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mcu: Support minclock in send_with_response() requests

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Enhance send_with_response() so that it supports queries with a
minclock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-21 20:46:44 -04:00
parent e202a8802b
commit 9feb05ce41
3 changed files with 27 additions and 11 deletions
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16
klippy/mcu.py
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@ -426,19 +426,25 @@ class MCU_adc:
# Wrapper around command sending
class CommandWrapper:
def __init__(self, mcu, serial, cmd, cmd_queue):
def __init__(self, mcu, serial, clocksync, cmd, cmd_queue):
self._mcu = mcu
self._serial = serial
self._clocksync = clocksync
self._cmd = cmd
self._cmd_queue = cmd_queue
def send(self, data=(), minclock=0, reqclock=0):
cmd = self._cmd.encode(data)
self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
def send_with_response(self, data=(), response=None, response_oid=None):
def send_with_response(self, data=(), response=None, response_oid=None,
minclock=0):
minsystime = 0.
if minclock:
minsystime = self._clocksync.estimate_clock_systime(minclock)
cmd = self._cmd.encode(data)
try:
src = serialhdl.SerialRetryCommand(self._serial, cmd,
response, response_oid)
src = serialhdl.SerialRetryCommand(
self._serial, [cmd], self._cmd_queue, response, response_oid,
minclock=minclock, minsystime=minsystime)
return src.get_response()
except serialhdl.error as e:
raise error(str(e))
@ -710,7 +716,7 @@ class MCU:
if cq is None:
cq = self._serial.get_default_command_queue()
cmd = self._serial.get_msgparser().lookup_command(msgformat)
return CommandWrapper(self, self._serial, cmd, cq)
return CommandWrapper(self, self._serial, self._clocksync, cmd, cq)
def try_lookup_command(self, msgformat):
try:
return self.lookup_command(msgformat)