From a6de1db94d108f401f7f3e67f735743106e16837 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Thu, 8 Dec 2016 12:42:12 -0500
Subject: [PATCH] gcode: Rework endstop query to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/cartesian.py | 5 +++--
klippy/delta.py | 5 +++--
klippy/gcode.py | 11 +++++++----
klippy/homing.py | 34 ----------------------------------
klippy/mcu.py | 8 +++++++-
klippy/stepper.py | 2 --
klippy/toolhead.py | 5 +++--
7 files changed, 23 insertions(+), 47 deletions(-)
diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 0f6f84203..5171297e9 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -76,8 +76,9 @@ class CartKinematics:
self.steppers[i].motor_enable(move_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
- def query_endstops(self, query_state):
- query_state.set_steppers(self.steppers)
+ def query_endstops(self, print_time):
+ endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
+ return [(s.name, es.query_endstop_wait()) for s, es in endstops]
def _check_endstops(self, move):
end_pos = move.end_pos
for i in StepList:
diff --git a/klippy/delta.py b/klippy/delta.py
index e6ed326c0..bbb5f6f0d 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -111,8 +111,9 @@ class DeltaKinematics:
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.need_motor_enable = False
- def query_endstops(self, query_state):
- query_state.set_steppers(self.steppers)
+ def query_endstops(self, print_time):
+ endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
+ return [(s.name, es.query_endstop_wait()) for s, es in endstops]
def check_move(self, move):
end_pos = move.end_pos
xy2 = end_pos[0]**2 + end_pos[1]**2
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 0d5e832ad..f280b43e4 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -345,10 +345,13 @@ class GCodeParser:
# Get Endstop Status
if self.is_fileinput:
return
- print_time = self.toolhead.get_last_move_time()
- query_state = homing.QueryEndstops(print_time, self.respond)
- self.toolhead.query_endstops(query_state)
- self.set_busy(query_state)
+ try:
+ res = self.toolhead.query_endstops()
+ except self.printer.mcu.error, e:
+ self.respond_error(str(e))
+ return
+ self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
+ for name, t in res]))
cmd_PID_TUNE_help = "Run PID Tuning"
cmd_PID_TUNE_aliases = ["M303"]
def cmd_PID_TUNE(self, params):
diff --git a/klippy/homing.py b/klippy/homing.py
index 384da3dd0..b1126b575 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -90,40 +90,6 @@ class Homing:
def do_calc_position(self, callback):
self.toolhead.set_position(self.fill_coord(callback(self)))
-# Helper code for querying and reporting the status of the endstops
-class QueryEndstops:
- def __init__(self, print_time, respond_cb):
- self.print_time = print_time
- self.respond_cb = respond_cb
- self.endstops = []
- self.busy = []
- def set_steppers(self, steppers):
- for stepper in steppers:
- es = stepper.query_endstop(self.print_time)
- if es is None:
- continue
- self.endstops.append((stepper.name, es))
- self.busy.append((stepper.name, es))
- def check_busy(self, eventtime):
- # Check if all endstop queries have been received
- while self.busy:
- try:
- if self.busy[0][1].check_busy(eventtime):
- return True
- except mcu.error, e:
- raise EndstopError("Failed to query endstop %s: %s" % (
- self.busy[0][0], str(e)))
- self.busy.pop(0)
- # All responses received - report status
- msgs = []
- for name, es in self.endstops:
- msg = "open"
- if es.get_last_triggered():
- msg = "TRIGGERED"
- msgs.append("%s:%s" % (name, msg))
- self.respond_cb(" ".join(msgs))
- return False
-
class EndstopError(Exception):
pass
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 4c2bbc68d..091222b28 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -188,7 +188,10 @@ class MCU_endstop:
self._homing = False
self._min_query_time = time.time()
self._next_query_clock = clock
- def get_last_triggered(self):
+ def query_endstop_wait(self):
+ eventtime = time.time()
+ while self.check_busy(eventtime):
+ eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
@@ -299,6 +302,7 @@ class MCU_adc:
self._callback = callback
class MCU:
+ error = error
COMM_TIMEOUT = 3.5
def __init__(self, printer, config):
self._printer = printer
@@ -515,5 +519,7 @@ class MCU:
mcu_time = print_time + self._print_start_time
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.steppersync_flush(self._steppersync, clock)
+ def pause(self, waketime):
+ return self._printer.reactor.pause(waketime)
def __del__(self):
self.disconnect()
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 71a5c8c62..038412ffb 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -78,8 +78,6 @@ class PrinterStepper:
self.mcu_endstop.home(mcu_time, step_time)
return self.mcu_endstop
def query_endstop(self, print_time):
- if self.mcu_endstop is None:
- return None
mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
self.mcu_endstop.query_endstop(mcu_time)
return self.mcu_endstop
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index ec215d6b7..eedda4b5e 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -272,8 +272,9 @@ class ToolHead:
self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME)
logging.debug('; Max time of %f' % (last_move_time,))
- def query_endstops(self, query_state):
- return self.kin.query_endstops(query_state)
+ def query_endstops(self):
+ last_move_time = self.get_last_move_time()
+ return self.kin.query_endstops(last_move_time)
def force_shutdown(self):
self.printer.mcu.force_shutdown()
self.move_queue.reset()