3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-15 02:37:52 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

stepcompress: Propagate errors back to python code

Browse source 
Propagate error codes back to the python code and raise an exception
on an error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-06 11:37:03 -05:00
parent 667b72870f
commit 19ed67331d
3 changed files with 146 additions and 80 deletions
Download patch file Download diff file Expand all files Collapse all files

51
klippy/mcu.py
View file

@ -19,6 +19,8 @@ def parse_pin_extras(pin, can_pullup=False):
pin = pin[1:].strip()
return pin, pullup, invert
STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error):
self._mcu = mcu
@ -59,18 +61,31 @@ class MCU_stepper:
def get_mcu_position(self):
return self.commanded_position + self._mcu_position_offset
def note_homing_start(self, homing_clock):
self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
if ret:
raise error("Internal error in stepcompress")
def note_homing_finalized(self):
self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
if ret:
raise error("Internal error in stepcompress")
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
ret = self.ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
def step(self, mcu_time, sdir):
clock = mcu_time * self._mcu_freq
self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
if ret:
raise error("Internal error in stepcompress")
if sdir:
self.commanded_position += 1
else:
@ -81,12 +96,16 @@ class MCU_stepper:
count = self.ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock
, sqrt_offset * mcu_freq2, factor * mcu_freq2)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_factor(self, mcu_time, steps, step_offset, factor):
clock = mcu_time * self._mcu_freq
count = self.ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_delta_const(self, mcu_time, dist, start_pos
@ -97,6 +116,8 @@ class MCU_stepper:
self._stepqueue, clock, dist, start_pos
, inv_velocity * self._mcu_freq, step_dist
, height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def step_delta_accel(self, mcu_time, dist, start_pos
@ -108,10 +129,10 @@ class MCU_stepper:
self._stepqueue, clock, dist, start_pos
, accel_multiplier * mcu_freq2, step_dist
, height, closestxy_d, closest_height2, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self.commanded_position += count
return count
def get_errors(self):
return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
class MCU_endstop:
error = error
@ -390,15 +411,9 @@ class MCU:
self.ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def stats(self, eventtime):
stats = self.serial.stats(eventtime)
stats += " mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self.serial.stats(eventtime),
self._mcu_tick_avg, self._mcu_tick_stddev)
err = 0
for s in self._steppers:
err += s.get_errors()
if err:
stats += " step_errors=%d" % (err,)
return stats
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def clear_shutdown(self):
@ -527,7 +542,9 @@ class MCU:
return
mcu_time = print_time + self._print_start_time
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.steppersync_flush(self._steppersync, clock)
ret = self.ffi_lib.steppersync_flush(self._steppersync, clock)
if ret:
raise error("Internal error in stepcompress")
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def __del__(self):