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gcode: Rework endstop query to use greenlets

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-12-08 12:42:12 -05:00
parent ed9d7e4fae
commit a6de1db94d
7 changed files with 23 additions and 47 deletions
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8
klippy/mcu.py
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@ -188,7 +188,10 @@ class MCU_endstop:
self._homing = False
self._min_query_time = time.time()
self._next_query_clock = clock
def get_last_triggered(self):
def query_endstop_wait(self):
eventtime = time.time()
while self.check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
@ -299,6 +302,7 @@ class MCU_adc:
self._callback = callback
class MCU:
error = error
COMM_TIMEOUT = 3.5
def __init__(self, printer, config):
self._printer = printer
@ -515,5 +519,7 @@ class MCU:
mcu_time = print_time + self._print_start_time
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.steppersync_flush(self._steppersync, clock)
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def __del__(self):
self.disconnect()