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bulk_sensor: Rework APIDumpHelper() to BatchBulkHelper()

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The APIDumpHelper class is mainly intended to help process messages in
batches.  Rework the class methods to make that more clear.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-16 23:26:42 -05:00
parent 95c753292d
commit 3370134593
6 changed files with 112 additions and 124 deletions
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35
klippy/extras/mpu9250.py
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@ -52,7 +52,7 @@ MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
API_UPDATES = 0.100
BATCH_UPDATES = 0.100
# Printer class that controls MPU9250 chip
class MPU9250:
@ -74,18 +74,19 @@ class MPU9250:
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
# Clock tracking
chip_smooth = self.data_rate * API_UPDATES * 2
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
BYTES_PER_SAMPLE)
self.last_error_count = 0
# API server endpoints
self.api_dump = bulk_sensor.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, API_UPDATES)
# Process messages in batches
self.batch_bulk = bulk_sensor.BatchBulkHelper(
self.printer, self._process_batch,
self._start_measurements, self._finish_measurements, BATCH_UPDATES)
self.name = config.get_name().split()[-1]
hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
self.api_dump.add_mux_endpoint("mpu9250/dump_mpu9250", "sensor",
self.name, {'header': hdr})
self.batch_bulk.add_mux_endpoint("mpu9250/dump_mpu9250", "sensor",
self.name, {'header': hdr})
def _build_config(self):
cmdqueue = self.i2c.get_command_queue()
self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
@ -105,11 +106,12 @@ class MPU9250:
def read_reg(self, reg):
params = self.i2c.i2c_read([reg], 1)
return bytearray(params['response'])[0]
def set_reg(self, reg, val, minclock=0):
self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock)
# Measurement collection
def start_internal_client(self):
cconn = self.batch_bulk.add_internal_client()
return adxl345.AccelQueryHelper(self.printer, cconn)
# Measurement decoding
def _extract_samples(self, raw_samples):
# Load variables to optimize inner loop below
(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
@ -148,6 +150,7 @@ class MPU9250:
params = self.query_mpu9250_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing MPU9250 device ID prevents treating
# noise or wrong signal as a correctly initialized device
@ -190,9 +193,7 @@ class MPU9250:
logging.info("MPU9250 finished '%s' measurements", self.name)
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
# API interface
def _api_update(self, eventtime):
def _process_batch(self, eventtime):
self._update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
@ -202,14 +203,6 @@ class MPU9250:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
def _api_startstop(self, is_start):
if is_start:
self._start_measurements()
else:
self._finish_measurements()
def start_internal_client(self):
cconn = self.api_dump.add_internal_client()
return adxl345.AccelQueryHelper(self.printer, cconn)
def load_config(config):
return MPU9250(config)