_identify_data(self, timeout):
- eventtime = time.time()
+ eventtime = self.serial.reactor.monotonic()
while not self.is_done and eventtime <= timeout:
eventtime = self.serial.reactor.pause(eventtime + 0.05)
self.serial.unregister_callback('identify_response')
@@ -305,10 +305,10 @@ def stk500v2_leave(ser, reactor):
ser.read(1)
# Send stk500v2 leave programmer sequence
ser.baudrate = 115200
- reactor.pause(time.time() + 0.100)
+ reactor.pause(reactor.monotonic() + 0.100)
ser.read(4096)
ser.write('\x1b\x01\x00\x01\x0e\x11\x04')
- reactor.pause(time.time() + 0.050)
+ reactor.pause(reactor.monotonic() + 0.050)
res = ser.read(4096)
logging.debug("Got %s from stk500v2" % (repr(res),))
ser.baudrate = origbaud
diff --git a/klippy/serialqueue.c b/klippy/serialqueue.c
index 6cdd9f777..2286912a7 100644
--- a/klippy/serialqueue.c
+++ b/klippy/serialqueue.c
@@ -23,7 +23,7 @@
#include <termios.h> // tcflush
#include <unistd.h> // pipe
#include "list.h" // list_add_tail
-#include "pyhelper.h" // get_time
+#include "pyhelper.h" // get_monotonic
#include "serialqueue.h" // struct queue_message
@@ -149,11 +149,11 @@ static void
pollreactor_run(struct pollreactor *pr)
{
pr->must_exit = 0;
- double eventtime = get_time();
+ double eventtime = get_monotonic();
while (! pr->must_exit) {
int timeout = pollreactor_check_timers(pr, eventtime);
int ret = poll(pr->fds, pr->num_fds, timeout);
- eventtime = get_time();
+ eventtime = get_monotonic();
if (ret > 0) {
int i;
for (i=0; i<pr->num_fds; i++)
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 3f0394114..75ffe52ba 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -3,7 +3,7 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging, time
+import math, logging
import cartesian, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
@@ -210,7 +210,7 @@ class ToolHead:
def get_next_move_time(self):
if not self.print_time:
self.print_time = self.buffer_time_low + STALL_TIME
- curtime = time.time()
+ curtime = self.reactor.monotonic()
self.printer.mcu.set_print_start_time(curtime)
self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
return self.print_time
@@ -224,15 +224,16 @@ class ToolHead:
self.printer.mcu.flush_moves(self.print_time)
self.print_time = 0.
self.need_check_stall = -1.
- self.reset_motor_off_time(time.time())
+ self.reset_motor_off_time(self.reactor.monotonic())
self.reactor.update_timer(self.flush_timer, self.motor_off_time)
def _check_stall(self):
if not self.print_time:
# XXX - find better way to flush initial move_queue items
if self.move_queue.queue:
- self.reactor.update_timer(self.flush_timer, time.time() + 0.100)
+ self.reactor.update_timer(
+ self.flush_timer, self.reactor.monotonic() + 0.100)
return
- eventtime = time.time()
+ eventtime = self.reactor.monotonic()
while 1:
buffer_time = self.printer.mcu.get_print_buffer_time(
eventtime, self.print_time)
@@ -310,7 +311,7 @@ class ToolHead:
logging.debug('; Max time of %f' % (last_move_time,))
def wait_moves(self):
self.move_queue.flush()
- eventtime = time.time()
+ eventtime = self.reactor.monotonic()
while self.print_time:
eventtime = self.reactor.pause(eventtime + 0.100)
def query_endstops(self):