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reactor: Use the system monotonic clock instead of the normal system clock

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The normal system clock can have sudden jumps if the system clock is
changed.  Use the system monotonic clock to avoid these sudden changes
in time.

It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity.  This could cause
sudden system clock changes which could lead to Klippy processing
errors.  Using the monotonic clock eliminates these issues.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-02-06 13:31:34 -05:00
parent c24b7a7ef9
commit 20d0936fa2
10 changed files with 58 additions and 45 deletions
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14
klippy/mcu.py
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@ -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()