mirror of
https://github.com/Klipper3d/klipper.git
synced 2026-01-08 07:47:45 -07:00
mcu: Add new MCURestartHelper helper class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
64c155121e
commit
de73e41d0f
1 changed files with 147 additions and 125 deletions
272
klippy/mcu.py
272
klippy/mcu.py
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@ -557,72 +557,28 @@ MIN_SCHEDULE_TIME = 0.100
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# Maximum time all MCUs can internally schedule into the future
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MAX_NOMINAL_DURATION = 3.0
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# Low-level mcu connection management helper
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class MCUConnectHelper:
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def __init__(self, config, mcu, clocksync):
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self._mcu = mcu
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self._clocksync = clocksync
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# Support for restarting a micro-controller
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class MCURestartHelper:
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def __init__(self, config, conn_helper):
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self._printer = printer = config.get_printer()
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self._conn_helper = conn_helper
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self._mcu = mcu = conn_helper.get_mcu()
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self._serial = conn_helper.get_serial()
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self._clocksync = conn_helper.get_clocksync()
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self._reactor = printer.get_reactor()
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self._name = name = mcu.get_name()
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# Serial port
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self._serial = serialhdl.SerialReader(self._reactor, mcu_name=name)
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self._baud = 0
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self._canbus_iface = None
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canbus_uuid = config.get('canbus_uuid', None)
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if canbus_uuid is not None:
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self._serialport = canbus_uuid
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self._canbus_iface = config.get('canbus_interface', 'can0')
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cbid = self._printer.load_object(config, 'canbus_ids')
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cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
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self._printer.load_object(config, 'canbus_stats %s' % (name,))
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else:
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self._serialport = config.get('serial')
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if not (self._serialport.startswith("/dev/rpmsg_")
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or self._serialport.startswith("/tmp/klipper_host_")):
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self._baud = config.getint('baud', 250000, minval=2400)
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# Restarts
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self._name = mcu.get_name()
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restart_methods = [None, 'arduino', 'cheetah', 'command', 'rpi_usb']
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self._restart_method = 'command'
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if self._baud:
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serialport, baud = conn_helper.get_serialport()
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if baud:
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self._restart_method = config.getchoice('restart_method',
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restart_methods, None)
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self._reset_cmd = self._config_reset_cmd = None
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self._is_mcu_bridge = False
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self._emergency_stop_cmd = None
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self._is_shutdown = self._is_timeout = False
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self._shutdown_clock = 0
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self._shutdown_msg = ""
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# Register handlers
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printer.register_event_handler("klippy:firmware_restart",
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self._firmware_restart)
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printer.register_event_handler("klippy:shutdown", self._shutdown)
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printer.register_event_handler("klippy:disconnect", self._disconnect)
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def get_mcu(self):
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return self._mcu
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def get_serial(self):
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return self._serial
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def get_clocksync(self):
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return self._clocksync
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def _handle_shutdown(self, params):
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if self._is_shutdown:
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return
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self._is_shutdown = True
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clock = params.get("clock")
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if clock is not None:
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self._shutdown_clock = self._mcu.clock32_to_clock64(clock)
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self._shutdown_msg = msg = params['static_string_id']
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event_type = params['#name']
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self._printer.invoke_async_shutdown(
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"MCU shutdown", {"reason": msg, "mcu": self._name,
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"event_type": event_type})
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logging.info("MCU '%s' %s: %s\n%s\n%s", self._name, event_type,
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self._shutdown_msg, self._clocksync.dump_debug(),
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self._serial.dump_debug())
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def _handle_starting(self, params):
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if not self._is_shutdown:
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self._printer.invoke_async_shutdown("MCU '%s' spontaneous restart"
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% (self._name,))
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# Connection phase
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def _check_restart(self, reason):
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start_reason = self._printer.get_start_args().get("start_reason")
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@ -639,63 +595,17 @@ class MCUConnectHelper:
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if self._restart_method == 'rpi_usb':
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# Only configure mcu after usb power reset
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self._check_restart("full reset before config")
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def _check_restart_on_attach(self):
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def check_restart_on_attach(self):
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resmeth = self._restart_method
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if resmeth == 'rpi_usb' and not os.path.exists(self._serialport):
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serialport, baud = self._conn_helper.get_serialport()
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if resmeth == 'rpi_usb' and not os.path.exists(serialport):
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# Try toggling usb power
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self._check_restart("enable power")
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def _lookup_attach_uart_rts(self):
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def lookup_attach_uart_rts(self):
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# Cheetah boards require RTS to be deasserted
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# else a reset will trigger the built-in bootloader.
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return (self._restart_method != "cheetah")
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def log_info(self):
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msgparser = self._serial.get_msgparser()
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message_count = len(msgparser.get_messages())
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version, build_versions = msgparser.get_version_info()
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log_info = [
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"Loaded MCU '%s' %d commands (%s / %s)"
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% (self._name, message_count, version, build_versions),
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"MCU '%s' config: %s" % (self._name, " ".join(
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["%s=%s" % (k, v)
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for k, v in msgparser.get_constants().items()]))]
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return "\n".join(log_info)
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def _attach_file(self):
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# In a debugging mode. Open debug output file and read data dictionary
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start_args = self._printer.get_start_args()
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if self._name == 'mcu':
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out_fname = start_args.get('debugoutput')
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dict_fname = start_args.get('dictionary')
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else:
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out_fname = start_args.get('debugoutput') + "-" + self._name
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dict_fname = start_args.get('dictionary_' + self._name)
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outfile = open(out_fname, 'wb')
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dfile = open(dict_fname, 'rb')
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dict_data = dfile.read()
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dfile.close()
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self._serial.connect_file(outfile, dict_data)
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self._clocksync.connect_file(self._serial)
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def _attach(self):
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self._check_restart_on_attach()
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try:
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if self._canbus_iface is not None:
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cbid = self._printer.lookup_object('canbus_ids')
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nodeid = cbid.get_nodeid(self._serialport)
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self._serial.connect_canbus(self._serialport, nodeid,
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self._canbus_iface)
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elif self._baud:
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rts = self._lookup_attach_uart_rts()
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self._serial.connect_uart(self._serialport, self._baud, rts)
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else:
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self._serial.connect_pipe(self._serialport)
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self._clocksync.connect(self._serial)
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except serialhdl.error as e:
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raise error(str(e))
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def _post_attach_setup_shutdown(self):
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self._emergency_stop_cmd = self._mcu.lookup_command("emergency_stop")
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self._mcu.register_response(self._handle_shutdown, 'shutdown')
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self._mcu.register_response(self._handle_shutdown, 'is_shutdown')
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self._mcu.register_response(self._handle_starting, 'starting')
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def _post_attach_setup_restart(self):
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def post_attach_setup_restart(self):
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self._reset_cmd = self._mcu.try_lookup_command("reset")
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self._config_reset_cmd = self._mcu.try_lookup_command("config_reset")
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ext_only = self._reset_cmd is None and self._config_reset_cmd is None
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@ -707,30 +617,18 @@ class MCUConnectHelper:
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self._is_mcu_bridge = True
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self._printer.register_event_handler("klippy:firmware_restart",
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self._firmware_restart_bridge)
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def start_attach(self):
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if self._mcu.is_fileoutput():
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self._attach_file()
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else:
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self._attach()
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logging.info(self.log_info())
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self._post_attach_setup_shutdown()
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self._post_attach_setup_restart()
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# Restarts
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def _disconnect(self):
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self._serial.disconnect()
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def _shutdown(self, force=False):
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if (self._emergency_stop_cmd is None
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or (self._is_shutdown and not force)):
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return
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self._emergency_stop_cmd.send()
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def _restart_arduino(self):
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logging.info("Attempting MCU '%s' reset", self._name)
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self._disconnect()
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serialhdl.arduino_reset(self._serialport, self._reactor)
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serialport, baud = self._conn_helper.get_serialport()
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serialhdl.arduino_reset(serialport, self._reactor)
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def _restart_cheetah(self):
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logging.info("Attempting MCU '%s' Cheetah-style reset", self._name)
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self._disconnect()
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serialhdl.cheetah_reset(self._serialport, self._reactor)
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serialport, baud = self._conn_helper.get_serialport()
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serialhdl.cheetah_reset(serialport, self._reactor)
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def _restart_via_command(self):
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if ((self._reset_cmd is None and self._config_reset_cmd is None)
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or not self._clocksync.is_active()):
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@ -740,8 +638,7 @@ class MCUConnectHelper:
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if self._reset_cmd is None:
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# Attempt reset via config_reset command
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logging.info("Attempting MCU '%s' config_reset command", self._name)
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self._is_shutdown = True
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self._shutdown(force=True)
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self._conn_helper.force_local_shutdown()
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self._reactor.pause(self._reactor.monotonic() + 0.015)
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self._config_reset_cmd.send()
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else:
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@ -769,6 +666,129 @@ class MCUConnectHelper:
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self._restart_arduino()
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def _firmware_restart_bridge(self):
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self._firmware_restart(True)
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# Low-level mcu connection management helper
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class MCUConnectHelper:
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def __init__(self, config, mcu, clocksync):
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self._mcu = mcu
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self._clocksync = clocksync
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self._printer = printer = config.get_printer()
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self._reactor = printer.get_reactor()
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self._name = name = mcu.get_name()
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# Serial port
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self._serial = serialhdl.SerialReader(self._reactor, mcu_name=name)
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self._baud = 0
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self._canbus_iface = None
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canbus_uuid = config.get('canbus_uuid', None)
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if canbus_uuid is not None:
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self._serialport = canbus_uuid
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self._canbus_iface = config.get('canbus_interface', 'can0')
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cbid = self._printer.load_object(config, 'canbus_ids')
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cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
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self._printer.load_object(config, 'canbus_stats %s' % (name,))
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else:
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self._serialport = config.get('serial')
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if not (self._serialport.startswith("/dev/rpmsg_")
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or self._serialport.startswith("/tmp/klipper_host_")):
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self._baud = config.getint('baud', 250000, minval=2400)
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self._emergency_stop_cmd = None
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self._is_shutdown = self._is_timeout = False
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self._shutdown_clock = 0
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self._shutdown_msg = ""
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self._restart_helper = MCURestartHelper(config, self)
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printer.register_event_handler("klippy:shutdown", self._shutdown)
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def get_mcu(self):
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return self._mcu
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def get_serial(self):
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return self._serial
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def get_clocksync(self):
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return self._clocksync
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def get_serialport(self):
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return self._serialport, self._baud
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def get_restart_helper(self):
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return self._restart_helper
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def _handle_shutdown(self, params):
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if self._is_shutdown:
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return
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self._is_shutdown = True
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clock = params.get("clock")
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if clock is not None:
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self._shutdown_clock = self._mcu.clock32_to_clock64(clock)
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self._shutdown_msg = msg = params['static_string_id']
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event_type = params['#name']
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self._printer.invoke_async_shutdown(
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"MCU shutdown", {"reason": msg, "mcu": self._name,
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"event_type": event_type})
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logging.info("MCU '%s' %s: %s\n%s\n%s", self._name, event_type,
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self._shutdown_msg, self._clocksync.dump_debug(),
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self._serial.dump_debug())
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def _handle_starting(self, params):
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if not self._is_shutdown:
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self._printer.invoke_async_shutdown("MCU '%s' spontaneous restart"
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% (self._name,))
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def log_info(self):
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msgparser = self._serial.get_msgparser()
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message_count = len(msgparser.get_messages())
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version, build_versions = msgparser.get_version_info()
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log_info = [
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"Loaded MCU '%s' %d commands (%s / %s)"
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% (self._name, message_count, version, build_versions),
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"MCU '%s' config: %s" % (self._name, " ".join(
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["%s=%s" % (k, v)
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for k, v in msgparser.get_constants().items()]))]
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return "\n".join(log_info)
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def _attach_file(self):
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# In a debugging mode. Open debug output file and read data dictionary
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start_args = self._printer.get_start_args()
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if self._name == 'mcu':
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out_fname = start_args.get('debugoutput')
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dict_fname = start_args.get('dictionary')
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else:
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out_fname = start_args.get('debugoutput') + "-" + self._name
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dict_fname = start_args.get('dictionary_' + self._name)
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outfile = open(out_fname, 'wb')
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dfile = open(dict_fname, 'rb')
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dict_data = dfile.read()
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dfile.close()
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self._serial.connect_file(outfile, dict_data)
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self._clocksync.connect_file(self._serial)
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def _attach(self):
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self._restart_helper.check_restart_on_attach()
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try:
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if self._canbus_iface is not None:
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cbid = self._printer.lookup_object('canbus_ids')
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nodeid = cbid.get_nodeid(self._serialport)
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self._serial.connect_canbus(self._serialport, nodeid,
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self._canbus_iface)
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elif self._baud:
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rts = self._restart_helper.lookup_attach_uart_rts()
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self._serial.connect_uart(self._serialport, self._baud, rts)
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else:
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self._serial.connect_pipe(self._serialport)
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self._clocksync.connect(self._serial)
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except serialhdl.error as e:
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raise error(str(e))
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def _post_attach_setup_shutdown(self):
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self._emergency_stop_cmd = self._mcu.lookup_command("emergency_stop")
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self._mcu.register_response(self._handle_shutdown, 'shutdown')
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self._mcu.register_response(self._handle_shutdown, 'is_shutdown')
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self._mcu.register_response(self._handle_starting, 'starting')
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def start_attach(self):
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if self._mcu.is_fileoutput():
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self._attach_file()
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else:
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self._attach()
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logging.info(self.log_info())
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self._post_attach_setup_shutdown()
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self._restart_helper.post_attach_setup_restart()
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def _shutdown(self, force=False):
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if (self._emergency_stop_cmd is None
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or (self._is_shutdown and not force)):
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return
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self._emergency_stop_cmd.send()
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def force_local_shutdown(self):
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self._is_shutdown = True
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self._shutdown(force=True)
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def check_timeout(self, eventtime):
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if (self._clocksync.is_active() or self._mcu.is_fileoutput()
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or self._is_timeout):
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@ -884,7 +904,8 @@ class MCUConfigHelper:
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config_crc = zlib.crc32(encoded_config) & 0xffffffff
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self.add_config_cmd("finalize_config crc=%d" % (config_crc,))
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if prev_crc is not None and config_crc != prev_crc:
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self._conn_helper.check_restart_on_crc_mismatch()
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restart_helper = self._conn_helper.get_restart_helper()
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restart_helper.check_restart_on_crc_mismatch()
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raise error("MCU '%s' CRC does not match config" % (self._name,))
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# Transmit config messages (if needed)
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try:
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@ -924,7 +945,8 @@ class MCUConfigHelper:
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def _connect(self):
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config_params = self._send_get_config()
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if not config_params['is_config']:
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self._conn_helper.check_restart_on_send_config()
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restart_helper = self._conn_helper.get_restart_helper()
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restart_helper.check_restart_on_send_config()
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# Not configured - send config and issue get_config again
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self._send_config(None)
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config_params = self._send_get_config()
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