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stepper: Introduce stepper_get_position command and remove from endstop.c
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>
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parent
8d6ecd9af8
commit
a38437f378
6 changed files with 54 additions and 28 deletions
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@ -171,8 +171,8 @@ class SerialReader:
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def encode_and_send(self, data, minclock, reqclock, cq):
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self.ffi_lib.serialqueue_encode_and_send(
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self.serialqueue, cq, data, len(data), minclock, reqclock)
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def send_with_response(self, cmd, name):
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src = SerialRetryCommand(self, cmd, name)
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def send_with_response(self, cmd, name, oid=None):
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src = SerialRetryCommand(self, cmd, name, oid)
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return src.get_response()
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def alloc_command_queue(self):
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return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
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@ -235,17 +235,18 @@ class SerialReader:
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class SerialRetryCommand:
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TIMEOUT_TIME = 5.0
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RETRY_TIME = 0.500
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def __init__(self, serial, cmd, name):
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def __init__(self, serial, cmd, name, oid=None):
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self.serial = serial
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self.cmd = cmd
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self.name = name
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self.oid = oid
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self.response = None
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self.min_query_time = self.serial.reactor.monotonic()
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self.serial.register_callback(self.handle_callback, self.name)
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self.serial.register_callback(self.handle_callback, self.name, self.oid)
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self.send_timer = self.serial.reactor.register_timer(
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self.send_event, self.serial.reactor.NOW)
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def unregister(self):
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self.serial.unregister_callback(self.name)
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self.serial.unregister_callback(self.name, self.oid)
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self.serial.reactor.unregister_timer(self.send_timer)
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def send_event(self, eventtime):
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if self.response is not None:
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