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serialhdl: Add a wrapper around the results of lookup_command()

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Add a lookup_command() method to the SerialReader class that provides
a wrapper that stores the serial and commandqueue references.  This
makes it easier to run the send() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-02-27 14:16:16 -05:00
parent 8518da9824
commit b139a8561f
6 changed files with 110 additions and 106 deletions
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13
klippy/clocksync.py
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@ -29,20 +29,19 @@ class ClockSync:
self.last_prediction_time = 0.
def connect(self, serial):
self.serial = serial
msgparser = serial.msgparser
self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
# Load initial clock and frequency
uptime_msg = msgparser.create_command('get_uptime')
params = serial.send_with_response(uptime_msg, 'uptime')
get_uptime_cmd = serial.lookup_command('get_uptime')
params = get_uptime_cmd.send_with_response(response='uptime')
self.last_clock = (params['high'] << 32) | params['clock']
self.clock_avg = self.last_clock
self.time_avg = params['#sent_time']
self.clock_est = (self.time_avg, self.clock_avg, self.mcu_freq)
self.prediction_variance = (.001 * self.mcu_freq)**2
# Enable periodic get_status timer
self.status_cmd = msgparser.create_command('get_status')
self.status_cmd = serial.lookup_command('get_status')
for i in range(8):
params = serial.send_with_response(self.status_cmd, 'status')
params = self.status_cmd.send_with_response(response='status')
self._handle_status(params)
self.reactor.pause(0.100)
serial.register_callback(self._handle_status, 'status')
@ -57,7 +56,7 @@ class ClockSync:
serial.set_clock_est(freq, self.reactor.monotonic(), 0)
# MCU clock querying (status callback invoked from background thread)
def _status_event(self, eventtime):
self.serial.send(self.status_cmd)
self.status_cmd.send()
return eventtime + 1.0
def _handle_status(self, params):
# Extend clock to 64bit