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stepper: Introduce stepper_get_position command and remove from endstop.c

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Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c.  This localizes the stepper code into
stepper.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-05 15:00:15 -05:00
parent 8d6ecd9af8
commit a38437f378
6 changed files with 54 additions and 28 deletions
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11
klippy/serialhdl.py
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@ -171,8 +171,8 @@ class SerialReader:
def encode_and_send(self, data, minclock, reqclock, cq):
self.ffi_lib.serialqueue_encode_and_send(
self.serialqueue, cq, data, len(data), minclock, reqclock)
def send_with_response(self, cmd, name):
src = SerialRetryCommand(self, cmd, name)
def send_with_response(self, cmd, name, oid=None):
src = SerialRetryCommand(self, cmd, name, oid)
return src.get_response()
def alloc_command_queue(self):
return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
@ -235,17 +235,18 @@ class SerialReader:
class SerialRetryCommand:
TIMEOUT_TIME = 5.0
RETRY_TIME = 0.500
def __init__(self, serial, cmd, name):
def __init__(self, serial, cmd, name, oid=None):
self.serial = serial
self.cmd = cmd
self.name = name
self.oid = oid
self.response = None
self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name)
self.serial.register_callback(self.handle_callback, self.name, self.oid)
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def unregister(self):
self.serial.unregister_callback(self.name)
self.serial.unregister_callback(self.name, self.oid)
self.serial.reactor.unregister_timer(self.send_timer)
def send_event(self, eventtime):
if self.response is not None: